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

Missing renames of mpr_ -> ccd_

Browse Source 
PiperOrigin-RevId: 673330801
Change-Id: I1cd67454660aaea6dd41eb50a12638358676b8d0
This commit is contained in:
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
Download Patch File Download Diff File Expand all files Collapse all files
doc/computation/index.rst
+1 -1
View File
@@ -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 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) 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 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 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. model compiler does that by default, using the `qhull <http://www.qhull.org/>`__ library.