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Use GJK to recover contact points for sphere and capsule geoms in nativeccd.

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PiperOrigin-RevId: 704727907
Change-Id: Iff641b6a32637c48e9892dbaa60826617c54ed06
This commit is contained in:
Kyle Bayes
2024-12-10 08:52:26 -08:00
committed by Copybara-Service
parent a7fed25fdd
commit a364308d5a
5 changed files with 131 additions and 8 deletions
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mjx/mujoco/mjx/_src/collision_driver_test.py
+4 -3
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@@ -56,6 +56,7 @@ def _collide(
d = mujoco.MjData(m)
dx = mjx.put_data(m, d)
m.opt.enableflags |= mujoco.mjtEnableBit.mjENBL_NATIVECCD
mujoco.mj_step(m, d)
collision_jit_fn = jax.jit(mjx.collision)
kinematics_jit_fn = jax.jit(mjx.kinematics)
@@ -241,7 +242,7 @@ class EllipsoidCollisionTest(parameterized.TestCase):
self.assertLess(dx.contact.dist[0], 0)
for field in dataclasses.fields(Contact):
_assert_attr_eq(
dx.contact, d.contact, field.name, 'ellipsoid-ellipsoid', 1e-5
dx.contact, d.contact, field.name, 'ellipsoid-ellipsoid', 1e-2
)
_ELLIPSOID_SPHERE = """
@@ -265,7 +266,7 @@ class EllipsoidCollisionTest(parameterized.TestCase):
self.assertLess(dx.contact.dist[0], 0)
for field in dataclasses.fields(Contact):
_assert_attr_eq(
dx.contact, d.contact, field.name, 'ellipsoid-sphere', 1e-3
dx.contact, d.contact, field.name, 'ellipsoid-sphere', 1e-4
)
_ELLIPSOID_CAPSULE = """
@@ -288,7 +289,7 @@ class EllipsoidCollisionTest(parameterized.TestCase):
self.assertLess(dx.contact.dist[0], 0)
for field in dataclasses.fields(Contact):
_assert_attr_eq(
dx.contact, d.contact, field.name, 'ellipsoid-capsule', 1e-3
dx.contact, d.contact, field.name, 'ellipsoid-capsule', 1e-5
)
_ELLIPSOID_CYLINDER = """