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Always generate a BVH in flex.

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The BVH is used also for computing normalized vertex coordinates in the trilinear interpolation, so we need to compute it also when the flex cannot collide.

PiperOrigin-RevId: 756349244
Change-Id: Ib397c472e31251df5a7ea85850d83a62f3b2c949
This commit is contained in:
Alessio Quaglino
2025-05-08 09:45:43 -07:00
committed by Copybara-Service
parent f4774a5449
commit ad80a4625b
2 changed files with 23 additions and 1 deletions
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test/user/user_flex_test.cc
+21
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@@ -243,6 +243,27 @@ TEST_F(UserFlexTest, RigidFlex) {
mj_deleteModel(m);
mj_deleteData(d);
}
TEST_F(UserFlexTest, FlexNotCollide) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<flexcomp name="test" pos="1 0 -1" type="grid"
count="5 5 5" spacing="1 1 1" dim="3">
<contact contype="0" conaffinity="0"/>
</flexcomp>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(m, NotNull()) << error.data();
mjData* d = mj_makeData(m);
mj_step(m, d);
mj_deleteModel(m);
mj_deleteData(d);
}
TEST_F(UserFlexTest, BoundingBoxCoordinates) {
static constexpr char xml[] = R"(
<mujoco>