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Default to nativeccd for geomDistance test.

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PiperOrigin-RevId: 698340192
Change-Id: I814286903e1726462b24390eb2c3dc5b3b76899e
This commit is contained in:
Kyle Bayes
2024-11-20 04:13:22 -08:00
committed by Copybara-Service
parent 867e8b8adb
commit cd84011d7b
1 changed files with 6 additions and 8 deletions
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test/engine/engine_support_test.cc
+6 -8
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@@ -805,6 +805,9 @@ TEST_F(SupportTest, MulMIsland) {
static constexpr char GeomDistanceTestingModel[] = R"(
<mujoco>
<option>
<flag nativeccd="enable"/>
</option>
<asset>
<mesh name="box" scale=".1 .1 .1" vertex="0 0 0 1 0 0 0 1 0 1 1 0
0 0 1 1 0 1 0 1 1 1 1 1"/>
@@ -853,25 +856,20 @@ TEST_F(SupportTest, GeomDistance) {
EXPECT_THAT(fromto, Pointwise(DoubleNear(eps),
std::vector<mjtNum>{.7, 0, 1, .2, 0, 1}));
// TODO: b/339596989 - Improve the bounds below (mjc_Convex).
// mesh-sphere (close distmax)
distmax = 0.701;
eps = 1e-5;
eps = model->opt.ccd_tolerance;
EXPECT_THAT(mj_geomDistance(model, data, 3, 1, distmax, fromto),
DoubleNear(0.7, eps));
eps = 1e-3;
EXPECT_THAT(fromto, Pointwise(DoubleNear(eps),
std::vector<mjtNum>{0, 0, .1, 0, 0, .8}));
std::vector<mjtNum>{0, 0, .8, 0, 0, .1}));
// mesh-sphere (far distmax)
distmax = 1.0;
eps = 1e-3;
EXPECT_THAT(mj_geomDistance(model, data, 3, 1, distmax, fromto),
DoubleNear(0.7, eps));
eps = 2e-2;
EXPECT_THAT(fromto, Pointwise(DoubleNear(eps),
std::vector<mjtNum>{0, 0, .1, 0, 0, .8}));
std::vector<mjtNum>{0, 0, .8, 0, 0, .1}));
mj_deleteData(data);
mj_deleteModel(model);