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Fix support for deep penetration in plane-convex.

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PiperOrigin-RevId: 625088511
Change-Id: I30bd4d475f4bfde98b5ae6254dd67bbe0fc09c08
This commit is contained in:
Baruch Tabanpour
2024-04-15 14:41:40 -07:00
committed by Copybara-Service
parent 7b3f1a0261
commit 38fa5083eb
1 changed files with 1 additions and 1 deletions
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mjx/mujoco/mjx/_src/collision_convex.py
+1 -1
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@@ -186,7 +186,7 @@ def plane_convex(plane: GeomInfo, convex: GeomInfo) -> Contact:
plane_pos = convex.mat.T @ (plane.pos - convex.pos) plane_pos = convex.mat.T @ (plane.pos - convex.pos)
n = convex.mat.T @ plane.mat[:, 2] n = convex.mat.T @ plane.mat[:, 2]
support = (plane_pos - vert) @ n support = (plane_pos - vert) @ n
idx = _manifold_points(vert, support > 0, n) idx = _manifold_points(vert, support > jp.maximum(0, support.max() - 1e-4), n)
pos = vert[idx] pos = vert[idx]
# convert to world frame # convert to world frame