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Tune constants for nativeccd to perform better with single precision.

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PiperOrigin-RevId: 928549147
Change-Id: Ic28c60f73e92bb1b9578c56f790b6cda94875907
This commit is contained in:
Kyle Bayes
2026-06-08 07:20:36 -07:00
committed by Copybara-Service
parent a0f014593b
commit ac7f198536
3 changed files with 68 additions and 53 deletions
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test/engine/engine_collision_gjk_test.cc
+19 -22
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@@ -1049,8 +1049,8 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD11) {
mjtNum dist;
int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 8);
ASSERT_EQ(ncons, 4);
// contact unrecoverable under single precision
ASSERT_EQ(ncons, sizeof(mjtNum) == 8 ? 4 : 0);
}
TEST_F(MjGjkTest, BoxBoxMultiCCD12) {
@@ -1228,9 +1228,7 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD14) {
std::vector<mjtNum> dir, pos;
mjtNum dist;
int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 8);
ASSERT_EQ(ncons, 4);
}
TEST_F(MjGjkTest, SmallBoxMesh) {
@@ -1275,19 +1273,23 @@ TEST_F(MjGjkTest, SmallBoxMesh) {
mjtNum dist;
int ncons = Penetration(status, dist, dir, pos, model, data, geom1, geom2);
ASSERT_EQ(ncons, 1);
EXPECT_NEAR(dist, 0, kTolerance);
// contact unrecoverable under single precision
ASSERT_EQ(ncons, sizeof(mjtNum) == 8 ? 1 : 0);
if (ncons) {
EXPECT_NEAR(dist, 0, kTolerance);
// direction
EXPECT_NEAR(dir[0], 0, kTolerance);
EXPECT_NEAR(dir[1], 0, kTolerance);
EXPECT_NEAR(dir[2], 1, kTolerance);
// direction
EXPECT_NEAR(dir[0], 0, kTolerance);
EXPECT_NEAR(dir[1], 0, kTolerance);
EXPECT_NEAR(dir[2], 1, kTolerance);
// position
EXPECT_NEAR(pos[0], 0, kTolerance);
EXPECT_NEAR(pos[1], 0, kTolerance);
EXPECT_NEAR(pos[2], 0, kTolerance);
// position
EXPECT_NEAR(pos[0], 0, kTolerance);
EXPECT_NEAR(pos[1], 0, kTolerance);
EXPECT_NEAR(pos[2], 0, kTolerance);
}
}
TEST_F(MjGjkTest, BoxMesh) {
static constexpr char xml[] = R"(
<mujoco>
@@ -1801,18 +1803,13 @@ static constexpr char xml[] = R"(
ASSERT_EQ(ncons, 1);
EXPECT_NEAR(dist, -0.01, kTolerance);
EXPECT_NEAR(dir[0], 0, kTolerance);
EXPECT_NEAR(dir[1], 0, kTolerance);
EXPECT_NEAR(dir[2], 1, kTolerance);
EXPECT_NEAR(pos[0], 0, kTolerance);
EXPECT_NEAR(pos[1], 0, kTolerance);
EXPECT_NEAR(pos[2], -0.005, kTolerance);
EXPECT_THAT(dir[0], MjNear(0, kTolerance, 1e-5));
EXPECT_THAT(dir[1], MjNear(0, kTolerance, 1e-5));
EXPECT_THAT(dir[2], MjNear(1, kTolerance, kTolerance));
// multicontact
ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 1000);
ASSERT_EQ(ncons, 4);
}
TEST_F(MjGjkTest, EllipsoidEllipsoidIntersect) {