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Support edge contacts with multiccd in nativeccd.

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PiperOrigin-RevId: 730489114
Change-Id: I02847d84bbc15a1526391d5e1b7109ab83ea4a59
This commit is contained in:
Kyle Bayes
2025-02-24 09:47:50 -08:00
committed by Copybara-Service
parent a6f1dc5e9e
commit 024616345d
7 changed files with 861 additions and 49 deletions
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test/engine/engine_collision_gjk_test.cc
+231
View File
@@ -1167,6 +1167,237 @@ TEST_F(MjGjkTest, MeshMeshPrune) {
mj_deleteModel(model);
}
TEST_F(MjGjkTest, BoxEdge) {
static constexpr char xml[] = R"(
<mujoco>
<option>
<flag nativeccd="enable" multiccd="enable"/>
</option>
<worldbody>
<geom type="box" name="box1" size="5 5 .1" pos="0 0 0"/>
<body pos="0 0 2">
<freejoint/>
<geom type="box" name="box2" size="1 1 1"/>
</body>
<body pos="0 0 4.4" euler="0 90 40">
<freejoint/>
<geom type="box" name="box3" size="1 1 1"/>
</body>
</worldbody>
</mujoco>)";
std::array<char, 1000> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
mjData* data = mj_makeData(model);
mj_forward(model, data);
int geom1 = mj_name2id(model, mjOBJ_GEOM, "box2");
int geom2 = mj_name2id(model, mjOBJ_GEOM, "box3");
std::vector<mjtNum> dir, pos;
mjtNum dist;
int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2, 0, 4);
EXPECT_EQ(ncons, 2);
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(MjGjkTest, BoxEdge2) {
static constexpr char xml[] = R"(
<mujoco>
<option>
<flag nativeccd="enable" multiccd="enable"/>
</option>
<worldbody>
<geom type="box" name="box1" size="5 5 .1" pos="0 0 0"/>
<body pos="0 0 2">
<freejoint/>
<geom type="box" name="box2" size="1 1 1"/>
</body>
<body pos="0 0 4.4" euler="0 90 40">
<freejoint/>
<geom type="box" name="box3" size="1 1 1"/>
</body>
</worldbody>
</mujoco>)";
std::array<char, 1000> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
mjData* data = mj_makeData(model);
mj_forward(model, data);
mjtNum* xmat = data->geom_xmat + 9;
mjtNum* xpos = data->geom_xpos + 3;
xmat[0] = 0.9999979704374094557906005320546682924032;
xmat[1] = -0.0017789363449516469497385662279498319549;
xmat[2] = -0.0009457835609818190025430140188689165370;
xmat[3] = 0.0017817418144636251123996695255868871755;
xmat[4] = 0.9999939910254954655854930933855939656496;
xmat[5] = 0.0029737701675293876438233020564894104609;
xmat[6] = 0.0009404877299599626429629783963548561587;
xmat[7] = -0.0029754492741947335607277658198199787876;
xmat[8] = 0.9999951310803708581786963804916013032198;
xpos[0] = 0.0005578602979296120537716641152314878127;
xpos[1] = 0.0098645950089783600300830102014515432529;
xpos[2] = 1.1037596929447945903746131079969927668571;
xmat = data->geom_xmat + 18;
xpos = data->geom_xpos + 6;
xmat[0] = 0.0006737475542006746490053537002040684456;
xmat[1] = -0.0095603689585630827196816028390458086506;
xmat[2] = 0.9999540716500983084102927023195661604404;
xmat[3] = -0.1095658134726250898527410981841967441142;
xmat[4] = 0.9939334085756179604231874691322445869446;
xmat[5] = 0.0095766296438734854756802405972848646343;
xmat[6] = -0.9939793149670246297233688892447389662266;
xmat[7] = -0.1095672335264066821203243762283818796277;
xmat[8] = -0.0003778293989772788311065632171903416747;
xpos[0] = -0.0218119359455731035013492657981259981170;
xpos[1] = 0.9828851949225971829093850828940048813820;
xpos[2] = 3.0930077345364814789263618877157568931580;
int geom1 = mj_name2id(model, mjOBJ_GEOM, "box2");
int geom2 = mj_name2id(model, mjOBJ_GEOM, "box3");
std::vector<mjtNum> dir, pos;
mjtNum dist;
int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2, 0, 4);
EXPECT_EQ(ncons, 2);
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(MjGjkTest, BoxEdgeEdge) {
static constexpr char xml[] = R"(
<mujoco>
<option>
<flag nativeccd="enable" multiccd="enable"/>
</option>
<worldbody>
<geom type="box" name="box1" size="5 5 .1" pos="0 0 -.1"/>
<body pos="-2 0 2.99" euler="0 10 0">
<freejoint/>
<geom type="box" name="box2" size=".15 1 3"/>
</body>
<body pos="2 0 2.99" euler="0 -10 0">
<freejoint/>
<geom type="box" name="box3" size=".15 1 3"/>
</body>
</worldbody>
</mujoco>)";
std::array<char, 1000> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
mjData* data = mj_makeData(model);
mj_forward(model, data);
mjtNum* xmat = data->geom_xmat + 9;
mjtNum* xpos = data->geom_xpos + 3;
xmat[0] = 0.9182779243587342321575306414160877466202;
xmat[1] = -0.0000000000000000000364268564068890756444;
xmat[2] = 0.3959364262547898638544552341045346111059;
xmat[3] = -0.0000000000000000000591321577502441383525;
xmat[4] = 1.0000000000000000000000000000000000000000;
xmat[5] = 0.0000000000000000002291443915550544102718;
xmat[6] = -0.3959364262547898638544552341045346111059;
xmat[7] = -0.0000000000000000002338308114719865891040;
xmat[8] = 0.9182779243587342321575306414160877466202;
xpos[0] = -1.3241298058948087756903078116010874509811;
xpos[1] = 0.0000000000000000007148993364299687318184;
xpos[2] = 2.8141526153588731773425024584867060184479;
xmat = data->geom_xmat + 18;
xpos = data->geom_xpos + 6;
xmat[0] = 0.9182779243587342321575306414160877466202;
xmat[1] = 0.0000000000000000000728398144756416399722;
xmat[2] = -0.3959364262547898638544552341045346111059;
xmat[3] = -0.0000000000000000001674060251593158490713;
xmat[4] = 1.0000000000000000000000000000000000000000;
xmat[5] = -0.0000000000000000002042889652712837518138;
xmat[6] = 0.3959364262547898638544552341045346111059;
xmat[7] = 0.0000000000000000002538761903338069406631;
xmat[8] = 0.9182779243587342321575306414160877466202;
xpos[0] = 1.3241298058948089977349127366323955357075;
xpos[1] = -0.0000000000000000008679606505055748997840;
xpos[2] = 2.8141526153588731773425024584867060184479;
int geom1 = mj_name2id(model, mjOBJ_GEOM, "box2");
int geom2 = mj_name2id(model, mjOBJ_GEOM, "box3");
std::vector<mjtNum> dir, pos;
mjtNum dist;
int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2, 0, 4);
EXPECT_EQ(ncons, 2);
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(MjGjkTest, MeshEdge) {
static constexpr char xml[] = R"(
<mujoco>
<option>
<flag nativeccd="enable" multiccd="enable"/>
</option>
<asset>
<mesh name="smallbox"
vertex="-1 -1 -1 1 -1 -1 1 1 -1
1 1 1 1 -1 1 -1 1 -1
-1 1 1 -1 -1 1"/>
<mesh name="floor"
vertex="-1 -1 -1 1 -1 -1 1 1 -1
1 1 1 1 -1 1 -1 1 -1
-1 1 1 -1 -1 1"
scale="5 5 1"/>
</asset>
<worldbody>
<geom type="mesh" name="box1" mesh="floor" pos="0 0 0"/>
<body pos="0 0 2">
<freejoint/>
<geom type="mesh" mesh="smallbox" name="box2" size="1 1 1"/>
</body>
<body pos="0 0 4.4" euler="0 90 40">
<freejoint/>
<geom type="mesh" mesh="smallbox" name="box3" size="1 1 1"/>
</body>
</worldbody>
</mujoco>)";
std::array<char, 1000> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
mjData* data = mj_makeData(model);
mj_forward(model, data);
int geom1 = mj_name2id(model, mjOBJ_GEOM, "box2");
int geom2 = mj_name2id(model, mjOBJ_GEOM, "box3");
std::vector<mjtNum> dir, pos;
mjtNum dist;
int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2, 0, 4);
EXPECT_EQ(ncons, 2);
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(MjGjkTest, EllipsoidEllipsoidPenetrating) {
std::array<char, 1000> error;
mjModel* model = LoadModelFromString(kEllipoid, error.data(), error.size());
test/engine/testdata/collision_convex/dice.xml
Vendored
+46
View File
@@ -0,0 +1,46 @@
<mujoco>
<option>
<flag multiccd="enable"/>
</option>
<visual>
<scale forcewidth="0.01" contactwidth="0.05" contactheight="0.05"/>
<map force="0.1"/>
</visual>
<asset>
<mesh name="die" file="die.obj" scale=".02 .02 .02"/>
</asset>
<default>
<geom condim="1" type="mesh" solref="2e-5 1"/>
<default class="wall">
<geom type="box" rgba="0.1 0.2 1 .2"/>
</default>
<default class="floor">
<geom type="box" rgba="0.1 0.2 1 1"/>
</default>
</default>
<worldbody>
<light pos="0 0 1" dir="0 0 -1" castshadow="false"/>
<body name="container" pos="0 0 -0.11">
<geom class="floor" size="0.27 0.27 0.01"/>>
<geom class="wall" size="0.26 0.01 0.10" pos="0.01 0.26 0.11"/>
<geom class="wall" size="0.26 0.01 0.10" pos="-0.01 -0.26 0.11"/>
<geom class="wall" size="0.01 0.26 0.10" pos="0.26 -0.01 0.11"/>
<geom class="wall" size="0.01 0.26 0.10" pos="-0.26 0.01 0.11"/>
</body>
<replicate count="5" offset=".1 0 0">
<replicate count="5" offset="0 .1 0">
<replicate count="4" offset="0 0 .1">
<body pos="-.2 -.2 0.15">
<freejoint/>
<geom size=".02 .02 .02" type="mesh" mesh="die"/>
</body>
</replicate>
</replicate>
</replicate>
</worldbody>
</mujoco>
test/engine/testdata/collision_convex/die.obj
Vendored
+296
View File
@@ -0,0 +1,296 @@
v 0.740000 0.740000 -1.000000
v 0.740000 1.000000 -0.740000
v 1.000000 0.740000 -0.740000
v 0.740000 0.807269 -0.991147
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test/engine/testdata/collision_convex/edge_edge.xml
Vendored
+24
View File
@@ -0,0 +1,24 @@
<mujoco>
<option>
<flag multiccd="enable"/>
</option>
<asset>
<texture type="skybox" builtin="gradient" width="512" height="512"
rgb1="1 1 1" rgb2="1 1 1"/>
<mesh name="domino" vertex="-1 -1 -1 1 -1 -1 1 1 -1 1 1 1 1 -1 1 -1 1 -1 -1 1 1 -1 -1 1"
scale=".15 1 3"/>
</asset>
<worldbody>
<geom type="box" size="5 5 .1" pos="0 0 -.1"/>
<body pos="-2 0 2.99" euler="0 10 0">
<freejoint/>
<geom type="mesh" name="domino1" mesh="domino" rgba=".1 .1 .1 1"/>
</body>
<body pos="2 0 2.99" euler="0 -10 0">
<freejoint/>
<geom type="mesh" name="domino2" mesh="domino" rgba=".1 .1 .1 1"/>
</body>
</worldbody>
</mujoco>
test/engine/testdata/sensor/fromto_capsule_ellipsoid.xml
Vendored
+32
View File
@@ -0,0 +1,32 @@
<mujoco model="Capsule-Ellipsoid Distance">
<visual>
<headlight ambient=".7 .7 .7"/>
<rgba rangefinder="1 .2 .1 1"/>
</visual>
<option>
<flag gravity="disable"/>
</option>
<asset>
<texture type="skybox" builtin="gradient" width="512" height="512" rgb1="1 1 1" rgb2="1 1 1"/>
</asset>
<default>
<geom rgba=".1 .1 .1 1"/>
</default>
<worldbody>
<body pos="-.5 0 0">
<freejoint/>
<geom name="capsule" type="capsule" size=".15 .30"/>
</body>
<body pos=".5 0 0">
<freejoint/>
<geom name="ellipsoid" type="ellipsoid" size=".10 .10 .15"/>
</body>
</worldbody>
<sensor>
<fromto geom1="capsule" geom2="ellipsoid" cutoff="15"/>
</sensor>
</mujoco>