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Fix address bug in meshEdgeNormals in doing edge multiccd with meshes.

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PiperOrigin-RevId: 790731924
Change-Id: Ia475b1f01731518166f229c25ebffd1fbf7c7939
This commit is contained in:
Kyle Bayes
2025-08-04 07:02:16 -07:00
committed by Copybara-Service
parent 7baaa39846
commit f2a2afeb03
2 changed files with 66 additions and 12 deletions
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test/engine/engine_collision_gjk_test.cc
+49
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@@ -1763,6 +1763,55 @@ TEST_F(MjGjkTest, MeshEdge) {
mj_deleteModel(model);
}
TEST_F(MjGjkTest, MeshEdge2) {
static constexpr char xml[] = R"(
<mujoco>
<option>
<flag multiccd="enable"/>
</option>
<asset>
<mesh name="meshbox"
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>
<worldbody>
<geom type="box" name="floor" size="6 6 2" pos="0 0 -1"/>
<body pos="2 0 1" euler="0 5 0">
<freejoint/>
<geom type="mesh" name="meshbox" mesh="meshbox"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1000> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
mjData* data = mj_makeData(model);
mj_forward(model, data);
int g1 = mj_name2id(model, mjOBJ_GEOM, "floor");
int g2 = mj_name2id(model, mjOBJ_GEOM, "meshbox");
mjCCDStatus status;
std::vector<mjtNum> dir, pos;
mjtNum dist;
int ncons = Penetration(status, dist, dir, pos, model, data, g1, g2, 0, 4);
EXPECT_EQ(ncons, 2);
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(MjGjkTest, EllipsoidEllipsoidPenetrating) {
std::array<char, 1000> error;
mjModel* model = LoadModelFromString(kEllipoid, error.data(), error.size());