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Only correct box-box collisions with the mjc_BoxBox function.

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PiperOrigin-RevId: 716209565
Change-Id: I3419ce82f9934606bed80acd8372284fc7ac7ac8
This commit is contained in:
Kyle Bayes
2025-01-16 06:21:34 -08:00
committed by Copybara-Service
parent 26bac8c8af
commit 4da2ddce29
1 changed files with 5 additions and 3 deletions
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src/engine/engine_collision_driver.c
+5 -3
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@@ -1461,8 +1461,10 @@ void mj_collideGeoms(const mjModel* m, mjData* d, int g1, int g2) {
type1 = m->geom_type[g1]; type1 = m->geom_type[g1];
type2 = m->geom_type[g2]; type2 = m->geom_type[g2];
mjfCollision collisionFunc = mjCOLLISIONFUNC[type1][type2];
// return if no collision function // return if no collision function
if (!mjCOLLISIONFUNC[type1][type2]) { if (!collisionFunc) {
return; return;
} }
@@ -1503,7 +1505,7 @@ void mj_collideGeoms(const mjModel* m, mjData* d, int g1, int g2) {
} }
// call collision detector to generate contacts // call collision detector to generate contacts
num = mjCOLLISIONFUNC[type1][type2](m, d, con, g1, g2, margin); num = collisionFunc(m, d, con, g1, g2, margin);
// check contacts // check contacts
if (!num) { if (!num) {
@@ -1517,7 +1519,7 @@ void mj_collideGeoms(const mjModel* m, mjData* d, int g1, int g2) {
} }
// remove bad and repeated contacts in box-box // remove bad and repeated contacts in box-box
if (type1 == mjGEOM_BOX && type2 == mjGEOM_BOX) { if (collisionFunc == mjc_BoxBox) {
// use dim field to mark: -1: bad, 0: good // use dim field to mark: -1: bad, 0: good
for (int i=0; i < num; i++) { for (int i=0; i < num; i++) {
con[i].dim = 0; con[i].dim = 0;