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Replace margin/gap max with sum.

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PiperOrigin-RevId: 868842521
Change-Id: Ia4a4ca5c6821c5a7b3ba7b0af7f71d981c2866c1
This commit is contained in:
Yuval Tassa
2026-02-11 14:21:37 -08:00
committed by Copybara-Service
parent 336e1026a4
commit 6af0d4c823
9 changed files with 61 additions and 30 deletions
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test/engine/engine_collision_driver_test.cc
+33
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@@ -357,5 +357,38 @@ TEST_F(MjCollisionTest, PinchingSucceeds) {
mj_deleteModel(m);
}
TEST_F(MjCollisionTest, MarginSumming) {
// Two spheres with size 0.1, placed 0.21 apart (distance of 0.01).
// With margin summing, margin1 + margin2 = 0.00999 + 0.00999 = 0.01998 > 0.01
// so a contact should be generated.
constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom name="sphere1" type="sphere" size=".1" margin="0.00999"/>
<joint type="slide" axis="1 0 0"/>
</body>
<body pos=".21 0 0">
<geom name="sphere2" type="sphere" size=".1" margin="0.00999"/>
<joint type="slide" axis="1 0 0"/>
</body>
</worldbody>
</mujoco>
)";
char error[1024];
mjModel* m = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(m, NotNull()) << error;
mjData* d = mj_makeData(m);
ASSERT_THAT(d, NotNull());
mj_fwdPosition(m, d);
// With margin summing, we expect 1 contact
EXPECT_EQ(d->ncon, 1);
mj_deleteData(d);
mj_deleteModel(m);
}
} // namespace
} // namespace mujoco