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0a0de6615d4e6b9bdf34ffcea016e31ec585f42d
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41 Commits

Author SHA1 Message Date
Kyle Bayes 0a0de6615d Back out of gjkIntersect when convergence fails due to algorithm oscillating between two support points. Also, fix related bug in box support function. 
PiperOrigin-RevId: 696482893
Change-Id: Icedaf5489b761b8bf03ec30558b5d1128668a647
 2024-11-14 05:12:32 -08:00
Kyle Bayes 0e8cca93e1 Refactor nativeccd interface. 
- Update mj_ccd interface for multi-contacts,
- Support GJK cutoff distance, and
- Remove mjc_fixNormal from nativeccd (causes bug with cylindar box collisions).

PiperOrigin-RevId: 696185362
Change-Id: I4828b7ee1bde078268220172a4937cd553f6187e
 2024-11-13 10:28:45 -08:00
Kyle Bayes 0c97dcf1fd Avoid overflowing the stack when allocating memory for polytope in EPA. 
PiperOrigin-RevId: 688641864
Change-Id: I3eef7e821ffbfa8d97a946ecf86d098cb4f0c233
 2024-10-22 12:11:22 -07:00
Kyle Bayes 70d6655434 Add faster support functions for NativeCCD. 
PiperOrigin-RevId: 684809392
Change-Id: I5125d4bb74c167d370aa919befba9d356c7162da
 2024-10-11 05:59:30 -07:00
Kyle Bayes 1d57099e98 Add internal return codes in polytope2 and polytope3 to make debugging in NativeCCD easier. 
PiperOrigin-RevId: 684776411
Change-Id: Ie0ab278b449ded0ec67ddc89569443d542bf93e0
 2024-10-11 03:36:18 -07:00
Kyle Bayes 5bfc7da7de Inline small vector util functions in NativeCCD. 
PiperOrigin-RevId: 683121207
Change-Id: Idf83e2d18d725665bf626c2c3269c81048076a1a
 2024-10-07 04:11:36 -07:00
Kyle Bayes 6be5decf6c Check for OOM errors once per EPA iteration. 
PiperOrigin-RevId: 682447186
Change-Id: I55031da8cf2335d5771bb54b32b7e1f696aa80f2
 2024-10-04 14:15:29 -07:00
Kyle Bayes eb095b276c Switch to collision boolean only GJK for contacts instead of using S3D. 
PiperOrigin-RevId: 682329224
Change-Id: I3db141b0482610a0a88854f47a46b0b7b694b361
 2024-10-04 08:25:14 -07:00
Kyle Bayes dba32e827c Exit recursion gracefully when horizon reaches empty polytope in EPA. 
PiperOrigin-RevId: 682050023
Change-Id: I8e04f00e6ab3e15e177d1902889441cdbf11cafd
 2024-10-03 15:18:05 -07:00
Kyle Bayes 9d91703871 Replace heap with linear map in EPA. 
PiperOrigin-RevId: 681911349
Change-Id: Iffe2d3ff57b9a4cfcc223ea5d5d29e2e6696e1cf
 2024-10-03 09:27:02 -07:00
Kyle Bayes a02c37cf12 Use faster cross product in projectOriginPlane for NativeCCD. 
PiperOrigin-RevId: 681909044
Change-Id: I5d275a30bce4f24f2e4c205b9a9eb321a5a98b43
 2024-10-03 09:20:44 -07:00
Kyle Bayes dc995ad341 Remove unnecessary norm calculation in EPA. 
PiperOrigin-RevId: 681906350
Change-Id: Ib6a13ca170a8071adde0771c6ba2b38fb4fd4da4
 2024-10-03 09:12:51 -07:00
Kyle Bayes 04f8403d8e Add unit tests for NativeCCD to produce better test coverage. 
PiperOrigin-RevId: 677793306
Change-Id: I435865f00553c74d1d0c0fa86d9c41fb1e5497ff
 2024-09-23 07:55:39 -07:00
Yuval Tassa 91cedfd65c Avoid square roots in barycentric coordinate computation. 
Also add some `inline` qualifiers.

PiperOrigin-RevId: 676873457
Change-Id: I76f57dc870a8714bd86749a7dee1f10fc5e4be1c
 2024-09-20 09:37:40 -07:00
Kyle Bayes 7a92423cf2 Add height fields to list of discrete objects in NativeCCD. 
PiperOrigin-RevId: 676452215
Change-Id: I5d6a0d1e26ee852c774b44f550c1d0531b7a269b
 2024-09-19 09:48:41 -07:00
Kyle Bayes 0657e3e871 Fix bug in DeleteFace in NativeCCD. 
PiperOrigin-RevId: 675948504
Change-Id: If9d967c8e75580a3a002fce9c10a2e1bfd0b5d46
 2024-09-18 05:20:11 -07:00
Kyle Bayes bd811a44e7 Remove redundant copying in NativeCCD and refactor code for readability. 
PiperOrigin-RevId: 675573079
Change-Id: If9f7bc21d9ee7806997f05a8985ebe6b1b3c8332
 2024-09-17 08:14:10 -07:00
Kyle Bayes e94bd8348c Store polytope faces in heap in NativeCCD. 
PiperOrigin-RevId: 675197250
Change-Id: Ibe9194d777d68729bffd085e36313fb33ee2756d
 2024-09-16 10:17:20 -07:00
Kyle Bayes 4628a5e438 Remove vertex struct from NativeCCD and allocate fixed memory for vertices on MuJoCo stack. 
PiperOrigin-RevId: 675144892
Change-Id: I23d3316b9346ce7137bcfe84265717b60950898a
 2024-09-16 07:45:53 -07:00
Yuval Tassa fd17b2144a Replace double- or single-precision-denominated function calls in the engine with the equivalent mjtNum-denominated calls. This avoids unnecessary casting or precision loss when MuJoCo is compiled for 32-bit float precision. Accordingly, remove #include <math.h> from all engine source files.
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Also, minor type-related fixes in `user_mesh.cc`.

PiperOrigin-RevId: 675082329
Change-Id: Icc5eb9f9eb4fbf09b08d7d4b9b2929f414e4a75c
 2024-09-16 03:40:17 -07:00
Kyle Bayes 9f8f6947fc Remove global linear search in favor of (almost constant time) local search when finding the convex hull of the polytope and new point in EPA for NativeCCD. 
PiperOrigin-RevId: 673852140
Change-Id: Ib2ab64bad3cd2aa7d252b4016754f37ea30e1077
 2024-09-12 08:11:30 -07:00
Kyle Bayes 8d165d5cc7 Fix early termination in GJK. It's possible for x_k to be the origin, so we should run the previous test to conclude that the objects are colliding. 
PiperOrigin-RevId: 673834101
Change-Id: I596b30d2847670261f8067840b34dc13de401ecb
 2024-09-12 07:17:53 -07:00
Kyle Bayes 14f420069e Make projectOriginPlane in NativeCCD numerically robust. 
PiperOrigin-RevId: 673761409
Change-Id: I64304c89f768414d60e2dcf2e71feb8a6f9b2635
 2024-09-12 03:01:15 -07:00
Kyle Bayes 44145742a7 Exit GJK early if geom distance doesn't need to be recovered. 
PiperOrigin-RevId: 672334991
Change-Id: I4af582c799140ccf3ac4d51952e547b08ab5d55e
 2024-09-08 14:57:50 -07:00
Kyle Bayes 61721f8d3c Set tolerance in GJK to zero for colliding discrete geoms. 
PiperOrigin-RevId: 672326091
Change-Id: Iddec335272461c9aee13c1960640a453ff59f841
 2024-09-08 13:49:58 -07:00
Kyle Bayes 4fc6fb179b Remove libccd compatibility layer from native ccd. 
PiperOrigin-RevId: 671740643
Change-Id: If3c1097df5c505f70c2dc0c090a7f5a93a43c683
 2024-09-06 06:56:01 -07:00
Kyle Bayes b9822e4347 Check hexahedron in polytope3 to make sure it contains the origin. Otherwise, EPA can return invalid results. 
PiperOrigin-RevId: 671057312
Change-Id: Ieb21a77ea679ee5c18972d3a0375578d9a98405e
 2024-09-04 12:17:54 -07:00
Kyle Bayes 79a5bd0915 Add better boundary tests in polytope3 for EPA. 
PiperOrigin-RevId: 671038835
Change-Id: I259260a7b40e825678b52187bee4791266ae10c4
 2024-09-04 11:25:44 -07:00
Kyle Bayes e9a85764ea Native CCD: Replace mju_malloc with C standard malloc, fix bug in computing v5 in polytope3, and add another warning in EPA. 
PiperOrigin-RevId: 670939250
Change-Id: Ia0d8b7c78ed2ef7019f2a691c066b20e98dc1889
 2024-09-04 05:53:31 -07:00
Kyle Bayes ddb29e9293 Fix bug in computing pos in EPA by replacing S2D with computing affine coordinates directly to recover the witness points. 
PiperOrigin-RevId: 668006152
Change-Id: I1de33c5bb94de1a14523a88a5dff7d6ec984628e
 2024-08-27 08:55:40 -07:00
Kyle Bayes cad8ca6ffd Do pre-checking when creating initial polytope for EPA. 
PiperOrigin-RevId: 666807572
Change-Id: I64c3715dc72c24f9b6b2206b3568951bd8c2384a
 2024-08-23 08:37:34 -07:00
Kyle Bayes d360ea1ce6 Minor GJK + EPA improvements: 
1. Correct stopping criteria for GJK.
2. Store witness points from EPA in mjCCDObj,
3. Get dir directly from EPA instead of computing dir from witness points.

PiperOrigin-RevId: 666791852
Change-Id: I6a168f635b57c17692d31da6f6076b48c32ff2e3
 2024-08-23 07:44:30 -07:00
Kyle Bayes f986a52e1e Compute witness points from EPA, and use witness points to determine pos and dir for contact. 
PiperOrigin-RevId: 665791337
Change-Id: If33ca1f455804c4cda534508803f5c3e99c3c52a
 2024-08-21 03:06:17 -07:00
Kyle Bayes 64575f399b Add heightfield collision support for GJK + EPA implementation. 
PiperOrigin-RevId: 663321119
Change-Id: I01a85ae15386c997bff4e9c6d71555a4380dfffe
 2024-08-15 08:50:09 -07:00
Kyle Bayes 7f09a7d8c6 Fix bug in S2D and improve readability of GJK + EPA code. 
PiperOrigin-RevId: 663261102
Change-Id: Ibb1d801078cc02bc7ccec246be6dc50fa4f2be18
 2024-08-15 04:35:15 -07:00
Kyle Bayes 1c9d609b5b Make mj_gjkPenetration have the same signature as LibCCD penetration functions. 
PiperOrigin-RevId: 661256774
Change-Id: If0ae95e27900a9d7b9c63f189837f1315fbbb987
 2024-08-09 07:40:17 -07:00
Kyle Bayes a1d9b47e2f Initial (unoptimized) implementation of EPA. 
PiperOrigin-RevId: 659938320
Change-Id: I72c6c6bd7504bce36e4788d90b06b2cb3849b4db
 2024-08-06 06:53:55 -07:00
Kyle Bayes d831153401 Reorganize GJK support logic. 
PiperOrigin-RevId: 649361144
Change-Id: I9868377cf36cccdcf66de3bc27afb872a164da8d
 2024-07-04 03:48:52 -07:00
Kyle Bayes 5e39fc0564 Improvements to GJK implementation: 
- Fix various bugs
- Improve readability
- Add support for recovering witness points.

PiperOrigin-RevId: 646515019
Change-Id: I295cf90d885e32013e595ea7aad07ed6c1869239
 2024-06-25 10:00:58 -07:00
Kyle Bayes 14fe527ea2 Fix small typo/bug in gjk implementation. 
PiperOrigin-RevId: 645378191
Change-Id: Icdba53b30c934ac3059bb6f7b6d1081d71823131
 2024-06-21 07:04:22 -07:00
Kyle Bayes 1e8454820d Implement initial GJK algorithm. 
PiperOrigin-RevId: 645368315
Change-Id: I40a1e1023fd9f14a59e11a9dcc6ac22df241b6ae
 2024-06-21 06:17:43 -07:00