From b643c08c0d43a5b06f1810c7b31b5657a94567f3 Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Tue, 9 Jan 2024 06:44:29 -0800 Subject: [PATCH] Recommend CoACD for convex mesh decomposition in the docs. PiperOrigin-RevId: 596917392 Change-Id: I3fa6d22b879bf6b4d16e037bb2b8896df8d682a2 --- doc/computation/index.rst | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/doc/computation/index.rst b/doc/computation/index.rst index 9e7dcedc..840835d8 100644 --- a/doc/computation/index.rst +++ b/doc/computation/index.rst @@ -1535,12 +1535,12 @@ convex hull implicitly, however pre-computing that hull can substantially improv model compiler does that by default, using the `qhull `__ library. In order to model a non-convex object other than a height field, the user must decompose it into a union of convex geoms -(which can be primitive shapes or meshes) and attach them to the same body. Tools such as the -`HACD `__ library can be used outside MuJoCo to automate this process. Finally, all -built-in collision functions can be replaced with custom callbacks. This can be used to incorporate a general-purpose -"triangle soup" collision detector for example. However we do not recommend such an approach. Pre-processing the -geometry and representing it as a union of convex geoms takes some work, but it pays off at runtime and yields both -faster and more stable simulation. +(which can be primitive shapes or meshes) and attach them to the same body. Open tools like the `CoACD library +`__ can be used outside MuJoCo to automate this process. Finally, all built-in +collision functions can be replaced with custom callbacks. This can be used to incorporate a general-purpose "triangle +soup" collision detector for example. However we do not recommend such an approach. Pre-processing the geometry and +representing it as a union of convex geoms takes some work, but it pays off at runtime and yields both faster and more +stable simulation. .. _Pipeline: