chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

Initial (unoptimized) implementation of EPA.

Browse Source 
PiperOrigin-RevId: 659938320
Change-Id: I72c6c6bd7504bce36e4788d90b06b2cb3849b4db
This commit is contained in:
Kyle Bayes
2024-08-06 06:53:01 -07:00
committed by Copybara-Service
parent 9db9df7380
commit a1d9b47e2f
3 changed files with 495 additions and 52 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/engine/engine_collision_gjk_test.cc
+26 -41
View File
@@ -41,7 +41,7 @@ static mjtNum run_gjk(mjModel* m, mjData* d, int g1, int g2, mjtNum x1[3],
mjCCDObj obj2 = {m, d, g2, -1, -1, -1, -1, 0, {1, 0, 0, 0}, {0, 0, 0}};
mjc_center(obj1.x0, &obj1);
mjc_center(obj2.x0, &obj2);
mjtNum dist = mj_gjk(&config, &obj1, &obj2);
mjtNum dist = mj_gjkPenetration(&config, &obj1, &obj2);
if (x1 != nullptr) mju_copy3(x1, obj1.x0);
if (x2 != nullptr) mju_copy3(x2, obj2.x0);
return dist;
@@ -49,40 +49,9 @@ static mjtNum run_gjk(mjModel* m, mjData* d, int g1, int g2, mjtNum x1[3],
using MjGjkTest = MujocoTest;
TEST_F(MjGjkTest, SphereSphereIntersect) {
static constexpr char xml[] = R"(
<mujoco>
<option>
<flag gravity="disable"/>
</option>
<worldbody>
<geom name="geom1" type="sphere" pos="-1 0 0" size="1"/>
<geom name="geom2" type="sphere" pos="1 0 0" size="1"/>
</worldbody>
</mujoco>)";
std::array<char, 1000> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
mjData* data = mj_makeData(model);
mj_forward(model, data);
int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
mjtNum dist = run_gjk(model, data, geom1, geom2, nullptr, nullptr);
EXPECT_EQ(dist, 0);
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(MjGjkTest, SphereSphere) {
static constexpr char xml[] = R"(
<mujoco>
<option>
<flag gravity="disable"/>
</option>
<worldbody>
<body pos="-1.5 0 0">
<freejoint/>
@@ -117,9 +86,6 @@ TEST_F(MjGjkTest, SphereSphere) {
TEST_F(MjGjkTest, BoxBox) {
static constexpr char xml[] = R"(
<mujoco>
<option>
<flag gravity="disable"/>
</option>
<worldbody>
<geom name="geom1" type="box" pos="-1.5 .5 0" size="1 1 1"/>
<geom name="geom2" type="box" pos="1.5 0 0" size="1 1 1"/>
@@ -142,12 +108,34 @@ TEST_F(MjGjkTest, BoxBox) {
mj_deleteModel(model);
}
TEST_F(MjGjkTest, BoxBoxIntersect) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<geom name="geom1" type="box" pos="-1 0 0" size="2.5 2.5 2.5"/>
<geom name="geom2" type="box" pos="1.5 0 0" size="1 1 1"/>
</worldbody>
</mujoco>)";
std::array<char, 1000> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
mjData* data = mj_makeData(model);
mj_forward(model, data);
int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
mjtNum dist = run_gjk(model, data, geom1, geom2, nullptr, nullptr);
EXPECT_NEAR(dist, -1, kTolerance);
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(MjGjkTest, EllipsoidEllipsoid) {
static constexpr char xml[] = R"(
<mujoco>
<option>
<flag gravity="disable"/>
</option>
<worldbody>
<geom name="geom1" type="ellipsoid" pos="1.5 0 -.5" size=".15 .30 .20"/>
<geom name="geom2" type="ellipsoid" pos="1.5 .5 .5" size=".10 .10 .15"/>
@@ -173,9 +161,6 @@ TEST_F(MjGjkTest, EllipsoidEllipsoid) {
TEST_F(MjGjkTest, CapsuleCapsule) {
static constexpr char xml[] = R"(
<mujoco>
<option>
<flag gravity="disable"/>
</option>
<worldbody>
<geom name="geom1" type="capsule" pos="-.3 .2 -.4" size=".15 .30"/>
<geom name="geom2" type="capsule" pos=".3 .2 .4" size=".10 .10"/>