set mpr_tol_rel in scene

Author: AndreaNeumayr

src/Composition/scene.jl

@@ -308,7 +308,7 @@ Defines global properties of the system, such as the gravity field. Exactly one
 | `gravityField`                  | [`UniformGravityField`](@ref)`()`       |
 | `useOptimizedStructure`         | true                                    |
 | `enableContactDetection`        | true                                    |
-| `contactDetection`              | [`ContactDetectionMPR_handler`](@ref)`()`|
+| `mpr_tol_rel`                   | 1.0e-20                                 |
 | `elasticContactReductionFactor` | 1.0                                     |
 | `enableVisualization`           | true                                    |
 | `animationFile`                 | nothing                                 |
@@ -338,7 +338,7 @@ Defines global properties of the system, such as the gravity field. Exactly one
 
 - `enableContactDetection::Bool`: = true, if contact detection is enable, see [Collision Handling](@ref).
 
-- `contactDetection::Modia3D.AbstractContactDetection`: Handler used for contact detection e.g., to determine the smallest distance between two objects.
+- `mpr_tol_rel::1.0e-20`: Local tolerance used for terminating the mpr algorithm. Changing this value might improve speed.
 
 - `elasticContactReductionFactor::Float64`: (> 0.0)
   - ``usedContactCompliance = contactCompliance * elasticContactReductionFactor``
@@ -421,7 +421,7 @@ mutable struct Scene <: Modia3D.AbstractScene
     function Scene(;gravityField          = UniformGravityField(),
             useOptimizedStructure         = true,
             enableContactDetection        = true,
-            contactDetection              = ContactDetectionMPR_handler(),
+            mpr_tol_rel                   = 1.0e-7,
             elasticContactReductionFactor = 1.0,
             gap                           = 0.001,
             enableVisualization           = true,
@@ -443,7 +443,7 @@ mutable struct Scene <: Modia3D.AbstractScene
 
         sceneOptions = SceneOptions(gravityField = gravityField,
             useOptimizedStructure         = useOptimizedStructure,
-            contactDetection              = contactDetection,
+            contactDetection              = ContactDetectionMPR_handler(tol_rel = mpr_tol_rel),
             nVisualContSupPoints          = nVisualContSupPoints,
             gap                           = gap,
             enableContactDetection        = enableContactDetection,

src/contactDetection/ContactDetectionMPR/ContactDetectionMPR_handler.jl

@@ -123,11 +123,11 @@ mutable struct ContactDetectionMPR_handler{T} <: Modia3D.AbstractContactDetectio
     visualizeSupportPoints::Bool
     defaultContactSphereDiameter::Float64
 
-    function ContactDetectionMPR_handler{T}(;tol_rel  = 1.0e-7,
+    function ContactDetectionMPR_handler{T}(;tol_rel  = 1.0e-20,
                                             niter_max = 100) where {T}
         @assert(tol_rel > 0.0)
         @assert(niter_max > 0)
         new(false, Dict{PairID,ContactPair}(), Dict{PairID,ContactPair}(), 42.0, tol_rel, niter_max)
     end
 end
-ContactDetectionMPR_handler() = ContactDetectionMPR_handler{Modia3D.MPRFloatType}()
+ContactDetectionMPR_handler(; kwargs...) = ContactDetectionMPR_handler{Modia3D.MPRFloatType}(; kwargs...)