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Add mj_raySdfNormal (not exposed in public header)

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PiperOrigin-RevId: 842178540
Change-Id: I5d2db555e9b6c0fa0daaa8bc14c7781663e4c94e
This commit is contained in:
Yuval Tassa
2025-12-09 04:42:44 -08:00
committed by Copybara-Service
parent bf49fe3daa
commit f65c1cdfd1
5 changed files with 66 additions and 8 deletions
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test/engine/CMakeLists.txt
+5 -1
View File
@@ -47,7 +47,11 @@ mujoco_test(engine_passive_test)
mujoco_test(engine_print_test)
mujoco_test(engine_ray_test)
mujoco_test(
engine_ray_test
PROPERTIES
ENVIRONMENT
"MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:sdf_plugin>")
mujoco_test(engine_sensor_test)
test/engine/engine_ray_test.cc
+11 -3
View File
@@ -82,7 +82,7 @@ using ::testing::DoubleNear;
using ::testing::ElementsAre;
using ::testing::NotNull;
using ::testing::Pointwise;
using RayTest = MujocoTest;
using RayTest = PluginTest;
TEST_F(RayTest, NoExclusions) {
char error[1024];
@@ -475,11 +475,12 @@ static const char* const kEllipsoidModel = "engine/testdata/ray/ellipsoid.xml";
static const char* const kCylinderModel = "engine/testdata/ray/cylinder.xml";
static const char* const kBoxModel = "engine/testdata/ray/box.xml";
static const char* const kMeshModel = "engine/testdata/ray/mesh.xml";
static const char* const kSdfModel = "engine/testdata/ray/sdf.xml";
TEST_F(RayTest, GeomNormal) {
for (const char* path :
{kPlaneModel, kSphereModel, kCapsuleModel, kEllipsoidModel,
kCylinderModel, kBoxModel, kMeshModel}) {
kCylinderModel, kBoxModel, kMeshModel, kSdfModel}) {
const std::string xml_path = GetTestDataFilePath(path);
char error[1024];
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error, sizeof(error));
@@ -524,6 +525,9 @@ TEST_F(RayTest, GeomNormal) {
case mjGEOM_MESH:
r = mj_rayMeshNormal(m, d, 0, pnt, vec, normal);
break;
case mjGEOM_SDF:
r = mj_raySdfNormal(m, d, 0, pnt, vec, normal);
break;
default:
r = mju_rayGeomNormal(pos, mat, size, pnt, vec, type, normal);
}
@@ -533,7 +537,8 @@ TEST_F(RayTest, GeomNormal) {
// if no intersection, skip
if (r < 0) {
EXPECT_THAT(normal, ElementsAre(0, 0, 0));
EXPECT_THAT(normal, ElementsAre(0, 0, 0))
<< path << ", time " << d->time;
continue;
}
@@ -554,6 +559,9 @@ TEST_F(RayTest, GeomNormal) {
case mjGEOM_MESH:
dr = mj_rayMeshNormal(m, d, 0, dpnt, vec, nullptr);
break;
case mjGEOM_SDF:
dr = mj_raySdfNormal(m, d, 0, dpnt, vec, nullptr);
break;
default:
dr = mju_rayGeomNormal(pos, mat, size, dpnt, vec, type, nullptr);
}
test/engine/testdata/ray/sdf.xml
Vendored
+28
View File
@@ -0,0 +1,28 @@
<mujoco>
<extension>
<plugin plugin="mujoco.sdf.torus">
<instance name="torus">
<config key="radius1" value="1"/>
<config key="radius2" value="0.3"/>
</instance>
</plugin>
</extension>
<asset>
<mesh name="torus">
<plugin instance="torus"/>
</mesh>
</asset>
<option sdf_iterations="10" sdf_initpoints="40"/>
<include file="ray_swing.xml"/>
<worldbody>
<body pos="-.5 .002 -.2" euler="90 0 -40" mocap="true">
<geom type="sdf" mesh="torus">
<plugin instance="torus"/>
</geom>
</body>
</worldbody>
</mujoco>