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Update multiccd documentation.

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PiperOrigin-RevId: 902779253
Change-Id: I767cd0a230b78efe2a71f83e5f2f134268997dcb
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Kyle Bayes
2026-04-20 12:52:30 -07:00
committed by Copybara-Service
parent 6cb6e5a93f
commit bc5883e82f
5 changed files with 27 additions and 18 deletions
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doc/XMLreference.rst
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@@ -677,7 +677,7 @@ from its default.
.. _option-flag-multiccd:
:at:`multiccd`: :at-val:`[disable, enable], "disable"`
:at:`multiccd`: :at-val:`[disable, enable], "enable"`
This flag enables multiple-contact collision detection for geom pairs that use a general-purpose convex-convex
collider e.g., mesh-mesh collisions. This can be useful when the contacting geoms have a flat surface and the
single contact point generated by the convex-convex collider cannot accurately capture the surface contact, leading