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Set nativeccd as default.

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PiperOrigin-RevId: 731343200
Change-Id: I315779017b676f3d118e0d38ee53a515272f50b8
This commit is contained in:
Kyle Bayes
2025-02-26 09:14:19 -08:00
committed by Copybara-Service
parent 4f691eeae4
commit ed16f2daf2
21 changed files with 232 additions and 157 deletions
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doc/APIreference/functions.rst
+4 -9
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@@ -499,16 +499,11 @@ Returns the smallest signed distance between two geoms and optionally the segmen
Returned distances are bounded from above by ``distmax``. |br| If no collision of distance smaller than ``distmax`` is
found, the function will return ``distmax`` and ``fromto``, if given, will be set to (0, 0, 0, 0, 0, 0).
.. admonition:: Positive ``distmax`` values
:class: note
.. admonition:: different (correct) behavior under `nativeccd`
:class: note
.. TODO: b/339596989 - Improve mjc_Convex.
For some colliders, a large, positive ``distmax`` will result in an accurate measurement. However, for collision
pairs which use the general ``mjc_Convex`` collider, the result will be approximate and likely inaccurate.
This is considered a bug to be fixed in a future release.
In order to determine whether a geom pair uses ``mjc_Convex``, inspect the table at the top of
`engine_collision_driver.c <https://github.com/google-deepmind/mujoco/blob/main/src/engine/engine_collision_driver.c>`__.
As explained in :ref:`Collision Detection<coDistance>`, distances are inaccurate when using the
:ref:`legacy CCD pipeline<coCCD>`, and its use is discouraged.
.. _mj_contactForce:
doc/APIreference/functions_override.rst
+4 -9
View File
@@ -222,16 +222,11 @@ Returns the smallest signed distance between two geoms and optionally the segmen
Returned distances are bounded from above by ``distmax``. |br| If no collision of distance smaller than ``distmax`` is
found, the function will return ``distmax`` and ``fromto``, if given, will be set to (0, 0, 0, 0, 0, 0).
.. admonition:: Positive ``distmax`` values
:class: note
.. admonition:: different (correct) behavior under `nativeccd`
:class: note
.. TODO: b/339596989 - Improve mjc_Convex.
For some colliders, a large, positive ``distmax`` will result in an accurate measurement. However, for collision
pairs which use the general ``mjc_Convex`` collider, the result will be approximate and likely inaccurate.
This is considered a bug to be fixed in a future release.
In order to determine whether a geom pair uses ``mjc_Convex``, inspect the table at the top of
`engine_collision_driver.c <https://github.com/google-deepmind/mujoco/blob/main/src/engine/engine_collision_driver.c>`__.
As explained in :ref:`Collision Detection<coDistance>`, distances are inaccurate when using the
:ref:`legacy CCD pipeline<coCCD>`, and its use is discouraged.
.. _mj_fullM: