From cf721def3ada89e112a7fe3958cd8f1cb9f65e92 Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Wed, 11 Sep 2024 04:09:04 -0700 Subject: [PATCH] Missing renames of `mpr_` -> `ccd_` PiperOrigin-RevId: 673330801 Change-Id: I1cd67454660aaea6dd41eb50a12638358676b8d0 --- doc/computation/index.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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.