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Missing renames of mpr_ -> ccd_

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PiperOrigin-RevId: 673330801
Change-Id: I1cd67454660aaea6dd41eb50a12638358676b8d0
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Yuval Tassa
2024-09-11 04:09:04 -07:00
committed by Copybara-Service
parent 8710126d08
commit cf721def3a
1 changed files with 1 additions and 1 deletions
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doc/computation/index.rst
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@@ -1535,7 +1535,7 @@ convex but internally they are treated as unions of triangular prisms (using cus
described above). Meshes specified by the user can be non-convex, and are rendered as such. For collision purposes
however they are replaced with their convex hulls. Mesh collisions are based on the Minkowski Portal Refinement (MPR)
algorithm as implemented in `libccd <https://github.com/danfis/libccd>`__. It has tolerance and maximum iteration
parameters exposed as ``mjModel.opt.mpt_tolerance`` and ``mjModel.opt.mpr_iterations`` respectively. MPR operates on the
parameters exposed as ``mjModel.opt.ccd_tolerance`` and ``mjModel.opt.ccd_iterations`` respectively. MPR operates on the
convex hull implicitly, however pre-computing that hull can substantially improve performance for large meshes. The
model compiler does that by default, using the `qhull <http://www.qhull.org/>`__ library.