Support 0-simplex in GJK code, and refactor code for efficiency and readability.

PiperOrigin-RevId: 764197889 Change-Id: Ie0d57474060a34a6b908be0386094f442cda448a
2025-05-28 04:18:01 -07:00
parent 1fbbfd8079
commit 56b88b59f0
2 changed files with 61 additions and 49 deletions
@@ -468,7 +468,7 @@ TEST_F(MjGjkTest, BoxBoxTouching) {
  int ncons = Penetration(status, dist, dir, pos, model, data, geom1, geom2);

  EXPECT_EQ(ncons, 0);
-  EXPECT_GT(status.epa_status, 0);
+  EXPECT_EQ(status.epa_status, -1);

  mj_deleteData(data);
  mj_deleteModel(model);