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Refactor nativeccd interface.

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- Update mj_ccd interface for multi-contacts,
- Support GJK cutoff distance, and
- Remove mjc_fixNormal from nativeccd (causes bug with cylindar box collisions).

PiperOrigin-RevId: 696185362
Change-Id: I4828b7ee1bde078268220172a4937cd553f6187e
This commit is contained in:
Kyle Bayes
2024-11-13 10:27:54 -08:00
committed by Copybara-Service
parent c68ee8055e
commit 0e8cca93e1
6 changed files with 162 additions and 109 deletions
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src/engine/engine_collision_gjk.h
+19 -15
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@@ -16,7 +16,9 @@
#define MUJOCO_SRC_ENGINE_ENGINE_COLLISION_GJK_H_
#include <mujoco/mjexport.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h>
#include "engine/engine_collision_convex.h"
#ifdef __cplusplus
@@ -27,30 +29,32 @@ extern "C" {
struct _mjCCDConfig {
int max_iterations; // the maximum number of iterations for GJK and EPA
mjtNum tolerance; // tolerance used by GJK and EPA
int contacts; // set to true to recover contact (pendetration) info
int distances; // set to true to recover distance info
int max_contacts; // set to max number of contact points to recover
mjtNum dist_cutoff; // set to max geom distance to recover
};
typedef struct _mjCCDConfig mjCCDConfig;
// data produced from running GJK and EPA
struct _mjCCDStatus {
mjtNum x1[3]; // witness point for geom 1
mjtNum x2[3]; // witness point for geom 2
// geom distance information
mjtNum dist; // distance between geoms
mjtNum x1[3 * mjMAXCONPAIR]; // witness points for geom 1
mjtNum x2[3 * mjMAXCONPAIR]; // witness points for geom 2
int nx; // number of witness points
// configurations used
int max_iterations; // the maximum number of iterations for GJK and EPA
mjtNum tolerance; // tolerance used by GJK and EPA
int has_contacts; // set to true if attempted to recover contact (pendetration) info
int has_distances; // set to true if attempted to recover distance info
int max_iterations; // the maximum number of iterations for GJK and EPA
mjtNum tolerance; // tolerance used by GJK and EPA
int max_contacts; // set to max number of contact points to recover
mjtNum dist_cutoff; // set to max geom distance to recover
// statistics for debugging purposes
mjtNum gjk_dist; // the distance returned by GJK
int gjk_iterations; // number of iterations that GJK ran
int epa_iterations; // number of iterations that EPA ran (negative if EPA did not run)
mjtNum simplex1[12]; // the simplex that GJK returned for obj1
mjtNum simplex2[12]; // the simplex that GJK returned for obj2
mjtNum simplex[12]; // the simplex that GJK returned for the Minkowski difference
int nsimplex; // size of simplex 1 & 2
int gjk_iterations; // number of iterations that GJK ran
int epa_iterations; // number of iterations that EPA ran (negative if EPA did not run)
mjtNum simplex1[12]; // the simplex that GJK returned for obj1
mjtNum simplex2[12]; // the simplex that GJK returned for obj2
mjtNum simplex[12]; // the simplex that GJK returned for the Minkowski difference
int nsimplex; // size of simplex 1 & 2
};
typedef struct _mjCCDStatus mjCCDStatus;