diff --git a/doc/computation/index.rst b/doc/computation/index.rst index 8d00a459..048ac199 100644 --- a/doc/computation/index.rst +++ b/doc/computation/index.rst @@ -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 `__. 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 `__ library.