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Fix bug in raycast to hfield. Fixes #2765

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PiperOrigin-RevId: 790784429
Change-Id: Ib2319722796ed510afed960bbf5cebc86cf185a9
This commit is contained in:
Yuval Tassa
2025-08-04 09:39:45 -07:00
committed by Copybara-Service
parent f2a2afeb03
commit 7b9f5bdae7
2 changed files with 62 additions and 8 deletions
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test/engine/engine_ray_test.cc
+53
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@@ -73,6 +73,7 @@ static constexpr char kCubeletModel[] = R"(
</mujoco>
)";
using ::testing::DoubleNear;
using ::testing::NotNull;
using RayTest = MujocoTest;
@@ -403,5 +404,57 @@ TEST_F(RayTest, RayMeshPruning) {
mj_deleteModel(m);
}
TEST_F(RayTest, RayHfield) {
const char xml[] = R"(
<mujoco>
<asset>
<hfield name="J" size="2 3 1 1" nrow="4" ncol="3"
elevation="0 0 0
0 0 0
1 1 1
1 1 1"/>
</asset>
<worldbody>
<light pos="0 0 1"/>
<body name="dummy">
<geom type="hfield" hfield="J" pos="0 0 .5"/>
</body>
<site name="1" pos="3 -2 1" zaxis="-1 0 0"/>
<site name="2" pos="3 -2 0" zaxis="-1 0 0"/>
<site name="3" pos="3 1 0" zaxis="-1 0 0"/>
<body mocap="true" pos="1 0 1.5">
<geom type="box" size=".2 .2 .2"/>
<site name="4" zaxis="0 0 -1"/>
</body>
</worldbody>
<sensor>
<rangefinder site="1"/>
<rangefinder site="2"/>
<rangefinder site="3"/>
<rangefinder site="4"/>
</sensor>
</mujoco>
)";
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error), 0);
ASSERT_THAT(model, NotNull()) << error;
mjData* data = mj_makeData(model);
mj_forward(model, data);
double tol = 1e-8;
EXPECT_THAT(data->sensordata[0], DoubleNear(1, tol));
EXPECT_THAT(data->sensordata[1], DoubleNear(1, tol));
EXPECT_THAT(data->sensordata[2], DoubleNear(1, tol));
EXPECT_THAT(data->sensordata[3], DoubleNear(0.5, tol));
mj_deleteData(data);
mj_deleteModel(model);
}
} // namespace
} // namespace mujoco