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Reduce mjMAXCONPAIR to 50.

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Use only the first `mjMAXCONPAIR` contacts in SDF-mesh collisions after sorting them using the penetration depth.

PiperOrigin-RevId: 558176217
Change-Id: Ia1ee12bd5ceb81e4c52f143831ad00426e8cf174
This commit is contained in:
Alessio Quaglino
2023-08-18 10:01:57 -07:00
committed by Copybara-Service
parent ba12a1354b
commit b5f9628dd7
5 changed files with 52 additions and 20 deletions
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include/mujoco/mjmodel.h
+1 -1
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@@ -23,7 +23,7 @@
#define mjMINMU 1E-5 // minimum friction coefficient
#define mjMINIMP 0.0001 // minimum constraint impedance
#define mjMAXIMP 0.9999 // maximum constraint impedance
#define mjMAXCONPAIR 100 // maximum number of contacts per geom pair
#define mjMAXCONPAIR 50 // maximum number of contacts per geom pair
#define mjMAXTREEDEPTH 50 // maximum bounding volume hierarchy depth
#define mjMAXVFS 2000 // maximum number of files in virtual file system
#define mjMAXVFSNAME 1000 // maximum filename size in virtual file system