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Add height fields to list of discrete objects in NativeCCD.

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PiperOrigin-RevId: 676452215
Change-Id: I5d6a0d1e26ee852c774b44f550c1d0531b7a269b
This commit is contained in:
Kyle Bayes
2024-09-19 09:47:40 -07:00
committed by Copybara-Service
parent 4998e7b392
commit 7a92423cf2
4 changed files with 31 additions and 25 deletions
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test/engine/engine_collision_gjk_test.cc
+8 -8
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@@ -58,10 +58,10 @@ mjtNum GeomDist(mjModel* m, mjData* d, int g1, int g2, mjtNum x1[3],
config.contacts = 0; // no geom contacts needed
config.distances = 1;
mjCCDObj obj1 = {m, d, g1, -1, -1, -1, -1, 0, {1, 0, 0, 0}, mjc_center,
mjc_support};
mjCCDObj obj2 = {m, d, g2, -1, -1, -1, -1, 0, {1, 0, 0, 0}, mjc_center,
mjc_support};
mjCCDObj obj1 = {m, d, g1, m->geom_type[g1], -1, -1, -1, -1, 0, {1, 0, 0, 0},
mjc_center, mjc_support};
mjCCDObj obj2 = {m, d, g2, m->geom_type[g2], -1, -1, -1, -1, 0, {1, 0, 0, 0},
mjc_center, mjc_support};
mjtNum dist = mjc_ccd(&config, &status, &obj1, &obj2);
if (x1 != nullptr) mju_copy3(x1, status.x1);
if (x2 != nullptr) mju_copy3(x2, status.x2);
@@ -103,10 +103,10 @@ int PenetrationWrapper(mjCCDObj* obj1, mjCCDObj* obj2, const ccd_t* ccd,
mjtNum Penetration(mjModel* m, mjData* d, int g1, int g2,
mjtNum dir[3] = nullptr, mjtNum pos[3] = nullptr,
mjtNum margin = 0) {
mjCCDObj obj1 = {m, d, g1, -1, -1, -1, -1, margin, {1, 0, 0, 0}, mjc_center,
mjc_support};
mjCCDObj obj2 = {m, d, g2, -1, -1, -1, -1, margin, {1, 0, 0, 0}, mjc_center,
mjc_support};
mjCCDObj obj1 = {m, d, g1, m->geom_type[g1], -1, -1, -1, -1, margin,
{1, 0, 0, 0}, mjc_center, mjc_support};
mjCCDObj obj2 = {m, d, g2, m->geom_type[g2], -1, -1, -1, -1, margin,
{1, 0, 0, 0}, mjc_center, mjc_support};
ccd_t ccd;
// CCD_INIT(&ccd); // uncomment to run ccdMPRPenetration
ccd.mpr_tolerance = kTolerance;