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Apply body pair filtering at broadphase.

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mj_contactFilter removed geom pairs where their bodies share the same weldid, but this check can be applied at broadphase instead of at geom-geom level.

PiperOrigin-RevId: 507435848
Change-Id: Ia37c741071dc5e1c26686dd319f42c9bd334d305
This commit is contained in:
Nimrod Gileadi
2023-02-06 03:45:15 -08:00
committed by Copybara-Service
parent 79fffdc0ae
commit dc3a900809
3 changed files with 114 additions and 36 deletions
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test/engine/engine_collision_driver_test.cc
+71
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@@ -145,5 +145,76 @@ TEST_F(MjCollisionTest, ContactCount) {
mj_deleteModel(m);
}
TEST_F(MjCollisionTest, FilterParent) {
constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body pos="0 0 0">
<freejoint/>
<geom name="colliding1" size="1" pos="0 0 100"/>
<body>
<geom size="1"/>
<body>
<joint axis="1 0 0"/>
<geom size="1" pos="0 0 50"/>
<body>
<geom name="colliding2" size="1" pos="0 0 99.5"/>
</body>
</body>
</body>
</body>
</worldbody>
</mujoco>
)";
mjModel* m = LoadModelFromString(xml);
ASSERT_THAT(m, NotNull());
mjData* d = mj_makeData(m);
ASSERT_THAT(d, NotNull());
mj_fwdPosition(m, d);
// there should be zero contacts, because colliding1 and colliding2 are in
// bodies that have a parent-child relationship, through welds
EXPECT_EQ(d->ncon, 0);
// when this filtering is disabled, the geoms should collide
m->opt.disableflags |= mjDSBL_FILTERPARENT;
mj_fwdPosition(m, d);
EXPECT_THAT(colliding_pairs(m, d),
ElementsAre(GeomPair("colliding1", "colliding2")));
mj_deleteData(d);
mj_deleteModel(m);
}
TEST_F(MjCollisionTest, FilterParentDoesntAffectWorldBody) {
constexpr char xml[] = R"(
<mujoco>
<worldbody>
<geom name="colliding1" size="1" pos="0 0 100"/>
<body pos="0 0 0">
<joint axis="1 0 0"/>
<geom name="colliding2" size="1" pos="0 0 99.5"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* m = LoadModelFromString(xml);
ASSERT_THAT(m, NotNull());
mjData* d = mj_makeData(m);
ASSERT_THAT(d, NotNull());
mj_fwdPosition(m, d);
// even though colliding1 and colliding2 are have a parent-child relationship,
// they collide because colliding1 is in <worldbody>
EXPECT_THAT(colliding_pairs(m, d),
ElementsAre(GeomPair("colliding1", "colliding2")));
mj_deleteData(d);
mj_deleteModel(m);
}
} // namespace
} // namespace mujoco