chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Reduce mjMAXCONPAIR to 50.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
unity/Runtime/Bindings/MjBindings.cs
+1 -1
View File
@@ -39,7 +39,7 @@ public const double mjMAXVAL = 10000000000.0;
public const double mjMINMU = 1e-05;
public const double mjMINIMP = 0.0001;
public const double mjMAXIMP = 0.9999;
public const int mjMAXCONPAIR = 100;
public const int mjMAXCONPAIR = 50;
public const int mjMAXTREEDEPTH = 50;
public const int mjMAXVFS = 2000;
public const int mjMAXVFSNAME = 1000;