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Circumvent bug in mjc_BoxBox.

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The box-box collider sometimes outputs bad contact points which are far outside one of the two boxes. This happens at configurations which are very rare numerically, but rare configurations (e.g. perfect box alignment) are often induced by the designer and the physics, making them actually not-so-rare.

Since the box collision functions are very difficult to understand, we circumvent the issue by extending the post processing code to detect and remove such contacts.

PiperOrigin-RevId: 589178197
Change-Id: I82b8a888ef04f9196111c960757e3314d0ab6d8e
This commit is contained in:
Yuval Tassa
2023-12-08 10:38:39 -08:00
committed by Copybara-Service
parent a006b15958
commit 7942fe957e
9 changed files with 381 additions and 24 deletions
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src/engine/engine_collision_primitive.h
+23 -22
View File
@@ -16,6 +16,7 @@
#define MUJOCO_SRC_ENGINE_ENGINE_COLLISION_PRIMITIVE_H_
#include <mujoco/mjdata.h>
#include <mujoco/mjexport.h>
#include <mujoco/mjmodel.h>
// define and extract geom info
@@ -47,32 +48,32 @@ int mjraw_SphereTriangle(mjContact* con, mjtNum margin,
const mjtNum* t1, const mjtNum* t2, const mjtNum* t3, mjtNum rt);
// plane collisions
int mjc_PlaneSphere (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
int mjc_PlaneCapsule (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
int mjc_PlaneCylinder (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
int mjc_PlaneBox (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
MJAPI int mjc_PlaneSphere (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
MJAPI int mjc_PlaneCapsule (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
MJAPI int mjc_PlaneCylinder (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
MJAPI int mjc_PlaneBox (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
// sphere and capsule collisions
int mjc_SphereSphere (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
int mjc_SphereCapsule (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
int mjc_SphereCylinder (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
int mjc_CapsuleCapsule (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
MJAPI int mjc_SphereSphere (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
MJAPI int mjc_SphereCapsule (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
MJAPI int mjc_SphereCylinder (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
MJAPI int mjc_CapsuleCapsule (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
// box collisions: from engine_collision_box.c
int mjc_CapsuleBox (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
int mjc_SphereBox (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
int mjc_BoxBox (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
MJAPI int mjc_CapsuleBox (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
MJAPI int mjc_SphereBox (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
MJAPI int mjc_BoxBox (const mjModel* m, const mjData* d,
mjContact* con, int g1, int g2, mjtNum margin);
#ifdef __cplusplus
}