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Remove vestigial mentions of mjOption.collision in the docs.

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Kevin Zakka
2024-08-31 16:49:25 -07:00
parent 7abd5d427a
commit f60ab4492d
1 changed files with 5 additions and 9 deletions
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doc/XMLreference.rst
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@@ -3892,11 +3892,10 @@ thus the description here is brief.
:el-prefix:`contact/` |-| **pair** (*) :el-prefix:`contact/` |-| **pair** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a predefined geom pair, which will be checked for collision if the collision attribute of This element creates a predefined geom pair which will be checked for collision. Unlike dynamically generated pairs
:ref:`option <option>` is set to "all" or "predefined". Unlike dynamically generated pairs whose properties are inferred whose properties are inferred from the corresponding geom properties, the pairs created here specify all their
from the corresponding geom properties, the pairs created here specify all their properties explicitly or through properties explicitly or through defaults, and the properties of the individual geoms are not used. Anisotropic
defaults, and the properties of the individual geoms are not used. Anisotropic friction can only be created with this friction can only be created with this element.
element.
.. _contact-pair-name: .. _contact-pair-name:
@@ -3975,10 +3974,7 @@ element.
This element is used to exclude a pair of bodies from collision checking. Unlike all other contact-related elements This element is used to exclude a pair of bodies from collision checking. Unlike all other contact-related elements
which refer to geoms, this element refers to bodies. Experience has shown that exclusion is more useful on the level of which refer to geoms, this element refers to bodies. Experience has shown that exclusion is more useful on the level of
bodies. The collision between any geom defined in the first body and any geom defined in the second body is excluded. bodies. Collisions between any geom defined in the first body and any geom defined in the second body are excluded.
The exclusion rules defined here are applied only when the collision attribute of :ref:`option <option>` is set to "all"
or "dynamic". Setting this attribute to "predefined" disables the exclusion mechanism and the geom pairs defined with
the :ref:`pair <contact-pair>` element above are checked for collisions.
.. _contact-exclude-name: .. _contact-exclude-name: