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Check all edge pairs in convex-convex.

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PiperOrigin-RevId: 620004680
Change-Id: I5d75c0fd21ed3d3e420eed762cfc5a7e04896032
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Baruch Tabanpour
2024-03-28 11:32:44 -07:00
committed by Copybara-Service
parent a8db22f0d0
commit d258d5e152
9 changed files with 149 additions and 148 deletions
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doc/mjx.rst
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@@ -299,8 +299,9 @@ Collisions between large meshes
SAT works well for smaller meshes but suffers in both runtime and memory for larger meshes.
For
collisions with convex meshes, the convex decompositon of the mesh should have
roughly **200 vertices or less** for reasonable performance.
collisions with convex meshes and primitives, the convex decompositon of the mesh should have
roughly **200 vertices or less** for reasonable performance. For convex-convex collisions,
the convex mesh should have roughly **fewer than 32 vertices**.
With careful
tuning, MJX can simulate scenes with mesh collisions -- see the MJX
`shadow hand <https://github.com/google-deepmind/mujoco/tree/main/mjx/mujoco/mjx/benchmark/model/shadow_hand>`__