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Update tolerances on engine_collision_gjk_test.cc to run with single precision.

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PiperOrigin-RevId: 926681633
Change-Id: I14f7b756fd3cf7b8f797b5f7b917efba00006b88
This commit is contained in:
Kyle Bayes
2026-06-04 07:36:31 -07:00
committed by Copybara-Service
parent dadd624255
commit 66156c7d9a
1 changed files with 10 additions and 10 deletions
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test/engine/engine_collision_gjk_test.cc
+10 -10
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@@ -344,9 +344,9 @@ TEST_F(MjGjkTest, BoxBoxDepth2) {
ASSERT_EQ(ncons, 1);
EXPECT_NEAR(dist, -0.033401579411886845, kTolerance);
EXPECT_NEAR(dir[0], 0, kTolerance);
EXPECT_NEAR(dir[1], 0, kTolerance);
EXPECT_NEAR(dir[2], 1, kTolerance);
EXPECT_THAT(dir[0], MjNear(0, kTolerance, 1e-5));
EXPECT_THAT(dir[1], MjNear(0, kTolerance, 1e-5));
EXPECT_THAT(dir[2], MjNear(1, kTolerance, 1e-5));
}
TEST_F(MjGjkTest, BoxBoxDepth3) {
@@ -726,10 +726,10 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD5) {
int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 1000);
ASSERT_EQ(ncons, 8);
EXPECT_NEAR(dist, -0.0001077858631973211, kTolerance);
EXPECT_NEAR(dir[0], 0.00019065, kTolerance);
EXPECT_NEAR(dir[1], -8.6494189274575805e-05, kTolerance);
EXPECT_THAT(dist, MjNear(-0.0001077858631973211, kTolerance, 1e-4));
EXPECT_THAT(dir[0], MjNear(0.00019065, kTolerance, 1e-4));
EXPECT_THAT(dir[1], MjNear(-0.00008649, kTolerance, 1e-4));
EXPECT_NEAR(dir[2], -1, kTolerance);
}
@@ -772,11 +772,11 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD6) {
int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 1000);
ASSERT_EQ(ncons, 5);
EXPECT_NEAR(dist, -0.00009843, kTolerance);
EXPECT_THAT(dist, MjNear(-0.00009843, kTolerance, 1e-4));
EXPECT_NEAR(dir[0], -0.0008879306751646528, kTolerance);
EXPECT_NEAR(dir[1], -0.00046014397575771832, kTolerance);
EXPECT_NEAR(dir[2], 1, kTolerance);
EXPECT_THAT(dir[0], MjNear(-0.0008879, kTolerance, 1e-4));
EXPECT_THAT(dir[1], MjNear(-0.0004601, kTolerance, 1e-3));
EXPECT_NEAR(dir[2], 0.9999994, kTolerance);
}
TEST_F(MjGjkTest, BoxBoxMultiCCD7) {