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Add mj_geomDistance API function and sensors for geometric distance, normal direction and segment between between two geoms. Fixes #51

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PiperOrigin-RevId: 632458301
Change-Id: I65b7e5bb0df59008028114cf4a07e0d6365ff3d3
This commit is contained in:
Yuval Tassa
2024-05-10 04:51:46 -07:00
committed by Copybara-Service
parent 31de1dad9d
commit 02d015458c
29 changed files with 1002 additions and 66 deletions
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test/engine/testdata/sensor/fromto_convex.xml
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<mujoco model="Convex-Convex collisions">
<option>
<flag gravity="disable"/>
</option>
<asset>
<mesh name="halfbox1" scale=".2 .3 .1"
vertex="0 0 0 1 0 0 0 1 0 1 1 0
0 0 1 1 0 1 0 1 1 "/>
<mesh name="halfbox2" scale=".2 .3 .1"
vertex="1 0 0 0 1 0 1 1 0
0 0 1 1 0 1 0 1 1 "/>
<hfield name="hfield" nrow="3" ncol="4" size="1 1 .1 .08"
elevation="1 0 1 2
0 2 1 1
1 0 1 0"/>
</asset>
<default>
<geom rgba=".2 .2 .6 1"/>
</default>
<worldbody>
<light pos=".5 0 3"/>
<light pos="-.5 0 3"/>
<geom name="hfield" type="hfield" hfield="hfield" rgba="0.5 0.5 0.5 1"/>
<body pos=".2 0 .6">
<freejoint/>
<geom name="sphere" type="sphere" size=".15"/>
</body>
<body pos="0 0 .3">
<freejoint/>
<geom name="ellipsoid" type="ellipsoid" size=".1 .1 .2"/>
</body>
<body pos=".4 0 .3">
<freejoint/>
<geom name="cylinder" type="cylinder" size=".1 .15"/>
</body>
<body pos="-.5 0 .3">
<freejoint/>
<geom name="box" type="box" size=".2 .15 .1"/>
</body>
<body pos="-.5 0 .6">
<freejoint/>
<geom name="mesh1" type="mesh" mesh="halfbox1"/>
</body>
<body pos="-.5 -.6 .3">
<freejoint/>
<geom name="mesh2" type="mesh" mesh="halfbox2"/>
</body>
</worldbody>
<sensor>
<fromto geom1="ellipsoid" geom2="box" cutoff="1"/>
<fromto geom1="ellipsoid" geom2="cylinder" cutoff="1"/>
<fromto geom1="ellipsoid" geom2="mesh2" cutoff="1"/>
<fromto geom1="ellipsoid" geom2="hfield" cutoff="1"/>
<fromto geom1="mesh1" geom2="sphere" cutoff="1"/>
<fromto geom1="mesh1" geom2="box" cutoff="1"/>
<fromto geom1="mesh1" geom2="mesh2" cutoff="1"/>
<fromto geom1="hfield" geom2="sphere" cutoff="1"/>
<fromto geom1="hfield" geom2="box" cutoff="1"/>
<fromto geom1="hfield" geom2="mesh1" cutoff="1"/>
<fromto geom1="ellipsoid" geom2="box" cutoff="0.2"/>
<fromto geom1="ellipsoid" geom2="cylinder" cutoff="0.2"/>
<fromto geom1="ellipsoid" geom2="mesh2" cutoff="0.2"/>
<fromto geom1="ellipsoid" geom2="hfield" cutoff="0.2"/>
<fromto geom1="mesh1" geom2="sphere" cutoff="0.2"/>
<fromto geom1="mesh1" geom2="box" cutoff="0.2"/>
<fromto geom1="mesh1" geom2="mesh2" cutoff="0.2"/>
<fromto geom1="hfield" geom2="sphere" cutoff="0.2"/>
<fromto geom1="hfield" geom2="box" cutoff="0.2"/>
<fromto geom1="hfield" geom2="mesh1" cutoff="0.2"/>
</sensor>
</mujoco>