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Add Flex component.

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PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
This commit is contained in:
Alessio Quaglino
2023-10-12 10:15:46 +01:00
committed by Saran Tunyasuvunakool
parent 649a474788
commit 5a70ad08ab
82 changed files with 9658 additions and 1581 deletions
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test/engine/engine_collision_driver_test.cc
+27 -4
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@@ -41,8 +41,8 @@ static std::vector<GeomPair> colliding_pairs(
const mjModel* model, const mjData* data) {
std::vector<GeomPair> result;
for (int i = 0; i < data->ncon; i++) {
std::string geom1 = mj_id2name(model, mjOBJ_GEOM, data->contact[i].geom1);
std::string geom2 = mj_id2name(model, mjOBJ_GEOM, data->contact[i].geom2);
std::string geom1 = mj_id2name(model, mjOBJ_GEOM, data->contact[i].geom[0]);
std::string geom2 = mj_id2name(model, mjOBJ_GEOM, data->contact[i].geom[1]);
result.push_back(GeomPair(std::min(geom1, geom2), std::max(geom1, geom2)));
}
std::sort(result.begin(), result.end());
@@ -211,14 +211,37 @@ TEST_F(MjCollisionTest, TestOBB) {
mjtNum mat2[9] = {1, 0, 0, 0, 1, 0, 0, 0, 1};
EXPECT_THAT(
mj_collideOBB(bvh1, bvh2, pos1, mat1, pos2, mat2, NULL, NULL, 0), true);
mj_collideOBB(bvh1, bvh2, pos1, mat1, pos2, mat2, 0, NULL, NULL, 0), true);
// rotate by 45 degrees
mat2[0] = 1./mju_sqrt(2.); mat2[1] = -1./mju_sqrt(2.);
mat2[3] = 1./mju_sqrt(2.); mat2[4] = 1./mju_sqrt(2.);
EXPECT_THAT(
mj_collideOBB(bvh1, bvh2, pos1, mat1, pos2, mat2, NULL, NULL, 0), false);
mj_collideOBB(bvh1, bvh2, pos1, mat1, pos2, mat2, 0, NULL, NULL, 0), false);
}
TEST_F(MjCollisionTest, PlaneInBody) {
constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom pos="0 0 0" type="plane" size="1 1 .01"/>
</body>
<body pos="0 0 .0499">
<joint type="slide" axis="0 0 1"/>
<geom size=".05"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* m = LoadModelFromString(xml);
ASSERT_THAT(m, NotNull());
mjData* d = mj_makeData(m);
ASSERT_THAT(d, NotNull());
mj_step(m, d);
mj_deleteData(d);
mj_deleteModel(m);
}
} // namespace