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Exit GJK early if geom distance doesn't need to be recovered.

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PiperOrigin-RevId: 672334991
Change-Id: I4af582c799140ccf3ac4d51952e547b08ab5d55e
This commit is contained in:
Kyle Bayes
2024-09-08 14:57:08 -07:00
committed by Copybara-Service
parent 61721f8d3c
commit 44145742a7
3 changed files with 19 additions and 2 deletions
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test/engine/engine_collision_gjk_test.cc
+9 -2
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@@ -49,12 +49,19 @@ void mjccd_support(const void *obj, const ccd_vec3_t *_dir, ccd_vec3_t *vec) {
mjtNum GeomDist(mjModel* m, mjData* d, int g1, int g2, mjtNum x1[3],
mjtNum x2[3]) {
mjCCDConfig config = {kMaxIterations, kTolerance};
mjCCDConfig config;
mjCCDStatus status;
// set config
config.max_iterations = kMaxIterations,
config.tolerance = kTolerance,
config.contacts = 0; // no geom contacts needed
config.distances = 1; // no geom distances needed
mjCCDObj obj1 = {m, d, g1, -1, -1, -1, -1, 0, {1, 0, 0, 0}, mjc_center,
mjc_support};
mjCCDObj obj2 = {m, d, g2, -1, -1, -1, -1, 0, {1, 0, 0, 0}, mjc_center,
mjc_support};
mjCCDStatus status;
mjtNum dist = mjc_ccd(&config, &status, &obj1, &obj2);
if (x1 != nullptr) mju_copy3(x1, status.x1);
if (x2 != nullptr) mju_copy3(x2, status.x2);