Fix bug introduced in 7942fe957e

That change removed some spurious contacts returned by mjc_BoxBox, but also removed some desirable contacts that occur during very deep penetration of two boxes (when one box is completely inside another box). This is now fixed. PiperOrigin-RevId: 591036252 Change-Id: I84b51f2179fd6fe29618a4e908e86934c6fc6941
2023-12-14 13:29:22 -08:00
parent 9f6be3135e
commit f2a967348c
5 changed files with 90 additions and 27 deletions
@@ -0,0 +1,11 @@
+<mujoco>
+  <!-- Box deeply penetrating another box -->
+
+  <worldbody>
+    <geom type="box" size="1 1 1" rgba=".5 .5 .5 .5"/>
+    <body pos=".1 .2 .3">
+      <freejoint/>
+      <geom type="box" size=".2 .2 .2"/>
+    </body>
+  </worldbody>
+</mujoco>