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/modeling.rst
+5 -4
View File
@@ -1767,10 +1767,11 @@ better visualize and understand the contact configuration and resulting forces.
a. Improve the geometry of the contacting geoms in order to add more contact points, possibly with non-flat
geometry (e.g., bumps), so slippage is prevented by the normal force and not only frictional components.
b. If contacts are between flat surfaces, try enabling the :ref:`multiccd<option-flag-multiccd>` flag, which allows
the detector to find more contacts than the single contact returned by the convex-convex collider.
c. Try enabling the native collision detection pipeline by setting the :ref:`nativeccd<option-flag-nativeccd>` flag,
which uses a more accurate and efficient convex collision detection algorithm.
b. If contacts are between flat surfaces, make sure that the flag :ref:`multiccd<option-flag-multiccd>` is not
disabled (enabled by default), as it allows the detector to find more contacts than the single contact
returned by the convex-convex collider.
c. Make sure that the flag :ref:`nativeccd<option-flag-nativeccd>` is not disabled (enabled by default),
as NativeCCD is a more accurate and efficient convex collision detection algorithm.
**High-frequency vibration**
High-frequency, low-amplitude vibrations are also a real-world problem in many industrial settings, but unlike in