From 66156c7d9a35de9941b57391b46e8188edd80500 Mon Sep 17 00:00:00 2001 From: Kyle Bayes Date: Thu, 4 Jun 2026 07:36:31 -0700 Subject: [PATCH] Update tolerances on engine_collision_gjk_test.cc to run with single precision. PiperOrigin-RevId: 926681633 Change-Id: I14f7b756fd3cf7b8f797b5f7b917efba00006b88 --- test/engine/engine_collision_gjk_test.cc | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/test/engine/engine_collision_gjk_test.cc b/test/engine/engine_collision_gjk_test.cc index 64c51937..8f55a7cc 100644 --- a/test/engine/engine_collision_gjk_test.cc +++ b/test/engine/engine_collision_gjk_test.cc @@ -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) {