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Support arbitrary large meshes in multiccd by reusing EPA memory.

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PiperOrigin-RevId: 947709621
Change-Id: Idc4f168434b9d0a8555c0bed989adb0e99770a78
This commit is contained in:
Kyle Bayes
2026-07-14 08:47:52 -07:00
committed by Copybara-Service
parent 0afafacfc5
commit 2444defc63
18 changed files with 680 additions and 87 deletions
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doc/changelog.rst
+1
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@@ -21,6 +21,7 @@ General
so assets contained in it failed to load. Failures in the ``mjz`` decoder now emit a warning with the underlying
error instead of the generic "could not decode content" message.
- Added support for resource writing via :ref:`mju_writeResource` and the ``write`` callback in :ref:`mjpResourceProvider`.
- Added support for :ref:`multiccd <coMultiCCD>` with arbitrarily large meshes.
.. admonition:: Breaking API changes
:class: attention
doc/includes/references.h
+2
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@@ -643,6 +643,8 @@ typedef struct mjModel_ {
mjtSize nemax; // number of potential equality-constraint rows
mjtSize njmax; // number of available rows in constraint Jacobian (legacy)
mjtSize nconmax; // number of potential contacts in contact list (legacy)
mjtSize npolygonmax; // maximum number of vertices in a mesh polygon
mjtSize nmeshdegmax; // maximum number of edges adjacent to a mesh vertex
mjtSize nuserdata; // number of mjtNums reserved for the user
mjtSize nsensordata; // number of mjtNums in sensor data vector
mjtSize npluginstate; // number of mjtNums in plugin state vector
include/mujoco/mjmodel.h
+2
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@@ -331,6 +331,8 @@ typedef struct mjModel_ {
mjtSize nemax; // number of potential equality-constraint rows
mjtSize njmax; // number of available rows in constraint Jacobian (legacy)
mjtSize nconmax; // number of potential contacts in contact list (legacy)
mjtSize npolygonmax; // maximum number of vertices in a mesh polygon
mjtSize nmeshdegmax; // maximum number of edges adjacent to a mesh vertex
mjtSize nuserdata; // number of mjtNums reserved for the user
mjtSize nsensordata; // number of mjtNums in sensor data vector
mjtSize npluginstate; // number of mjtNums in plugin state vector
include/mujoco/mjxmacro.h
+2
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@@ -246,6 +246,8 @@
X( nemax ) \
X( njmax ) \
X( nconmax ) \
X( npolygonmax ) \
X( nmeshdegmax ) \
X( nuserdata ) \
X( nsensordata ) \
X( npluginstate ) \
python/mujoco/introspect/structs.py
+10
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@@ -1363,6 +1363,16 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='mjtSize'),
doc='number of potential contacts in contact list (legacy)',
),
StructFieldDecl(
name='npolygonmax',
type=ValueType(name='mjtSize'),
doc='maximum number of vertices in a mesh polygon',
),
StructFieldDecl(
name='nmeshdegmax',
type=ValueType(name='mjtSize'),
doc='maximum number of edges adjacent to a mesh vertex',
),
StructFieldDecl(
name='nuserdata',
type=ValueType(name='mjtSize'),
src/engine/engine_collision_convex.c
+6 -1
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@@ -102,11 +102,16 @@ static int mjc_penetration(const mjModel* m, mjData* d, mjCCDObj* obj1, mjCCDObj
config.tolerance = m->opt.ccd_tolerance;
config.max_contacts = ncon;
config.dist_cutoff = 0; // no geom distances needed
config.npolygonmax = m->npolygonmax;
config.nmeshdegmax = m->nmeshdegmax;
if (buffer) {
config.buffer = buffer;
} else {
mj_markStack(d);
config.buffer = mj_stackAllocByte(d, mjc_ccdSize(config.max_iterations), sizeof(mjtNum));
int npolygonmax = mjDISABLED(mjDSBL_MULTICCD) ? 0 : m->npolygonmax;
int nmeshdegmax = mjDISABLED(mjDSBL_MULTICCD) ? 0 : m->nmeshdegmax;
config.buffer = mj_stackAllocByte(d, mjc_ccdSize(npolygonmax, nmeshdegmax,
config.max_iterations), sizeof(mjtNum));
}
if ((dist = mjc_ccd(&config, &status, obj1, obj2)) < 0) {
src/engine/engine_collision_driver.c
+3 -1
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@@ -1887,7 +1887,9 @@ static void collisionTask(const mjModel* m, mjData* d, void* arg, int thread_id,
static void mj_narrowphase(const mjModel* m, mjData* d, const mjcPair* buffer, int npair,
size_t parena) {
int nthread = mju_numThread(d);
int ccd_size = mjc_ccdSize(m->opt.ccd_iterations);
int npolygonmax = mjDISABLED(mjDSBL_MULTICCD) ? 0 : m->npolygonmax;
int nmeshdegmax = mjDISABLED(mjDSBL_MULTICCD) ? 0 : m->nmeshdegmax;
int ccd_size = mjc_ccdSize(npolygonmax, nmeshdegmax, m->opt.ccd_iterations);
mjtNum margin, gap;
// try to balance load of 5 chunks per thread (chunksize should be divisible by 16)
src/engine/engine_collision_gjk.c
+91 -79
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@@ -1619,24 +1619,25 @@ static mjtNum planeIntersect(mjtNum res[3], const mjtNum pn[3], mjtNum pd,
// clip a polygon against another polygon
static void polygonClip(mjCCDStatus* status, const mjtNum* face1, int nface1,
const mjtNum* face2, int nface2, const mjtNum n[3],
const mjtNum dir[3]) {
const mjtNum dir[3], mjtNum* buffer, int npolygonmax) {
// clipping face needs to be at least a triangle
if (nface1 < 3) {
return;
}
mjtNum* polygon = buffer;
mjtNum* clipped = polygon + 6 * npolygonmax;
mjtNum* pn = clipped + 6 * npolygonmax;
mjtNum* pd = pn + 3 * npolygonmax;
// compute plane normal and distance to plane for each vertex
mjtNum pn[3 * mjMAX_POLYVERT], pd[mjMAX_POLYVERT];
for (int i = 0; i < nface1 - 1; i++) {
pd[i] = planeNormal(&pn[3*i], &face1[3*i], &face1[3*i + 3], n);
}
pd[nface1 - 1] = planeNormal(&pn[3*(nface1 - 1)], &face1[3*(nface1 - 1)], &face1[0], n);
// reserve 2 * max_sides as max sides for a clipped polygon
mjtNum polygon1[6 * mjMAX_POLYVERT], polygon2[6 * mjMAX_POLYVERT], *polygon, *clipped;
int npolygon = nface2, nclipped = 0;
polygon = polygon1;
clipped = polygon2;
for (int i = 0; i < nface2; i++) {
copy3(polygon + 3*i, face2 + 3*i);
@@ -1700,16 +1701,6 @@ static void polygonClip(mjCCDStatus* status, const mjtNum* face1, int nface1,
return;
}
// TODO(kylebayes): Consider using a heristic to prune the polygon.
if (npolygon > mjMAXCONPAIR) {
status->nx = mjMAXCONPAIR;
for (int i = 0; i < 3*mjMAXCONPAIR; i += 3) {
copy3(status->x2 + i, polygon + i);
sub3(status->x1 + i, status->x2 + i, dir);
}
return;
}
// if the face is an edge, remove potential duplicates
if (nface2 == 2 && npolygon > 2) {
// find the two most distant vertices in the polygon
@@ -1775,8 +1766,8 @@ static int intersect(int res[2], const int* arr1, const int* arr2, int n, int m)
// compute possible polygon normals of a mesh given up to 3 vertices
static int meshNormals(mjtNum* res, int resind[3], int dim, mjCCDObj* obj,
int v1, int v2, int v3) {
static int meshNormals(mjtNum* res, int resind[3], int dim, mjCCDObj* obj, const int vi[3]) {
int v1 = vi[0], v2 = vi[1], v3 = vi[2];
const int* polymap = obj->data.mesh.polymap;
const mjtNum* polynormal = obj->data.mesh.polynormal;
@@ -1827,7 +1818,6 @@ static int meshNormals(mjtNum* res, int resind[3], int dim, mjCCDObj* obj,
int v1_num = obj->data.mesh.mpolymapnum[v1];
// cap number of possible faces intersecting at a vertex
if (v1_num > mjMAX_POLYVERT) v1_num = mjMAX_POLYVERT;
for (int i = 0; i < v1_num; i++) {
int index = polymap[v1_adr + i];
const mjtNum* normal = polynormal + 3*index;
@@ -1842,7 +1832,9 @@ static int meshNormals(mjtNum* res, int resind[3], int dim, mjCCDObj* obj,
// compute normal directional vectors along possible edges given by up to two vertices
static int meshEdgeNormals(mjtNum* res, mjtNum* endverts, int dim, mjCCDObj* obj,
const mjtNum v1[3], const mjtNum v2[3], int v1i, int v2i) {
const mjtNum v[9], int v1i) {
const mjtNum* v1 = v;
const mjtNum* v2 = v + 3;
// mesh data
const mjtNum* mat = obj->mat;
const mjtNum* pos = obj->pos;
@@ -1860,7 +1852,6 @@ static int meshEdgeNormals(mjtNum* res, mjtNum* endverts, int dim, mjCCDObj* obj
if (dim == 1) {
int v1_adr = obj->data.mesh.mpolymapadr[v1i];
int v1_num = obj->data.mesh.mpolymapnum[v1i];
if (v1_num > mjMAX_POLYVERT) v1_num = mjMAX_POLYVERT;
// loop through all faces with vertex v1
for (int i = 0; i < v1_num; i++) {
@@ -1871,8 +1862,8 @@ static int meshEdgeNormals(mjtNum* res, mjtNum* endverts, int dim, mjCCDObj* obj
for (int j = 0; j < nvert; j++) {
if (polyvert[adr + j] == v1i) {
int k = (j == 0) ? nvert - 1 : j - 1;
const float* v = vert + 3*polyvert[adr + k];
globalcoord(endverts + 3*i, mat, pos, v[0], v[1], v[2]);
const float* vert_k = vert + 3*polyvert[adr + k];
globalcoord(endverts + 3*i, mat, pos, vert_k[0], vert_k[1], vert_k[2]);
sub3(res + 3*i, endverts + 3*i, v1);
mju_normalize3(res + 3*i);
break;
@@ -1913,7 +1904,8 @@ static int boxNormals2(mjtNum res[9], int resind[3], const mjtNum mat[9], const
// compute possible face normals of a box given up to 3 vertices
static int boxNormals(mjtNum res[9], int resind[3], int dim, mjCCDObj* obj,
int v1, int v2, int v3, const mjtNum dir[3]) {
const int vi[3], const mjtNum dir[3]) {
int v1 = vi[0], v2 = vi[1], v3 = vi[2];
const mjtNum* mat = obj->mat;
if (dim == 3) {
int c = 0;
@@ -1967,7 +1959,9 @@ static int boxNormals(mjtNum res[9], int resind[3], int dim, mjCCDObj* obj,
// compute possible edge normals for box for edge collisions
static int boxEdgeNormals(mjtNum res[9], mjtNum endverts[9], int dim, mjCCDObj* obj,
const mjtNum v1[3], const mjtNum v2[3], int v1i, int v2i) {
const mjtNum v[9], int v1i) {
const mjtNum* v1 = v;
const mjtNum* v2 = v + 3;
// box data
const mjtNum* mat = obj->mat;
const mjtNum* pos = obj->pos;
@@ -2059,9 +2053,6 @@ static int meshFace(mjtNum* res, mjCCDObj* obj, int idx) {
int adr = obj->data.mesh.polyvertadr[idx], j = 0;
int nvert = obj->data.mesh.polyvertnum[idx];
if (nvert > mjMAX_POLYVERT) {
nvert = mjMAX_POLYVERT;
}
const float* vert = obj->data.mesh.vert;
const int* polyvert = obj->data.mesh.polyvert + adr;
for (int i = nvert - 1; i >= 0; i--) {
@@ -2105,55 +2096,58 @@ static inline int alignedFaceEdge(int res[2], const mjtNum* edge, int nedge,
// return number (1, 2 or 3) of dimensions of a simplex; reorder vertices if necessary
static inline int simplexDim(int* v1i, int* v2i, int* v3i, mjtNum** v1, mjtNum** v2, mjtNum** v3) {
int val1 = *v1i;
int val2 = *v2i;
int val3 = *v3i;
if (val1 != val2) {
return (val3 == val1 || val3 == val2) ? 2 : 3;
}
if (val1 != val3) {
*v2i = *v3i;
*v2 = *v3;
static inline int simplexDim(int vi[3], mjtNum v[9]) {
if (vi[0] == vi[1]) {
if (vi[0] == vi[2]) return 1;
vi[1] = vi[2];
copy3(v + 3, v + 6);
return 2;
}
return 1;
return (vi[2] == vi[0] || vi[2] == vi[1]) ? 2 : 3;
}
// recover multiple contacts from EPA polytope
static void multicontact(Polytope* pt, Face* face, mjCCDStatus* status,
mjCCDObj* obj1, mjCCDObj* obj2) {
static void multicontact(int nmeshdegmax, int npolygonmax, uint8_t* buffer, Polytope* pt,
Face* face, mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj* obj2) {
if (obj1->geom_type == mjGEOM_MESH && !obj1->data.mesh.mesh_polynum) {
return;
}
if (obj2->geom_type == mjGEOM_MESH && !obj2->data.mesh.mesh_polynum) {
return;
}
if (obj1->geom_type == mjGEOM_BOX || obj2->geom_type == mjGEOM_BOX) {
nmeshdegmax = nmeshdegmax < 3 ? 3 : nmeshdegmax;
npolygonmax = npolygonmax < 4 ? 4 : npolygonmax;
}
mjtNum face1[mjMAX_POLYVERT * 3], face2[mjMAX_POLYVERT * 3], endverts[mjMAX_POLYVERT * 3];
// get vertices of faces from EPA
int verts[3] = EPA_VERT_EXPAND(face->verts);
int v11i = pt->verts[verts[0]].index1;
int v12i = pt->verts[verts[1]].index1;
int v13i = pt->verts[verts[2]].index1;
int v21i = pt->verts[verts[0]].index2;
int v22i = pt->verts[verts[1]].index2;
int v23i = pt->verts[verts[2]].index2;
mjtNum* v11 = pt->verts[verts[0]].vert1;
mjtNum* v12 = pt->verts[verts[1]].vert1;
mjtNum* v13 = pt->verts[verts[2]].vert1;
mjtNum* v21 = pt->verts[verts[0]].vert2;
mjtNum* v22 = pt->verts[verts[1]].vert2;
mjtNum* v23 = pt->verts[verts[2]].vert2;
int v1i[3] = {pt->verts[verts[0]].index1, pt->verts[verts[1]].index1, pt->verts[verts[2]].index1};
int v2i[3] = {pt->verts[verts[0]].index2, pt->verts[verts[1]].index2, pt->verts[verts[2]].index2};
/// save relevant polytope data before overwriting buffer space
mjtNum v1[9], v2[9];
copy3(v1 + 0, pt->verts[verts[0]].vert1);
copy3(v1 + 3, pt->verts[verts[1]].vert1);
copy3(v1 + 6, pt->verts[verts[2]].vert1);
copy3(v2 + 0, pt->verts[verts[0]].vert2);
copy3(v2 + 3, pt->verts[verts[1]].vert2);
copy3(v2 + 6, pt->verts[verts[2]].vert2);
uint8_t* ptr = buffer;
int* idx1 = (int*)ptr; ptr += align8(sizeof(int) * nmeshdegmax);
int* idx2 = (int*)ptr; ptr += align8(sizeof(int) * nmeshdegmax);
mjtNum* n1 = (mjtNum*)ptr; ptr += align8(sizeof(mjtNum) * 3 * nmeshdegmax);
mjtNum* n2 = (mjtNum*)ptr; ptr += align8(sizeof(mjtNum) * 3 * nmeshdegmax);
mjtNum* endverts = (mjtNum*)ptr; ptr += align8(sizeof(mjtNum) * 3 * nmeshdegmax);
mjtNum* face1 = (mjtNum*)ptr; ptr += align8(sizeof(mjtNum) * 3 * npolygonmax);
mjtNum* face2 = (mjtNum*)ptr; ptr += align8(sizeof(mjtNum) * 3 * npolygonmax);
mjtNum* polygon = (mjtNum*)ptr; // buffer for polygonClip
// get dimensions of features of geoms 1 and 2
int nface1 = simplexDim(&v11i, &v12i, &v13i, &v11, &v12, &v13);
int nface2 = simplexDim(&v21i, &v22i, &v23i, &v21, &v22, &v23);
int nface1 = simplexDim(v1i, v1);
int nface2 = simplexDim(v2i, v2);
int nnorms1 = 0, nnorms2 = 0;
mjtNum n1[3 * mjMAX_POLYVERT], n2[3 * mjMAX_POLYVERT]; // normals of possible face collisions
int idx1[mjMAX_POLYVERT], idx2[mjMAX_POLYVERT]; // indices of faces
mjtNum dir[3], dir_neg[3];
sub3(dir, status->x2, status->x1);
@@ -2161,14 +2155,14 @@ static void multicontact(Polytope* pt, Face* face, mjCCDStatus* status,
// get all possible face normals for each geom
if (obj1->geom_type == mjGEOM_BOX) {
nnorms1 = boxNormals(n1, idx1, nface1, obj1, v11i, v12i, v13i, dir_neg);
nnorms1 = boxNormals(n1, idx1, nface1, obj1, v1i, dir_neg);
} else if (obj1->geom_type == mjGEOM_MESH) {
nnorms1 = meshNormals(n1, idx1, nface1, obj1, v11i, v12i, v13i);
nnorms1 = meshNormals(n1, idx1, nface1, obj1, v1i);
}
if (obj2->geom_type == mjGEOM_BOX) {
nnorms2 = boxNormals(n2, idx2, nface2, obj2, v21i, v22i, v23i, dir);
nnorms2 = boxNormals(n2, idx2, nface2, obj2, v2i, dir);
} else if (obj2->geom_type == mjGEOM_MESH) {
nnorms2 = meshNormals(n2, idx2, nface2, obj2, v21i, v22i, v23i);
nnorms2 = meshNormals(n2, idx2, nface2, obj2, v2i);
}
// determine if any two face normals match
@@ -2178,9 +2172,9 @@ static void multicontact(Polytope* pt, Face* face, mjCCDStatus* status,
if (nface1 < 3 && nface1 <= nface2) {
nnorms1 = 0;
if (obj1->geom_type == mjGEOM_BOX) {
nnorms1 = boxEdgeNormals(n1, endverts, nface1, obj1, v11, v12, v11i, v12i);
nnorms1 = boxEdgeNormals(n1, endverts, nface1, obj1, v1, v1i[0]);
} else if (obj1->geom_type == mjGEOM_MESH) {
nnorms1 = meshEdgeNormals(n1, endverts, nface1, obj1, v11, v12, v11i, v12i);
nnorms1 = meshEdgeNormals(n1, endverts, nface1, obj1, v1, v1i[0]);
}
if (!alignedFaceEdge(res, n1, nnorms1, n2, nnorms2)) return;
edgecon1 = 1;
@@ -2189,9 +2183,9 @@ static void multicontact(Polytope* pt, Face* face, mjCCDStatus* status,
} else if (nface2 < 3) {
nnorms2 = 0;
if (obj2->geom_type == mjGEOM_BOX) {
nnorms2 = boxEdgeNormals(n2, endverts, nface2, obj2, v21, v22, v21i, v22i);
nnorms2 = boxEdgeNormals(n2, endverts, nface2, obj2, v2, v2i[0]);
} else if (obj2->geom_type == mjGEOM_MESH) {
nnorms2 = meshEdgeNormals(n2, endverts, nface2, obj2, v21, v22, v21i, v22i);
nnorms2 = meshEdgeNormals(n2, endverts, nface2, obj2, v2, v2i[0]);
}
if (!alignedFaceEdge(res, n2, nnorms2, n1, nnorms1)) return;
edgecon2 = 1;
@@ -2204,7 +2198,7 @@ static void multicontact(Polytope* pt, Face* face, mjCCDStatus* status,
// recover geom1 matching edge or face
if (edgecon1) {
copy3(face1, pt->verts[verts[0]].vert1);
copy3(face1, v1);
copy3(face1 + 3, endverts + 3*i);
nface1 = 2;
} else {
@@ -2219,7 +2213,7 @@ static void multicontact(Polytope* pt, Face* face, mjCCDStatus* status,
// recover geom2 matching edge or face
if (edgecon2) {
copy3(face2, pt->verts[verts[0]].vert2);
copy3(face2, v2);
copy3(face2 + 3, endverts + 3*i);
nface2 = 2;
} else {
@@ -2238,7 +2232,7 @@ static void multicontact(Polytope* pt, Face* face, mjCCDStatus* status,
// face1 is an edge; clip face1 against face2
if (edgecon1) {
scl3(approx_dir, n2 + 3*j, -norm3(dir));
polygonClip(status, face2, nface2, face1, nface1, n2 + 3*j, approx_dir);
polygonClip(status, face2, nface2, face1, nface1, n2 + 3*j, approx_dir, polygon, npolygonmax);
// x1 and x2 must be flipped as we flipped the faces in polygonClip
int nx = status->nx;
for (int k = 0; k < nx; k++) {
@@ -2253,13 +2247,13 @@ static void multicontact(Polytope* pt, Face* face, mjCCDStatus* status,
// face2 is an edge; clip face2 against face1
if (edgecon2) {
scl3(approx_dir, n1 + 3*j, -norm3(dir));
polygonClip(status, face1, nface1, face2, nface2, n1 + 3*j, approx_dir);
polygonClip(status, face1, nface1, face2, nface2, n1 + 3*j, approx_dir, polygon, npolygonmax);
return;
}
// face-face collision
scl3(approx_dir, n2 + 3*j, norm3(dir));
polygonClip(status, face1, nface1, face2, nface2, n1 + 3*i, approx_dir);
polygonClip(status, face1, nface1, face2, nface2, n1 + 3*i, approx_dir, polygon, npolygonmax);
}
@@ -2284,12 +2278,29 @@ static inline void inflate(mjCCDStatus* status, mjtNum margin1, mjtNum margin2)
// return size in bytes of the buffer needed for mjc_ccd for a given number of iterations
size_t mjc_ccdSize(int iterations) {
return align8(sizeof(Vertex) * (5 + iterations)) // vertices in polytope
+ align8(sizeof(Face) * 6 * iterations) // faces in polytope
+ align8(sizeof(Face*) * 6 * iterations) // map in polytope
+ align8(sizeof(int) * 24) // horizon indices
+ align8(sizeof(int) * 24); // horizon edges
size_t mjc_ccdSize(int npolygonmax, int nmeshdegmax, int iterations) {
size_t epa_size = align8(sizeof(Vertex) * (5 + iterations)) // vertices in polytope
+ align8(sizeof(Face) * 6 * iterations) // faces in polytope
+ align8(sizeof(Face*) * 6 * iterations) // map in polytope
+ align8(sizeof(int) * 24) // horizon indices
+ align8(sizeof(int) * 24); // horizon edges
// allocate room for box geoms (multicontact is hardwired for box-box collisions)
npolygonmax = npolygonmax < 4 ? 4 : npolygonmax;
nmeshdegmax = nmeshdegmax < 3 ? 3 : nmeshdegmax;
size_t multiccd_size = align8(sizeof(mjtNum) * 3 * 2 * npolygonmax)
+ align8(sizeof(mjtNum) * 3 * 2 * npolygonmax)
+ align8(sizeof(mjtNum) * 3 * npolygonmax)
+ align8(sizeof(mjtNum) * npolygonmax)
+ align8(sizeof(int) * nmeshdegmax)
+ align8(sizeof(int) * nmeshdegmax)
+ align8(sizeof(mjtNum) * 3 * nmeshdegmax)
+ align8(sizeof(mjtNum) * 3 * nmeshdegmax)
+ align8(sizeof(mjtNum) * 3 * nmeshdegmax)
+ align8(sizeof(mjtNum) * 3 * npolygonmax)
+ align8(sizeof(mjtNum) * 3 * npolygonmax);
return epa_size > multiccd_size ? epa_size : multiccd_size;
}
@@ -2405,7 +2416,8 @@ mjtNum mjc_ccd(const mjCCDConfig* config, mjCCDStatus* status, mjCCDObj* obj1, m
if (!ret) {
Face* face = epa(status, &pt, obj1, obj2);
if (config->max_contacts > 1 && face) {
multicontact(&pt, face, status, obj1, obj2);
multicontact(config->nmeshdegmax, config->npolygonmax, config->buffer, &pt, face, status,
obj1, obj2);
}
}
}
src/engine/engine_collision_gjk.h
+3 -4
View File
@@ -19,7 +19,6 @@
#include <stddef.h>
#include <mujoco/mjexport.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjtype.h>
#include "engine/engine_collision_convex.h"
@@ -43,8 +42,6 @@ extern "C" {
#define mjEDGE_TOL 0.00159999931
#endif
// max number of supported vertices in a polygon face of a mesh
#define mjMAX_POLYVERT 150
// Status of an EPA run
typedef enum {
@@ -77,6 +74,8 @@ typedef struct {
int max_contacts; // set to max number of contact points to recover
mjtNum dist_cutoff; // set to max geom distance to recover
void* buffer; // buffer memory for polytope (should be sized given by mjc_ccdSize)
int npolygonmax; // max number of vertices in a mesh polygon
int nmeshdegmax; // max number of edges adjacent to a mesh vertex
} mjCCDConfig;
// data produced from running GJK and EPA
@@ -102,7 +101,7 @@ typedef struct {
} mjCCDStatus;
// return size in bytes of the buffer needed for mjc_ccd for a given number of iterations
MJAPI size_t mjc_ccdSize(int iterations);
MJAPI size_t mjc_ccdSize(int npolygonmax, int nmeshdegmax, int iterations);
// run general convex collision detection, returns positive for distance, negative for penetration
MJAPI mjtNum mjc_ccd(const mjCCDConfig* config, mjCCDStatus* status, mjCCDObj* obj1, mjCCDObj* obj2);
src/engine/engine_io.c
+2
View File
@@ -249,6 +249,7 @@ void mj_makeModel(mjModel** dest,
{
// dummy variables for MJMODEL_SIZES set after mjModel construction
int nnames_map = 0, nJmom = 0, ngravcomp = 0, nemax = 0, njmax = 0, nconmax=0;
int npolygonmax = 0, nmeshdegmax = 0;
int nuserdata=0, nsensordata=0, npluginstate=0, nhistory=0, narena=0, nbuffer=0;
// sizes must be non-negative and fit in int, except for the byte arrays texdata and textdata
@@ -268,6 +269,7 @@ void mj_makeModel(mjModel** dest,
// suppress unused variable warnings
(void)nnames_map; (void)nJmom; (void)ngravcomp; (void)nemax; (void)njmax; (void)nconmax;
(void)npolygonmax; (void)nmeshdegmax;
(void)nuserdata; (void)nsensordata; (void)npluginstate; (void)nhistory; (void)narena;
(void)nbuffer;
}
src/engine/engine_setconst.c
+11
View File
@@ -1321,6 +1321,17 @@ static void setSpring(mjModel* m, mjData* d) {
// entry point: set all remaining constant fields of mjModel, except for lengthrange
void mj_setConst(mjModel* m, mjData* d) {
// compute npolygonmax and nmeshdegmax
m->npolygonmax = 0;
for (int i=0; i < m->nmeshpoly; i++) {
m->npolygonmax = mjMAX(m->npolygonmax, m->mesh_polyvertnum[i]);
}
m->nmeshdegmax = 0;
for (int i=0; i < m->nmeshvert; i++) {
m->nmeshdegmax = mjMAX(m->nmeshdegmax, m->mesh_polymapnum[i]);
}
// recompute sameframe flags from current model geometry
setSameframe(m);
src/engine/engine_support.c
+3 -1
View File
@@ -525,9 +525,11 @@ static mjtNum mj_geomDistanceCCD(const mjModel* m, mjData* d, int g1, int g2,
// set config
config.max_iterations = m->opt.ccd_iterations;
config.tolerance = m->opt.ccd_tolerance;
config.npolygonmax = 0;
config.nmeshdegmax = 0;
config.max_contacts = 1; // want contacts
config.dist_cutoff = distmax; // want geom distances
config.buffer = mj_stackAllocByte(d, mjc_ccdSize(config.max_iterations), sizeof(mjtNum));
config.buffer = mj_stackAllocByte(d, mjc_ccdSize(0, 0, config.max_iterations), sizeof(mjtNum));
mjCCDObj obj1, obj2;
mjc_initCCDObj(&obj1, m, d, g1, 0);
test/engine/engine_collision_gjk_test.cc
+4 -1
View File
@@ -125,11 +125,14 @@ int Penetration(mjCCDStatus& status, mjtNum& depth, std::vector<mjtNum>& dir,
mjCCDConfig config;
// set config
auto buffer = std::vector<std::byte>(mjc_ccdSize(kMaxIterations));
auto buffer = std::vector<std::byte>(
mjc_ccdSize(model->npolygonmax, model->nmeshdegmax, kMaxIterations));
config.max_iterations = kMaxIterations;
config.tolerance = kTolerance;
config.max_contacts = max_contacts;
config.dist_cutoff = 0; // no geom distances needed
config.npolygonmax = model->npolygonmax;
config.nmeshdegmax = model->nmeshdegmax;
config.max_contacts = max_contacts;
config.buffer = buffer.data();
test/engine/testdata/collision_convex/cone.obj
Vendored
+502
View File
@@ -0,0 +1,502 @@
# Unit cone with 500 base vertices
v 0.0 0.0 1.0
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v 0.999921 0.012566 -1.0
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v 0.994951 0.100362 -1.0
v 0.993611 0.112856 -1.0
v 0.992115 0.125333 -1.0
v 0.990461 0.137790 -1.0
v 0.988652 0.150226 -1.0
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v 0.984564 0.175023 -1.0
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v 0.979855 0.199710 -1.0
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v 0.150226 -0.988652 -1.0
v 0.162637 -0.986686 -1.0
v 0.175023 -0.984564 -1.0
v 0.187381 -0.982287 -1.0
v 0.199710 -0.979855 -1.0
v 0.212007 -0.977268 -1.0
v 0.224271 -0.974527 -1.0
v 0.236499 -0.971632 -1.0
v 0.248690 -0.968583 -1.0
v 0.260842 -0.965382 -1.0
v 0.272952 -0.962028 -1.0
v 0.285019 -0.958522 -1.0
v 0.297042 -0.954865 -1.0
v 0.309017 -0.951057 -1.0
v 0.320944 -0.947098 -1.0
v 0.332820 -0.942991 -1.0
v 0.344643 -0.938734 -1.0
v 0.356412 -0.934329 -1.0
v 0.368125 -0.929776 -1.0
v 0.379779 -0.925077 -1.0
v 0.391374 -0.920232 -1.0
v 0.402906 -0.915241 -1.0
v 0.414376 -0.910106 -1.0
v 0.425779 -0.904827 -1.0
v 0.437116 -0.899405 -1.0
v 0.448383 -0.893841 -1.0
v 0.459580 -0.888136 -1.0
v 0.470704 -0.882291 -1.0
v 0.481754 -0.876307 -1.0
v 0.492727 -0.870184 -1.0
v 0.503623 -0.863923 -1.0
v 0.514440 -0.857527 -1.0
v 0.525175 -0.850994 -1.0
v 0.535827 -0.844328 -1.0
v 0.546394 -0.837528 -1.0
v 0.556876 -0.830596 -1.0
v 0.567269 -0.823533 -1.0
v 0.577573 -0.816339 -1.0
v 0.587785 -0.809017 -1.0
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v 0.607930 -0.793990 -1.0
v 0.617860 -0.786288 -1.0
v 0.627691 -0.778462 -1.0
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test/engine/testdata/collision_convex/conemesh_box.xml
Vendored
+22
View File
@@ -0,0 +1,22 @@
<mujoco>
<visual>
<headlight ambient=".4 .4 .4" diffuse=".8 .8 .8" specular=".1 .1 .1"/>
<scale forcewidth="0.01" contactwidth="0.05" contactheight="0.05"/>
<map force="0.1"/>
</visual>
<asset>
<mesh file="cone.obj"/>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
</asset>
<worldbody>
<light pos="1 -1 1.5" dir="-1 1 -1.5" diffuse=".7 .7 .7"/>
<light pos="-1 1 1.5" dir="1 -1 -1.5" diffuse=".4 .4 .4"/>
<geom type="box" size="1 1 .3" pos="0 0 -.3" rgba=".3 .3 .3 1"/>
<body pos="0 0 1">
<freejoint/>
<geom type="mesh" mesh="cone" rgba=".7 .7 .7 1"/>
</body>
</worldbody>
</mujoco>
unity/Runtime/Bindings/MjBindings.cs
+2
View File
@@ -1102,6 +1102,8 @@ public unsafe struct mjModel_ {
public UInt64 nemax;
public UInt64 njmax;
public UInt64 nconmax;
public UInt64 npolygonmax;
public UInt64 nmeshdegmax;
public UInt64 nuserdata;
public UInt64 nsensordata;
public UInt64 npluginstate;
wasm/codegen/generated/bindings.cc
+2
View File
@@ -5148,6 +5148,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("nlight", &MjModel::nlight, &MjModel::set_nlight, reference())
.property("nmat", &MjModel::nmat, &MjModel::set_nmat, reference())
.property("nmesh", &MjModel::nmesh, &MjModel::set_nmesh, reference())
.property("nmeshdegmax", &MjModel::nmeshdegmax, &MjModel::set_nmeshdegmax, reference())
.property("nmeshface", &MjModel::nmeshface, &MjModel::set_nmeshface, reference())
.property("nmeshgraph", &MjModel::nmeshgraph, &MjModel::set_nmeshgraph, reference())
.property("nmeshnormal", &MjModel::nmeshnormal, &MjModel::set_nmeshnormal, reference())
@@ -5167,6 +5168,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("nplugin", &MjModel::nplugin, &MjModel::set_nplugin, reference())
.property("npluginattr", &MjModel::npluginattr, &MjModel::set_npluginattr, reference())
.property("npluginstate", &MjModel::npluginstate, &MjModel::set_npluginstate, reference())
.property("npolygonmax", &MjModel::npolygonmax, &MjModel::set_npolygonmax, reference())
.property("nq", &MjModel::nq, &MjModel::set_nq, reference())
.property("nsensor", &MjModel::nsensor, &MjModel::set_nsensor, reference())
.property("nsensordata", &MjModel::nsensordata, &MjModel::set_nsensordata, reference())
wasm/codegen/generated/bindings.h
+12
View File
@@ -4221,6 +4221,18 @@ struct MjModel {
void set_nconmax(int value) {
ptr_->nconmax = static_cast<mjtSize>(value);
}
int npolygonmax() const {
return static_cast<int>(ptr_->npolygonmax);
}
void set_npolygonmax(int value) {
ptr_->npolygonmax = static_cast<mjtSize>(value);
}
int nmeshdegmax() const {
return static_cast<int>(ptr_->nmeshdegmax);
}
void set_nmeshdegmax(int value) {
ptr_->nmeshdegmax = static_cast<mjtSize>(value);
}
int nuserdata() const {
return static_cast<int>(ptr_->nuserdata);
}