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Fix a box-box bad collision in NativeCCD.

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PiperOrigin-RevId: 711773153
Change-Id: I8a526ef5933be19d863e67f40edeb95b0b1249cd
This commit is contained in:
Kyle Bayes
2025-01-03 09:21:24 -08:00
committed by Copybara-Service
parent 63e2836f63
commit 340c0d7c97
3 changed files with 62 additions and 16 deletions
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test/engine/engine_collision_gjk_test.cc
+27
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@@ -335,6 +335,33 @@ TEST_F(MjGjkTest, BoxBoxDepth2) {
mj_deleteModel(model);
}
TEST_F(MjGjkTest, BoxBoxTouching) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<geom name="geom1" type="box" pos="0 0 1.859913200000001376466229885409" size="1 1 1"/>
<geom name="geom2" type="box" pos="0 2 1.859913200000001376466229885409" size="1 1 1"/>
</worldbody>
</mujoco>)";
std::array<char, 1000> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
mjData* data = mj_makeData(model);
mj_forward(model, data);
int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
mjtNum dir[3], pos[3];
mjtNum dist = Penetration(model, data, geom1, geom2, dir, pos);
EXPECT_EQ(dist, mjMAXVAL);
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(MjGjkTest, SmallBoxMesh) {
static constexpr char xml[] = R"(
<mujoco>