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Update BVH during fusestatic. Fixes #1069 and #1577.

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PiperOrigin-RevId: 631748750
Change-Id: I4e1ae01207568c90fc49bcd7d9f760f5187f1afa
This commit is contained in:
Alessio Quaglino
2024-05-08 04:12:04 -07:00
committed by Copybara-Service
parent 4eca3b048d
commit 96844db926
5 changed files with 42 additions and 9 deletions
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test/user/user_model_test.cc
+4
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@@ -251,6 +251,7 @@ TEST_F(FuseStaticTest, FuseStaticEquivalent) {
<geom size="0.5" pos="1 0 0" contype="0" conaffinity="0"/>
<body>
<geom size="0.5" pos="0 1 0" contype="1" conaffinity="1"/>
<geom size="0.5" pos="0 -2 0" contype="1" conaffinity="1"/>
</body>
</body>
</worldbody>
@@ -273,6 +274,9 @@ TEST_F(FuseStaticTest, FuseStaticEquivalent) {
EXPECT_EQ(m_fuse->body_contype[1], 1);
EXPECT_EQ(m_fuse->body_conaffinity[1], 1);
EXPECT_EQ(m_no_fuse->body_bvhnum[2], 3);
EXPECT_EQ(m_fuse->body_bvhnum[1], 3);
mjData* d_fuse = mj_makeData(m_fuse);
mjData* d_no_fuse = mj_makeData(m_no_fuse);