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Add support for NativeCCD multiple contacts for box-box collision.

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PiperOrigin-RevId: 718352304
Change-Id: Icaa827e716a2d7aa7c0c644e0ccd2913b476e6fb
This commit is contained in:
Kyle Bayes
2025-01-22 06:02:10 -08:00
committed by Copybara-Service
parent 0090e1e908
commit aa505a7872
4 changed files with 949 additions and 98 deletions
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test/engine/engine_collision_gjk_test.cc
+530 -70
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@@ -17,6 +17,7 @@
#include "src/engine/engine_collision_gjk.h"
#include <array>
#include <vector>
#include <ccd/ccd.h>
#include <ccd/vec3.h>
@@ -28,11 +29,16 @@
#include <gmock/gmock.h>
#include <gtest/gtest.h>
// uncomment to run tests with libccd
// #define TEST_WITH_LIBCCD
namespace mujoco {
namespace {
using ::testing::NotNull;
using ::testing::ElementsAre;
using ::testing::Pointwise;
using ::testing::DoubleNear;
constexpr mjtNum kTolerance = 1e-6;
constexpr int kMaxIterations = 1000;
@@ -78,64 +84,70 @@ mjtNum GeomDist(mjModel* m, mjData* d, int g1, int g2, mjtNum x1[3],
return dist;
}
// drop in replacement for ccdMPRPenetration taken from mjc_penetration
int PenetrationWrapper(mjCCDObj* obj1, mjCCDObj* obj2, const ccd_t* ccd,
ccd_real_t* depth, ccd_vec3_t* dir, ccd_vec3_t* pos) {
int Penetration(mjtNum& depth, std::vector<mjtNum>& dir,
std::vector<mjtNum>& pos, mjModel* model, mjData* data,
int g1, int g2, mjtNum margin = 0, int max_contacts = 1) {
mjCCDObj obj1, obj2;
mjc_initCCDObj(&obj1, model, data, g1, margin);
mjc_initCCDObj(&obj2, model, data, g2, margin);
#if defined(TEST_WITH_LIBCCD)
if (max_contacts == 1) {
ccd_t ccd;
CCD_INIT(&ccd);
ccd.mpr_tolerance = kTolerance;
ccd.epa_tolerance = kTolerance;
ccd.max_iterations = kMaxIterations;
ccd.center1 = mjccd_center;
ccd.center2 = mjccd_center;
ccd.support1 = mjccd_support;
ccd.support2 = mjccd_support;
ccd_real_t ccd_depth;
ccd_vec3_t ccd_dir, ccd_pos;
int ret = ccdMPRPenetration(&obj1, &obj2, &ccd, &ccd_depth, &ccd_dir,
&ccd_pos);
if (ret) return 0;
dir.resize(3);
pos.resize(3);
depth = -ccd_depth;
mju_copy3(dir.data(), ccd_dir.v);
mju_copy3(pos.data(), ccd_pos.v);
return 1;
}
#endif
mjCCDConfig config;
mjCCDStatus status;
// set config
config.max_iterations = ccd->max_iterations,
config.tolerance = ccd->mpr_tolerance,
config.max_contacts = 1;
config.max_iterations = kMaxIterations;
config.tolerance = kTolerance;
config.max_contacts = max_contacts;
config.dist_cutoff = 0; // no geom distances needed
config.max_contacts = max_contacts;
mjtNum dist = mjc_ccd(&config, &status, obj1, obj2);
mjtNum dist = mjc_ccd(&config, &status, &obj1, &obj2);
if (dist < 0) {
if (depth) *depth = -dist;
if (dir) {
mju_sub3(dir->v, status.x1, status.x2);
mju_normalize3(dir->v);
dir.resize(3 * status.nx);
pos.resize(3 * status.nx);
for (int i = 0; i < status.nx; ++i) {
// compute direction
mju_sub3(&dir[3 * i], status.x1 + 3 * i, status.x2 + 3 * i);
mju_normalize3(&dir[3 * i]);
// compute position
pos[3 * i + 0] = 0.5 * (status.x1[0 + 3 * i] + status.x2[0 + 3 * i]);
pos[3 * i + 1] = 0.5 * (status.x1[1 + 3 * i] + status.x2[1 + 3 * i]);
pos[3 * i + 2] = 0.5 * (status.x1[2 + 3 * i] + status.x2[2 + 3 * i]);
}
if (pos) {
pos->v[0] = 0.5 * (status.x1[0] + status.x2[0]);
pos->v[1] = 0.5 * (status.x1[1] + status.x2[1]);
pos->v[2] = 0.5 * (status.x1[2] + status.x2[2]);
}
return 0;
depth = dist;
return status.nx;
}
if (depth) *depth = 0;
if (dir) mju_zero3(dir->v);
if (pos) mju_zero3(dir->v);
return 1;
}
mjtNum Penetration(mjModel* m, mjData* d, int g1, int g2,
mjtNum dir[3] = nullptr, mjtNum pos[3] = nullptr,
mjtNum margin = 0) {
mjCCDObj obj1, obj2;
mjc_initCCDObj(&obj1, m, d, g1, margin);
mjc_initCCDObj(&obj2, m, d, g2, margin);
ccd_t ccd;
// CCD_INIT(&ccd); // uncomment to run ccdMPRPenetration
ccd.mpr_tolerance = kTolerance;
ccd.epa_tolerance = kTolerance;
ccd.max_iterations = kMaxIterations;
ccd.center1 = mjccd_center;
ccd.center2 = mjccd_center;
ccd.support1 = mjccd_support;
ccd.support2 = mjccd_support;
ccd_real_t depth;
ccd_vec3_t ccd_dir, ccd_pos;
int ret = PenetrationWrapper(&obj1, &obj2, &ccd, &depth, &ccd_dir, &ccd_pos);
// objects not colliding, return max value as geom distance was never computed
if (ret) return mjMAXVAL;
if (dir) mju_copy3(dir, ccd_dir.v);
if (pos) mju_copy3(pos, ccd_pos.v);
return -depth;
// no contacts
return 0;
}
using MjGjkTest = MujocoTest;
@@ -211,10 +223,11 @@ TEST_F(MjGjkTest, SphereSphereNoDist) {
int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
mjtNum dir[3], pos[3];
mjtNum dist = Penetration(model, data, geom1, geom2, dir, pos);
std::vector<mjtNum> dir, pos;
mjtNum dist;
int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2);
EXPECT_EQ(dist, mjMAXVAL);
EXPECT_EQ(ncons, 0);
mj_deleteData(data);
mj_deleteModel(model);
}
@@ -237,8 +250,11 @@ TEST_F(MjGjkTest, SphereSphereIntersect) {
int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
mjtNum dir[3], pos[3];
mjtNum dist = Penetration(model, data, geom1, geom2, dir, pos);
std::vector<mjtNum> dir, pos;
mjtNum dist;
int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2);
EXPECT_EQ(ncons, 1);
// penetration depth
EXPECT_NEAR(dist, -2, kTolerance);
@@ -275,13 +291,18 @@ TEST_F(MjGjkTest, BoxBoxDepth) {
int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
mjtNum dir[3], pos[3];
mjtNum dist = Penetration(model, data, geom1, geom2, dir, pos);
std::vector<mjtNum> dir, pos;
mjtNum dist;
int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2);
EXPECT_EQ(ncons, 1);
EXPECT_NEAR(dist, -1, kTolerance);
EXPECT_NEAR(dir[0], 1, kTolerance);
EXPECT_NEAR(dir[1], 0, kTolerance);
EXPECT_NEAR(dir[2], 0, kTolerance);
mj_deleteData(data);
mj_deleteModel(model);
}
@@ -321,10 +342,11 @@ TEST_F(MjGjkTest, BoxBoxDepth2) {
int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
mjtNum dir[3], pos[3];
mjtNum dist = Penetration(model, data, geom1, geom2, dir, pos);
std::vector<mjtNum> dir, pos;
mjtNum dist;
int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2);
if (dist < 0) {
if (ncons == 1) {
EXPECT_NEAR(dist, -0.033401579411886845, kTolerance);
EXPECT_NEAR(dir[0], 0, kTolerance);
EXPECT_NEAR(dir[1], 0, kTolerance);
@@ -387,9 +409,11 @@ TEST_F(MjGjkTest, BoxBoxDepth3) {
int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
mjtNum dir[3], pos[3];
mjtNum dist = Penetration(model, data, geom1, geom2, dir, pos);
std::vector<mjtNum> dir, pos;
mjtNum dist;
int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2);
EXPECT_EQ(ncons, 1);
EXPECT_NEAR(dist, -0.003066, kTolerance);
EXPECT_NEAR(dir[0], 0, kTolerance);
EXPECT_NEAR(dir[1], 0, kTolerance);
@@ -417,15 +441,442 @@ TEST_F(MjGjkTest, BoxBoxTouching) {
int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
mjtNum dir[3], pos[3];
mjtNum dist = Penetration(model, data, geom1, geom2, dir, pos);
std::vector<mjtNum> dir, pos;
mjtNum dist;
int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2);
EXPECT_EQ(dist, mjMAXVAL);
EXPECT_EQ(ncons, 0);
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(MjGjkTest, BoxBoxMultiCCD) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<geom name="geom1" type="box" pos="0 0 1.9" size="1 1 1"/>
<geom name="geom2" type="box" pos="0 0 0" size="10 10 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");
std::vector<mjtNum> dir, pos;
mjtNum dist;
int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2, 0, 1000);
EXPECT_EQ(ncons, 4);
EXPECT_NEAR(dist, -.1, kTolerance);
EXPECT_NEAR(dir[0], 0, kTolerance);
EXPECT_NEAR(dir[1], 0, kTolerance);
EXPECT_NEAR(dir[2], -1, kTolerance);
EXPECT_THAT(pos, Pointwise(DoubleNear(kTolerance), {-1.0, 1.0, 0.95,
1.0, 1.0, 0.95,
1.0, -1.0, 0.95,
-1.0, -1.0, 0.95}));
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(MjGjkTest, BoxBoxMultiCCD2) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<geom name="geom1" type="box" pos="9.5 9.5 1.9" size="1 1 1"/>
<geom name="geom2" type="box" pos="0 0 0" size="10 10 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");
std::vector<mjtNum> dir, pos;
mjtNum dist;
int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2, 0, 1000);
EXPECT_EQ(ncons, 4);
EXPECT_NEAR(dist, -.1, kTolerance);
EXPECT_NEAR(dir[0], 0, kTolerance);
EXPECT_NEAR(dir[1], 0, kTolerance);
EXPECT_NEAR(dir[2], -1, kTolerance);
EXPECT_THAT(pos, Pointwise(DoubleNear(kTolerance), { 8.5, 10.0, 0.95,
10.0, 10.0, 0.95,
10.0, 8.5, 0.95,
8.5, 8.5, 0.95}));
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(MjGjkTest, BoxBoxMultiCCD3) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<geom type="box" name="geom1" size="5 5 .1" pos="0 0 0"/>
<geom type="box" name="geom2" 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);
mjtNum* xmat = data->geom_xmat + 9;
mjtNum* xpos = data->geom_xpos + 3;
xmat[0] = 0.999999806540386004805043285160;
xmat[1] = -0.000014738590672566122784237219;
xmat[2] = 0.000621853651764864637230267874;
xmat[3] = -0.000621853434269146370175218586;
xmat[4] = 0.000014756878555191479777952690;
xmat[5] = 0.999999806540251667819063641218;
xmat[6] = -0.000014747764440060310685981504;
xmat[7] = -0.999999999782504311873765345808;
xmat[8] = 0.000014747710457105431443303178;
xpos[0] = -0.941218618591869393696924817050;
xpos[1] = 2.209729011624415928594089564285;
xpos[2] = 1.095456702630382306296041861060;
int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
std::vector<mjtNum> dir, pos;
mjtNum dist;
int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2, 0, 1000);
EXPECT_EQ(ncons, 4);
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(MjGjkTest, BoxBoxMultiCCD4) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<geom name="geom1" size="0.25 0.25 0.05" type="box"/>
<geom name="geom2" size="0.25 0.25 0.05" type="box"/>
</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);
mjtNum* xmat = data->geom_xmat;
mjtNum* xpos = data->geom_xpos;
xmat[0] = 0.500063246694118501700643264485;
xmat[1] = -0.865988885078582182330819705385;
xmat[2] = -0.000015036290463686326402846169;
xmat[3] = 0.865988885208801795201338791230;
xmat[4] = 0.500063246603650646271432833601;
xmat[5] = 0.000009541064416582982810641038;
xmat[6] = -0.000000743359510433135621196039;
xmat[7] = -0.000017792396065397684211655677;
xmat[8] = 0.999999999841438502734547455475;
xpos[0] = -0.015346718925143524800414063236;
xpos[1] = -0.023500448793229846561336771060;
xpos[2] = -4.859382717259980388746498647379;
xmat = data->geom_xmat + 9;
xpos = data->geom_xpos + 3;
xmat[0] = 0.999999999448633714038692232862;
xmat[1] = -0.000033207420761195452995305499;
xmat[2] = -0.000000044925527333868828730462;
xmat[3] = 0.000033207420790006526530903364;
xmat[4] = 0.999999999448428988912951353996;
xmat[5] = 0.000000641458652741046316968134;
xmat[6] = 0.000000044904226121706672357864;
xmat[7] = -0.000000641460144248257277838641;
xmat[8] = 0.999999999999794386695839421009;
xpos[0] = -0.015347749710384111718197708285;
xpos[1] = -0.023500601273213628239489025873;
xpos[2] = -4.958782854594746325460619118530;
int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
std::vector<mjtNum> dir, pos;
mjtNum dist;
int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2, 0, 1000);
EXPECT_EQ(ncons, 8);
EXPECT_NEAR(dist, -0.00060425119242707459, kTolerance);
EXPECT_NEAR(dir[0], 0, kTolerance);
EXPECT_NEAR(dir[1], 0, kTolerance);
EXPECT_NEAR(dir[2], -1, kTolerance);
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(MjGjkTest, BoxBoxMultiCCD5) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<geom name="geom1" size="0.25 0.25 0.05" type="box"/>
<geom name="geom2" size="0.25 0.25 0.05" type="box"/>
</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);
mjtNum* xmat = data->geom_xmat;
mjtNum* xpos = data->geom_xpos;
xmat[0] = 0.965955045562010394810670277366;
xmat[1] = -0.258709898141739669252814337597;
xmat[2] = -0.000196358811267032467391333017;
xmat[3] = 0.258709919231419560592399875532;
xmat[4] = 0.965955055634174608591990818240;
xmat[5] = 0.000090476785846218643442895324;
xmat[6] = 0.000166266546411239724218358860;
xmat[7] = -0.000138196479997660070767120932;
xmat[8] = 0.999999976628582865068040064216;
xpos[0] = -0.015381524498156991936914650410;
xpos[1] = -0.023527931890396581310342938309;
xpos[2] = -4.559214004409498421921398403356;
xmat = data->geom_xmat + 9;
xpos = data->geom_xpos + 3;
xmat[0] = 0.866076536677693908927722077351;
xmat[1] = -0.499911388413602053581996642606;
xmat[2] = -0.000190658753729162216972170540;
xmat[3] = 0.499911409912061843741071243130;
xmat[4] = 0.866076540935322825021103199106;
xmat[5] = 0.000086494189368211055798235654;
xmat[6] = 0.000121885643632020743577087929;
xmat[7] = -0.000170223074359586521841353202;
xmat[8] = 0.999999978083999430111816764111;
xpos[0] = -0.015358668590921718474784363195;
xpos[1] = -0.023542070504611382203430380855;
xpos[2] = -4.659108354876987156956147373421;
int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
std::vector<mjtNum> dir, pos;
mjtNum dist;
int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2, 0, 1000);
EXPECT_EQ(ncons, 8);
EXPECT_NEAR(dist, -0.0001077858631973211, kTolerance);
EXPECT_NEAR(dir[0], 0.00019065, kTolerance);
EXPECT_NEAR(dir[1], -8.6494189274575805e-05, kTolerance);
EXPECT_NEAR(dir[2], -1, kTolerance);
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(MjGjkTest, BoxBoxMultiCCD6) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<geom name="geom1" type="box" size=".5 .5 .1" pos="0 0 -.1"/>
<geom name="geom2" type="box" size=".1 .1 .1" pos="0 0 0"/>
</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);
mjtNum* xmat = data->geom_xmat + 9;
mjtNum* xpos = data->geom_xpos + 3;
xmat[0] = -0.412617528992808124677083014831;
xmat[1] = -0.910903939143411389700588642881;
xmat[2] = -0.000887930675351447824816819576;
xmat[3] = 0.910904370383107120368038067681;
xmat[4] = -0.412617275794986082537718630192;
xmat[5] = -0.000460143975736545586020798115;
xmat[6] = 0.000052771423713213129642884969;
xmat[7] = -0.000998683403024198425301793947;
xmat[8] = 0.999999499923193035932911243435;
xpos[0] = 0.413029898172642018217004533653;
xpos[1] = 0.190777715293135141649827346555;
xpos[2] = 0.100006658017411736993906856696;
int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
std::vector<mjtNum> dir, pos;
mjtNum dist;
int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2, 0, 1000);
EXPECT_EQ(ncons, 5);
EXPECT_NEAR(dist, -0.00009843, kTolerance);
EXPECT_NEAR(dir[0], -0.0008879306751646528, kTolerance);
EXPECT_NEAR(dir[1], -0.00046014397575771832, kTolerance);
EXPECT_NEAR(dir[2], 1, kTolerance);
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(MjGjkTest, BoxBoxMultiCCD7) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<geom name="geom1" type="box" size=".25 .25 .05" pos="0 0 0"/>
<geom name="geom2" type="box" size=".25 .25 .05" pos="0 0 0"/>
</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);
mjtNum* xmat = data->geom_xmat;
mjtNum* xpos = data->geom_xpos;
xmat[0] = 0.482851932827058627495375731087;
xmat[1] = -0.875697459006381406787511423317;
xmat[2] = 0.002823341095436950488190008812;
xmat[3] = 0.875701084072774249555948244961;
xmat[4] = 0.482853601927766051815638093103;
xmat[5] = -0.000102269990141710693382082198;
xmat[6] = -0.001273702846902712276094815635;
xmat[7] = 0.002521784120391480209927292933;
xmat[8] = 0.999996009134990648803409385437;
xpos[0] = -0.002020740254618143012105280221;
xpos[1] = -0.022654384848980465422263463893;
xpos[2] = -4.858542902144324493463045655517;
xmat = data->geom_xmat + 9;
xpos = data->geom_xpos + 3;
xmat[0] = 0.999985133805306514176436394337;
xmat[1] = -0.005293845271528460454113496070;
xmat[2] = 0.001306663930443651821383665990;
xmat[3] = 0.005293871114312041943616993223;
xmat[4] = 0.999985987232967277194006783247;
xmat[5] = -0.000016319793417504115210251922;
xmat[6] = -0.001306559226005186893221354794;
xmat[7] = 0.000023236861241766870316309210;
xmat[8] = 0.999999146181155484924829579541;
xpos[0] = -0.011066235018223425159988870803;
xpos[1] = -0.023114696036485724711662115283;
xpos[2] = -4.958375812037025376355359185254;
int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
std::vector<mjtNum> dir, pos;
mjtNum dist;
int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2, 0, 1000);
EXPECT_EQ(ncons, 8);
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(MjGjkTest, BoxBoxMultiCCD8) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<geom name="geom1" type="box" size=".25 .25 .05" pos="0 0 0"/>
<geom name="geom2" type="box" size=".25 .25 .05" pos="0 0 0"/>
</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);
mjtNum* xmat = data->geom_xmat;
mjtNum* xpos = data->geom_xpos;
xmat[0] = 1.000000000000000000000000000000;
xmat[1] = 0.000000000000000000000000000000;
xmat[2] = 0.000000000000000000000000000000;
xmat[3] = 0.000000000000000000000000000000;
xmat[4] = 1.000000000000000000000000000000;
xmat[5] = 0.000000000000000000000000000000;
xmat[6] = 0.000000000000000000000000000000;
xmat[7] = 0.000000000000000000000000000000;
xmat[8] = 1.000000000000000000000000000000;
xpos[0] = -0.015346500000000000765720820084;
xpos[1] = -0.023505499999999998617106200527;
xpos[2] = -4.859662640000005140450412000064;
xmat = data->geom_xmat + 9;
xpos = data->geom_xpos + 3;
xmat[0] = 1.000000000000000000000000000000;
xmat[1] = 0.000000000000000000000000000000;
xmat[2] = 0.000000000000000000000000000000;
xmat[3] = 0.000000000000000000000000000000;
xmat[4] = 1.000000000000000000000000000000;
xmat[5] = -0.000000000000000015361939765351;
xmat[6] = 0.000000000000000000000000000000;
xmat[7] = 0.000000000000000015361939765351;
xmat[8] = 1.000000000000000000000000000000;
xpos[0] = -0.015346500000000000765720820084;
xpos[1] = -0.023505499999999998617106200527;
xpos[2] = -4.958574289672835533338002278470;
int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
std::vector<mjtNum> dir, pos;
mjtNum dist;
int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2, 0, 1000);
EXPECT_EQ(ncons, 4);
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(MjGjkTest, SmallBoxMesh) {
static constexpr char xml[] = R"(
<mujoco>
@@ -465,9 +916,11 @@ TEST_F(MjGjkTest, SmallBoxMesh) {
int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
mjtNum dir[3], pos[3];
mjtNum dist = Penetration(model, data, geom1, geom2, dir, pos);
std::vector<mjtNum> dir, pos;
mjtNum dist;
int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2);
EXPECT_EQ(ncons, 1);
EXPECT_NEAR(dist, 0, kTolerance);
// direction
@@ -495,9 +948,11 @@ TEST_F(MjGjkTest, EllipsoidEllipsoidPenetrating) {
int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
mjtNum dir[3], pos[3];
mjtNum dist = Penetration(model, data, geom1, geom2, dir, pos);
std::vector<mjtNum> dir, pos;
mjtNum dist;
int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2);
EXPECT_EQ(ncons, 1);
EXPECT_NEAR(dist, -0.00022548856248122027, kTolerance);
mj_deleteData(data);
mj_deleteModel(model);
@@ -576,9 +1031,11 @@ TEST_F(MjGjkTest, LongBox) {
int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
mjtNum dir[3], pos[3];
mjtNum dist = Penetration(model, data, geom1, geom2, dir, pos);
std::vector<mjtNum> dir, pos;
mjtNum dist;
int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2);
EXPECT_EQ(ncons, 1);
EXPECT_NEAR(dist, -0.01, kTolerance);
EXPECT_NEAR(dir[0], 0, kTolerance);
@@ -611,8 +1068,11 @@ TEST_F(MjGjkTest, EllipsoidEllipsoidIntersect) {
int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
mjtNum dist = Penetration(model, data, geom1, geom2, nullptr, nullptr, 15);
std::vector<mjtNum> dir, pos;
mjtNum dist;
int ncons = Penetration(dist, dir, pos, model, data, geom1, geom2, 15);
EXPECT_EQ(ncons, 1);
EXPECT_NEAR(dist, -14.245732934582151, kTolerance);
mj_deleteData(data);
mj_deleteModel(model);