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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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test/engine/engine_collision_gjk_test.cc
+2 -2
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@@ -245,8 +245,8 @@ TEST_F(MjGjkTest, SphereSphereIntersect) {
// direction
EXPECT_NEAR(dir[0], 1, kTolerance);
EXPECT_NEAR(dir[1], 0, 0.001);
EXPECT_NEAR(dir[2], 0, 0.001);
EXPECT_NEAR(dir[1], 0, kTolerance);
EXPECT_NEAR(dir[2], 0, kTolerance);
// position
EXPECT_NEAR(pos[0], 1, kTolerance);