chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Populate missing fields in mjCCDStatus in GJK code.

Browse Source 
PiperOrigin-RevId: 696965759
Change-Id: Idf0799a44876e95fc8d688dd39663a34f1808b27
This commit is contained in:
Kyle Bayes
2024-11-15 12:23:03 -08:00
committed by Copybara-Service
parent f91588a171
commit 0cb35a0fe1
1 changed files with 7 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_collision_gjk.c
+7 -3
View File
@@ -189,7 +189,8 @@ static mjtNum gjk(mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj* obj2) {
status->gjk_iterations = k; status->gjk_iterations = k;
status->nsimplex = 0; status->nsimplex = 0;
status->nx = 0; status->nx = 0;
return mjMAXVAL; status->dist = mjMAXVAL;
return status->dist;
} }
} else if (status->dist_cutoff < mjMAXVAL) { } else if (status->dist_cutoff < mjMAXVAL) {
mjtNum vs = mju_dot3(x_k, s_k), vv = mju_dot3(x_k, x_k); mjtNum vs = mju_dot3(x_k, s_k), vv = mju_dot3(x_k, x_k);
@@ -197,7 +198,8 @@ static mjtNum gjk(mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj* obj2) {
status->gjk_iterations = k; status->gjk_iterations = k;
status->nsimplex = 0; status->nsimplex = 0;
status->nx = 0; status->nx = 0;
return mjMAXVAL; status->dist = mjMAXVAL;
return status->dist;
} }
} }
@@ -208,7 +210,8 @@ static mjtNum gjk(mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj* obj2) {
int ret = gjkIntersect(status, obj1, obj2); int ret = gjkIntersect(status, obj1, obj2);
if (ret != -1) { if (ret != -1) {
status->nx = 0; status->nx = 0;
return ret > 0 ? 0 : mjMAXVAL; status->dist = ret > 0 ? 0 : mjMAXVAL;
return status->dist;
} }
k = status->gjk_iterations; k = status->gjk_iterations;
backup_gjk = 0; backup_gjk = 0;
@@ -398,6 +401,7 @@ static int gjkIntersect(mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj* obj2) {
// found origin outside the Minkowski difference (return no collision) // found origin outside the Minkowski difference (return no collision)
if (dot3(&normals[3*index], simplex + s[index]) < 0) { if (dot3(&normals[3*index], simplex + s[index]) < 0) {
status->nsimplex = 0;
status->gjk_iterations = k; status->gjk_iterations = k;
return 0; return 0;
} }