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Update contype and conaffinity if fusestatic is true. Fixes #1577.

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PiperOrigin-RevId: 628073529
Change-Id: I2fe88736d12ec16d72bbd4dce5d349b930147b50
This commit is contained in:
Alessio Quaglino
2024-04-25 07:45:07 -07:00
committed by Copybara-Service
parent 027c26a153
commit d6553ed192
2 changed files with 16 additions and 2 deletions
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src/user/user_model.cc
+9
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@@ -2955,6 +2955,15 @@ void mjCModel::FuseStatic(void) {
sites.clear();
FuseReindex(bodies[0]);
// recompute parent contype, conaffinity, and margin
par->contype = par->conaffinity = 0;
par->margin = 0;
for (const auto& geom : geoms) {
par->contype |= geom->contype;
par->conaffinity |= geom->conaffinity;
par->margin = mju_max(par->margin, geom->margin);
}
//------------- delete body (without deleting children)
// delete allocation
test/user/user_model_test.cc
+7 -2
View File
@@ -248,9 +248,9 @@ TEST_F(FuseStaticTest, FuseStaticEquivalent) {
<worldbody>
<body>
<joint axis="1 0 0"/>
<geom size="0.5" pos="1 0 0"/>
<geom size="0.5" pos="1 0 0" contype="0" conaffinity="0"/>
<body>
<geom size="0.5" pos="0 1 0"/>
<geom size="0.5" pos="0 1 0" contype="1" conaffinity="1"/>
</body>
</body>
</worldbody>
@@ -268,6 +268,11 @@ TEST_F(FuseStaticTest, FuseStaticEquivalent) {
EXPECT_EQ(m_fuse->nbody, 2) << "Expecting a world body and one other body";
EXPECT_EQ(m_no_fuse->nbody, 3) << "Expecting a world body and two others";
EXPECT_EQ(m_no_fuse->body_contype[2], 1);
EXPECT_EQ(m_no_fuse->body_conaffinity[2], 1);
EXPECT_EQ(m_fuse->body_contype[1], 1);
EXPECT_EQ(m_fuse->body_conaffinity[1], 1);
mjData* d_fuse = mj_makeData(m_fuse);
mjData* d_no_fuse = mj_makeData(m_no_fuse);