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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/testdata/collision_convex/dice.xml
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+46
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<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
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+296
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test/engine/testdata/collision_convex/edge_edge.xml
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+24
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<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
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+32
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<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>