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Add mj_maxContact API function.

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PiperOrigin-RevId: 903135055
Change-Id: I5f103c7d51f97e327c923bc567002ace835f5517
This commit is contained in:
Kyle Bayes
2026-04-21 04:02:34 -07:00
committed by Copybara-Service
parent bc5883e82f
commit 3325971840
13 changed files with 448 additions and 21 deletions
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test/engine/engine_collision_driver_test.cc
+68
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@@ -390,5 +390,73 @@ TEST_F(MjCollisionTest, MarginSumming) {
mj_deleteModel(m);
}
TEST_F(MjCollisionTest, MaxContact) {
constexpr char xml[] = R"(
<mujoco>
<option>
<flag multiccd="enable"/>
</option>
<asset>
<mesh name="smallbox"
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"/>
</asset>
<worldbody>
<geom name="mesh" type="mesh" mesh="smallbox"/>
<geom name="box" type="box" size="1 1 1"/>
<geom name="plane" type="plane" size="1 1 1"/>
<geom name="sphere" type="sphere" size="1"/>
<geom name="capsule" type="capsule" size="1 1"/>
<geom name="ellipsoid" type="ellipsoid" size="1 1 1"/>
<geom name="cylinder" type="cylinder" size="1 1"/>
</worldbody>
</mujoco>
)";
char error[1024];
mjModel* m = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(m, NotNull()) << error;
mjData* d = mj_makeData(m);
ASSERT_THAT(d, NotNull());
int mesh = mj_name2id(m, mjOBJ_GEOM, "mesh");
int box = mj_name2id(m, mjOBJ_GEOM, "box");
int plane = mj_name2id(m, mjOBJ_GEOM, "plane");
int sphere = mj_name2id(m, mjOBJ_GEOM, "sphere");
int capsule = mj_name2id(m, mjOBJ_GEOM, "capsule");
int ellipsoid = mj_name2id(m, mjOBJ_GEOM, "ellipsoid");
int cylinder = mj_name2id(m, mjOBJ_GEOM, "cylinder");
EXPECT_EQ(mj_maxContact(m, mesh, box, -1), 4);
EXPECT_EQ(mj_maxContact(m, mesh, plane, -1), 3);
EXPECT_EQ(mj_maxContact(m, box, plane, -1), 4);
EXPECT_EQ(mj_maxContact(m, mesh, mesh, -1), 4);
EXPECT_EQ(mj_maxContact(m, box, box, -1), 8);
EXPECT_EQ(mj_maxContact(m, capsule, capsule, -1), 2);
EXPECT_EQ(mj_maxContact(m, capsule, box, -1), 4);
EXPECT_EQ(mj_maxContact(m, capsule, plane, -1), 2);
EXPECT_EQ(mj_maxContact(m, cylinder, plane, -1), 4);
EXPECT_EQ(mj_maxContact(m, sphere, sphere, -1), 1);
EXPECT_EQ(mj_maxContact(m, sphere, capsule, -1), 1);
EXPECT_EQ(mj_maxContact(m, sphere, box, -1), 1);
EXPECT_EQ(mj_maxContact(m, sphere, mesh, -1), 1);
EXPECT_EQ(mj_maxContact(m, sphere, plane, -1), 1);
EXPECT_EQ(mj_maxContact(m, sphere, cylinder, -1), 1);
EXPECT_EQ(mj_maxContact(m, ellipsoid, ellipsoid, -1), 1);
EXPECT_EQ(mj_maxContact(m, ellipsoid, box, -1), 1);
EXPECT_EQ(mj_maxContact(m, ellipsoid, mesh, -1), 1);
EXPECT_EQ(mj_maxContact(m, ellipsoid, plane, -1), 1);
EXPECT_EQ(mj_maxContact(m, ellipsoid, cylinder, -1), 1);
EXPECT_EQ(mj_maxContact(m, ellipsoid, capsule, -1), 1);
EXPECT_EQ(mj_maxContact(m, capsule, cylinder, -1), 5);
EXPECT_EQ(mj_maxContact(m, capsule, mesh, -1), 5);
EXPECT_EQ(mj_maxContact(m, cylinder, cylinder, -1), 5);
EXPECT_EQ(mj_maxContact(m, cylinder, box, -1), 5);
EXPECT_EQ(mj_maxContact(m, cylinder, mesh, -1), 5);
mj_deleteData(d);
mj_deleteModel(m);
}
} // namespace
} // namespace mujoco