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Avoid duplicate contact points in compound bodies.

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Sometimes broadphase returns the same body pair multiple times. In those cases, avoid creating every contact twice.

PiperOrigin-RevId: 499869235
Change-Id: I58606168b0723d40b4fdd43b1fafad79bf35d76d
This commit is contained in:
Nimrod Gileadi
2023-01-05 07:27:19 -08:00
committed by Copybara-Service
parent 0c463366a0
commit f85f3fba2f
2 changed files with 46 additions and 2 deletions
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src/engine/engine_collision_driver.c
+9 -2
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@@ -51,7 +51,7 @@ mjfCollision mjCOLLISIONFUNC[mjNGEOMTYPES][mjNGEOMTYPES] = {
//----------------------------- collision detection entry point ------------------------------------
void mj_collision(const mjModel* m, mjData* d) {
int g1, g2, signature, merged, b1 = 0, b2 = 0, exadr = 0, pairadr = 0, startadr;
int g1, g2, merged, b1 = 0, b2 = 0, exadr = 0, pairadr = 0, startadr;
int nexclude = m->nexclude, npair = m->npair, nbodypair = ((m->nbody-1)*m->nbody)/2;
int *broadphasepair = 0;
mjMARKSTACK;
@@ -77,6 +77,7 @@ void mj_collision(const mjModel* m, mjData* d) {
// call broadphase collision detector
broadphasepair = (int*)mj_stackAlloc(d, (m->nbody*(m->nbody-1))/2);
nbodypair = mj_broadphase(m, d, broadphasepair, (m->nbody*(m->nbody-1))/2);
unsigned int last_signature = -1;
// loop over body pairs (broadphase or all)
for (int i=0; i<nbodypair; i++) {
@@ -85,7 +86,13 @@ void mj_collision(const mjModel* m, mjData* d) {
b2 = broadphasepair[i] & 0xFFFF;
// compute signature for this body pair
signature = ((b1+1)<<16) + (b2+1);
unsigned int signature = ((b1+1)<<16) + (b2+1);
// pairs come sorted by signature, but may not be unique
// if signature is repeated, skip it
if (signature == last_signature) {
continue;
}
last_signature = signature;
// merge predefined pairs
merged = 0;