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Fix bug in replaceSimplex3 in nativeccd.

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PiperOrigin-RevId: 746014344
Change-Id: I93b32ab5f67ee48ab72238de53f7cda07638cb79
This commit is contained in:
Kyle Bayes
2025-04-10 07:03:23 -07:00
committed by Copybara-Service
parent 25126e88c7
commit b1f8d444f2
4 changed files with 123 additions and 14 deletions
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test/engine/testdata/collision_convex/dice.xml
Vendored
+2 -2
View File
@@ -25,7 +25,7 @@
<worldbody>
<light pos="0 0 1" dir="0 0 -1" castshadow="false"/>
<body name="container" pos="0 0 -0.11">
<geom class="floor" size="0.27 0.27 0.01"/>>
<geom class="floor" size="0.27 0.27 0.01"/>
<geom class="wall" size="0.26 0.01 0.10" pos="0.01 0.26 0.11"/>
<geom class="wall" size="0.26 0.01 0.10" pos="-0.01 -0.26 0.11"/>
<geom class="wall" size="0.01 0.26 0.10" pos="0.26 -0.01 0.11"/>
@@ -37,7 +37,7 @@
<replicate count="4" offset="0 0 .1">
<body pos="-.2 -.2 0.15">
<freejoint/>
<geom size=".02 .02 .02" type="mesh" mesh="die"/>
<geom type="mesh" mesh="die"/>
</body>
</replicate>
</replicate>
test/engine/testdata/collision_convex/dice_boxmesh.xml
Vendored
+47
View File
@@ -0,0 +1,47 @@
<mujoco>
<option>
<flag multiccd="enable"/>
</option>
<visual>
<scale forcewidth="0.01" contactwidth="0.05" contactheight="0.05"/>
<map force="0.1"/>
</visual>
<asset>
<mesh name="boxmesh" scale=".02 .02 .02"
vertex="-1 -1 -1 1 -1 -1 1 1 -1 1 1 1 1 -1 1 -1 1 -1 -1 1 1 -1 -1 1"/>
</asset>
<default>
<geom condim="1" type="mesh" solref="2e-5 1"/>
<default class="wall">
<geom type="box" rgba="0.1 0.2 1 .2"/>
</default>
<default class="floor">
<geom type="box" rgba="0.1 0.2 1 1"/>
</default>
</default>
<worldbody>
<light pos="0 0 1" dir="0 0 -1" castshadow="false"/>
<body name="container" pos="0 0 -0.11">
<geom class="floor" size="0.27 0.27 0.01"/>
<geom class="wall" size="0.26 0.01 0.10" pos="0.01 0.26 0.11"/>
<geom class="wall" size="0.26 0.01 0.10" pos="-0.01 -0.26 0.11"/>
<geom class="wall" size="0.01 0.26 0.10" pos="0.26 -0.01 0.11"/>
<geom class="wall" size="0.01 0.26 0.10" pos="-0.26 0.01 0.11"/>
</body>
<replicate count="5" offset=".1 0 0">
<replicate count="5" offset="0 .1 0">
<replicate count="4" offset="0 0 .1">
<body pos="-.2 -.2 0.15">
<freejoint/>
<geom type="mesh" mesh="boxmesh"/>
</body>
</replicate>
</replicate>
</replicate>
</worldbody>
</mujoco>