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

Update multiccd documentation.

Browse Source 
PiperOrigin-RevId: 902779253
Change-Id: I767cd0a230b78efe2a71f83e5f2f134268997dcb
This commit is contained in:
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
Download Patch File Download Diff File Expand all files Collapse all files
doc/mjwarp/index.rst
+2 -4
View File
@@ -1265,8 +1265,6 @@ is available by setting the ``NATIVECCD`` disable flag:
The specialized collider generates up to 8 contact points, compared to up to 4 for the convex pipeline, and may improve
contact stability for tasks involving box stacking or manipulation.
.. TODO(taylorhowell): update this section once multiccd is on by default.
CCD margin
----------
@@ -1283,8 +1281,8 @@ CCD colliders and will raise a ``NotImplementedError`` when calling :func:`mjw.p
- Scenario
- Workaround
* - box-box, box-mesh, mesh-mesh
- :ref:`MULTICCD <option-flag-multiccd>` enabled
- Set margin to ``0`` or do not enable ``MULTICCD``
- :ref:`MULTICCD <option-flag-multiccd>` enabled (on by default)
- Set margin to ``0`` or disable ``MULTICCD``
* - box-box
- :ref:`NATIVECCD <option-flag-nativeccd>` enabled (on by default)
- Set margin to ``0`` or disable ``NATIVECCD``