chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Clean up NativeCCD testing models.

Browse Source 
PiperOrigin-RevId: 830733959
Change-Id: Ie7f71c36d2efafd37aecef54ca4897cebd6d091f
This commit is contained in:
Kyle Bayes
2025-11-10 21:29:42 -08:00
committed by Copybara-Service
parent bfcceb583e
commit 39f0321a68
1 changed files with 44 additions and 97 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/engine/engine_collision_gjk_test.cc
+44 -97
View File
@@ -326,8 +326,8 @@ TEST_F(MjGjkTest, BoxBoxDepth2) {
static constexpr char xml[] = R"( static constexpr char xml[] = R"(
<mujoco> <mujoco>
<worldbody> <worldbody>
<geom name="geom1" type="box" pos="0 0 0" size="5 5 .1"/> <geom name="geom1" type="box" size="5 5 .1"/>
<geom name="geom2" type="box" pos="0 0 0" size="1 1 1"/> <geom name="geom2" type="box" size="1 1 1"/>
</worldbody> </worldbody>
</mujoco>)"; </mujoco>)";
@@ -378,8 +378,8 @@ TEST_F(MjGjkTest, BoxBoxDepth3) {
static constexpr char xml[] = R"( static constexpr char xml[] = R"(
<mujoco> <mujoco>
<worldbody> <worldbody>
<geom name="geom1" type="box" pos="0 0 0" size="0.25 0.25 0.05"/> <geom name="geom1" type="box" size="0.25 0.25 0.05"/>
<geom name="geom2" type="box" pos="0 0 0" size="0.25 0.25 0.05"/> <geom name="geom2" type="box" size="0.25 0.25 0.05"/>
</worldbody> </worldbody>
</mujoco>)"; </mujoco>)";
@@ -792,8 +792,8 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD7) {
static constexpr char xml[] = R"( static constexpr char xml[] = R"(
<mujoco> <mujoco>
<worldbody> <worldbody>
<geom name="geom1" type="box" size=".25 .25 .05" pos="0 0 0"/> <geom name="geom1" type="box" size=".25 .25 .05"/>
<geom name="geom2" type="box" size=".25 .25 .05" pos="0 0 0"/> <geom name="geom2" type="box" size=".25 .25 .05"/>
</worldbody> </worldbody>
</mujoco>)"; </mujoco>)";
@@ -856,8 +856,8 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD8) {
static constexpr char xml[] = R"( static constexpr char xml[] = R"(
<mujoco> <mujoco>
<worldbody> <worldbody>
<geom name="geom1" type="box" size=".25 .25 .05" pos="0 0 0"/> <geom name="geom1" type="box" size=".25 .25 .05"/>
<geom name="geom2" type="box" size=".25 .25 .05" pos="0 0 0"/> <geom name="geom2" type="box" size=".25 .25 .05"/>
</worldbody> </worldbody>
</mujoco>)"; </mujoco>)";
@@ -919,8 +919,8 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD9) {
static constexpr char xml[] = R"( static constexpr char xml[] = R"(
<mujoco> <mujoco>
<worldbody> <worldbody>
<geom name="geom1" type="box" size=".025 .025 .025" pos="0 0 0"/> <geom name="geom1" type="box" size=".025 .025 .025"/>
<geom name="geom2" type="box" size=".025 .025 .025" pos="0 0 0"/> <geom name="geom2" type="box" size=".025 .025 .025"/>
</worldbody> </worldbody>
</mujoco>)"; </mujoco>)";
@@ -983,8 +983,8 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD10) {
static constexpr char xml[] = R"( static constexpr char xml[] = R"(
<mujoco> <mujoco>
<worldbody> <worldbody>
<geom name="geom1" type="box" pos="0 0 0" size="0.025 0.025 0.025"/> <geom name="geom1" type="box" size="0.025 0.025 0.025"/>
<geom name="geom2" type="box" pos="0 0 0" size="0.025 0.025 0.025"/> <geom name="geom2" type="box" size="0.025 0.025 0.025"/>
</worldbody> </worldbody>
</mujoco>)"; </mujoco>)";
@@ -1025,8 +1025,8 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD11) {
static constexpr char xml[] = R"( static constexpr char xml[] = R"(
<mujoco> <mujoco>
<worldbody> <worldbody>
<geom name="geom1" type="box" pos="0 0 0" size="0.025 0.025 0.025"/> <geom name="geom1" type="box" size="0.025 0.025 0.025"/>
<geom name="geom2" type="box" pos="0 0 0" size="0.025 0.025 0.025"/> <geom name="geom2" type="box" size="0.025 0.025 0.025"/>
</worldbody> </worldbody>
</mujoco>)"; </mujoco>)";
@@ -1091,8 +1091,8 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD12) {
static constexpr char xml[] = R"( static constexpr char xml[] = R"(
<mujoco> <mujoco>
<worldbody> <worldbody>
<geom name="geom1" type="box" pos="0 0 0" size="0.025 0.025 0.025"/> <geom name="geom1" type="box" size="0.025 0.025 0.025"/>
<geom name="geom2" type="box" pos="0 0 0" size="0.025 0.025 0.025"/> <geom name="geom2" type="box" size="0.025 0.025 0.025"/>
</worldbody> </worldbody>
</mujoco>)"; </mujoco>)";
@@ -1155,8 +1155,8 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD13) {
static constexpr char xml[] = R"( static constexpr char xml[] = R"(
<mujoco> <mujoco>
<worldbody> <worldbody>
<geom name="geom1" type="box" pos="0 0 0" size="0.02 0.02 0.02"/> <geom name="geom1" type="box" size="0.02 0.02 0.02"/>
<geom name="geom2" type="box" pos="0 0 0" size="0.02 0.02 0.02"/> <geom name="geom2" type="box" size="0.02 0.02 0.02"/>
</worldbody> </worldbody>
</mujoco>)"; </mujoco>)";
@@ -1223,8 +1223,8 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD14) {
static constexpr char xml[] = R"( static constexpr char xml[] = R"(
<mujoco> <mujoco>
<worldbody> <worldbody>
<geom name="geom1" type="box" pos="0 0 0" size="0.02 0.02 0.02"/> <geom name="geom1" type="box" size="0.02 0.02 0.02"/>
<geom name="geom2" type="box" pos="0 0 0" size="0.02 0.02 0.02"/> <geom name="geom2" type="box" size="0.02 0.02 0.02"/>
</worldbody> </worldbody>
</mujoco>)"; </mujoco>)";
@@ -1526,20 +1526,9 @@ TEST_F(MjGjkTest, MeshMeshPrune) {
TEST_F(MjGjkTest, BoxEdge) { TEST_F(MjGjkTest, BoxEdge) {
static constexpr char xml[] = R"( static constexpr char xml[] = R"(
<mujoco> <mujoco>
<option>
<flag nativeccd="enable" multiccd="enable"/>
</option>
<worldbody> <worldbody>
<geom type="box" name="box1" size="5 5 .1" pos="0 0 0"/> <geom type="box" name="box1" size="1 1 1" pos="0 0 2"/>
<body pos="0 0 2"> <geom type="box" name="box2" size="1 1 1" pos="0 0 4.4" euler="0 90 40"/>
<freejoint/>
<geom type="box" name="box2" size="1 1 1"/>
</body>
<body pos="0 0 4.4" euler="0 90 40">
<freejoint/>
<geom type="box" name="box3" size="1 1 1"/>
</body>
</worldbody> </worldbody>
</mujoco>)"; </mujoco>)";
@@ -1550,8 +1539,8 @@ TEST_F(MjGjkTest, BoxEdge) {
mjData* data = mj_makeData(model); mjData* data = mj_makeData(model);
mj_forward(model, data); mj_forward(model, data);
int g1 = mj_name2id(model, mjOBJ_GEOM, "box2"); int g1 = mj_name2id(model, mjOBJ_GEOM, "box1");
int g2 = mj_name2id(model, mjOBJ_GEOM, "box3"); int g2 = mj_name2id(model, mjOBJ_GEOM, "box2");
mjCCDStatus status; mjCCDStatus status;
std::vector<mjtNum> dir, pos; std::vector<mjtNum> dir, pos;
@@ -1566,21 +1555,9 @@ TEST_F(MjGjkTest, BoxEdge) {
TEST_F(MjGjkTest, BoxEdge2) { TEST_F(MjGjkTest, BoxEdge2) {
static constexpr char xml[] = R"( static constexpr char xml[] = R"(
<mujoco> <mujoco>
<option>
<flag nativeccd="enable" multiccd="enable"/>
</option>
<worldbody> <worldbody>
<geom type="box" name="box1" size="5 5 .1" pos="0 0 0"/> <geom type="box" name="box1" size="1 1 1"/>
<body pos="0 0 2"> <geom type="box" name="box2" size="1 1 1"/>
<freejoint/>
<geom type="box" name="box2" size="1 1 1"/>
</body>
<body pos="0 0 4.4" euler="0 90 40">
<freejoint/>
<geom type="box" name="box3" size="1 1 1"/>
</body>
</worldbody> </worldbody>
</mujoco>)"; </mujoco>)";
@@ -1591,8 +1568,8 @@ TEST_F(MjGjkTest, BoxEdge2) {
mjData* data = mj_makeData(model); mjData* data = mj_makeData(model);
mj_forward(model, data); mj_forward(model, data);
mjtNum* xmat = data->geom_xmat + 9; mjtNum* xmat = data->geom_xmat;
mjtNum* xpos = data->geom_xpos + 3; mjtNum* xpos = data->geom_xpos;
xmat[0] = 0.9999979704374094557906005320546682924032; xmat[0] = 0.9999979704374094557906005320546682924032;
xmat[1] = -0.0017789363449516469497385662279498319549; xmat[1] = -0.0017789363449516469497385662279498319549;
@@ -1608,8 +1585,8 @@ TEST_F(MjGjkTest, BoxEdge2) {
xpos[1] = 0.0098645950089783600300830102014515432529; xpos[1] = 0.0098645950089783600300830102014515432529;
xpos[2] = 1.1037596929447945903746131079969927668571; xpos[2] = 1.1037596929447945903746131079969927668571;
xmat = data->geom_xmat + 18; xmat = data->geom_xmat + 9;
xpos = data->geom_xpos + 6; xpos = data->geom_xpos + 3;
xmat[0] = 0.0006737475542006746490053537002040684456; xmat[0] = 0.0006737475542006746490053537002040684456;
xmat[1] = -0.0095603689585630827196816028390458086506; xmat[1] = -0.0095603689585630827196816028390458086506;
@@ -1625,8 +1602,8 @@ TEST_F(MjGjkTest, BoxEdge2) {
xpos[1] = 0.9828851949225971829093850828940048813820; xpos[1] = 0.9828851949225971829093850828940048813820;
xpos[2] = 3.0930077345364814789263618877157568931580; xpos[2] = 3.0930077345364814789263618877157568931580;
int g1 = mj_name2id(model, mjOBJ_GEOM, "box2"); int g1 = mj_name2id(model, mjOBJ_GEOM, "box1");
int g2 = mj_name2id(model, mjOBJ_GEOM, "box3"); int g2 = mj_name2id(model, mjOBJ_GEOM, "box2");
mjCCDStatus status; mjCCDStatus status;
std::vector<mjtNum> dir, pos; std::vector<mjtNum> dir, pos;
@@ -1641,20 +1618,9 @@ TEST_F(MjGjkTest, BoxEdge2) {
TEST_F(MjGjkTest, BoxEdgeEdge) { TEST_F(MjGjkTest, BoxEdgeEdge) {
static constexpr char xml[] = R"( static constexpr char xml[] = R"(
<mujoco> <mujoco>
<option>
<flag nativeccd="enable" multiccd="enable"/>
</option>
<worldbody> <worldbody>
<geom type="box" name="box1" size="5 5 .1" pos="0 0 -.1"/> <geom type="box" name="box1" size=".15 1 3"/>
<body pos="-2 0 2.99" euler="0 10 0"> <geom type="box" name="box2" size=".15 1 3"/>
<freejoint/>
<geom type="box" name="box2" size=".15 1 3"/>
</body>
<body pos="2 0 2.99" euler="0 -10 0">
<freejoint/>
<geom type="box" name="box3" size=".15 1 3"/>
</body>
</worldbody> </worldbody>
</mujoco>)"; </mujoco>)";
@@ -1665,8 +1631,8 @@ TEST_F(MjGjkTest, BoxEdgeEdge) {
mjData* data = mj_makeData(model); mjData* data = mj_makeData(model);
mj_forward(model, data); mj_forward(model, data);
mjtNum* xmat = data->geom_xmat + 9; mjtNum* xmat = data->geom_xmat;
mjtNum* xpos = data->geom_xpos + 3; mjtNum* xpos = data->geom_xpos;
xmat[0] = 0.9182779243587342321575306414160877466202; xmat[0] = 0.9182779243587342321575306414160877466202;
xmat[1] = -0.0000000000000000000364268564068890756444; xmat[1] = -0.0000000000000000000364268564068890756444;
@@ -1682,8 +1648,8 @@ TEST_F(MjGjkTest, BoxEdgeEdge) {
xpos[1] = 0.0000000000000000007148993364299687318184; xpos[1] = 0.0000000000000000007148993364299687318184;
xpos[2] = 2.8141526153588731773425024584867060184479; xpos[2] = 2.8141526153588731773425024584867060184479;
xmat = data->geom_xmat + 18; xmat = data->geom_xmat + 9;
xpos = data->geom_xpos + 6; xpos = data->geom_xpos + 3;
xmat[0] = 0.9182779243587342321575306414160877466202; xmat[0] = 0.9182779243587342321575306414160877466202;
xmat[1] = 0.0000000000000000000728398144756416399722; xmat[1] = 0.0000000000000000000728398144756416399722;
@@ -1699,8 +1665,8 @@ TEST_F(MjGjkTest, BoxEdgeEdge) {
xpos[1] = -0.0000000000000000008679606505055748997840; xpos[1] = -0.0000000000000000008679606505055748997840;
xpos[2] = 2.8141526153588731773425024584867060184479; xpos[2] = 2.8141526153588731773425024584867060184479;
int g1 = mj_name2id(model, mjOBJ_GEOM, "box2"); int g1 = mj_name2id(model, mjOBJ_GEOM, "box1");
int g2 = mj_name2id(model, mjOBJ_GEOM, "box3"); int g2 = mj_name2id(model, mjOBJ_GEOM, "box2");
mjCCDStatus status; mjCCDStatus status;
std::vector<mjtNum> dir, pos; std::vector<mjtNum> dir, pos;
@@ -1715,30 +1681,15 @@ TEST_F(MjGjkTest, BoxEdgeEdge) {
TEST_F(MjGjkTest, MeshEdge) { TEST_F(MjGjkTest, MeshEdge) {
static constexpr char xml[] = R"( static constexpr char xml[] = R"(
<mujoco> <mujoco>
<option>
<flag nativeccd="enable" multiccd="enable"/>
</option>
<asset> <asset>
<mesh name="smallbox" <mesh name="smallbox"
vertex="-1 -1 -1 1 -1 -1 1 1 -1 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 -1 1 -1
-1 1 1 -1 -1 1"/> -1 1 1 -1 -1 1"/>
<mesh name="floor"
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"
scale="5 5 1"/>
</asset> </asset>
<worldbody> <worldbody>
<geom type="mesh" name="box1" mesh="floor" pos="0 0 0"/> <geom type="mesh" mesh="smallbox" name="box1" size="1 1 1" pos="0 0 2"/>
<body pos="0 0 2"> <geom type="mesh" mesh="smallbox" name="box2" size="1 1 1" pos="0 0 4.4" euler="0 90 40"/>
<freejoint/>
<geom type="mesh" mesh="smallbox" name="box2" size="1 1 1"/>
</body>
<body pos="0 0 4.4" euler="0 90 40">
<freejoint/>
<geom type="mesh" mesh="smallbox" name="box3" size="1 1 1"/>
</body>
</worldbody> </worldbody>
</mujoco>)"; </mujoco>)";
@@ -1749,8 +1700,8 @@ TEST_F(MjGjkTest, MeshEdge) {
mjData* data = mj_makeData(model); mjData* data = mj_makeData(model);
mj_forward(model, data); mj_forward(model, data);
int g1 = mj_name2id(model, mjOBJ_GEOM, "box2"); int g1 = mj_name2id(model, mjOBJ_GEOM, "box1");
int g2 = mj_name2id(model, mjOBJ_GEOM, "box3"); int g2 = mj_name2id(model, mjOBJ_GEOM, "box2");
mjCCDStatus status; mjCCDStatus status;
std::vector<mjtNum> dir, pos; std::vector<mjtNum> dir, pos;
@@ -1765,10 +1716,6 @@ TEST_F(MjGjkTest, MeshEdge) {
TEST_F(MjGjkTest, MeshEdge2) { TEST_F(MjGjkTest, MeshEdge2) {
static constexpr char xml[] = R"( static constexpr char xml[] = R"(
<mujoco> <mujoco>
<option>
<flag multiccd="enable"/>
</option>
<asset> <asset>
<mesh name="meshbox" <mesh name="meshbox"
vertex="-1 -1 -1 vertex="-1 -1 -1