867e8b8adb
Fix ARM issues with tests with nativeccd.
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Note: frameless_contact_hfield.xml doesn't work with libccd nor nativeccd on ARM as expected.
PiperOrigin-RevId: 698317464
Change-Id: I4c57e04639b9870b416c67d79a16a313c5276cf6
2024-11-20 02:30:15 -08:00
f91588a171
Fallback to polytope3 if tetrahedron from GJK has the origin on a face (most likely due to a numerical issue).
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PiperOrigin-RevId: 696872633
Change-Id: I58edb0fdc30ad472c8f1338df728e8d42c25fc39
2024-11-15 06:53:00 -08:00
0e8cca93e1
Refactor nativeccd interface.
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- 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
70d6655434
Add faster support functions for NativeCCD.
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PiperOrigin-RevId: 684809392
Change-Id: I5125d4bb74c167d370aa919befba9d356c7162da
2024-10-11 05:59:30 -07:00
04f8403d8e
Add unit tests for NativeCCD to produce better test coverage.
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PiperOrigin-RevId: 677793306
Change-Id: I435865f00553c74d1d0c0fa86d9c41fb1e5497ff
2024-09-23 07:55:39 -07:00
7a92423cf2
Add height fields to list of discrete objects in NativeCCD.
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PiperOrigin-RevId: 676452215
Change-Id: I5d6a0d1e26ee852c774b44f550c1d0531b7a269b
2024-09-19 09:48:41 -07:00
bd811a44e7
Remove redundant copying in NativeCCD and refactor code for readability.
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PiperOrigin-RevId: 675573079
Change-Id: If9f7bc21d9ee7806997f05a8985ebe6b1b3c8332
2024-09-17 08:14:10 -07:00
5144be2baa
Add unit tests for NativeCCD.
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PiperOrigin-RevId: 673849092
Change-Id: Ie703c9f461bb483fd3335d1ba589211205c73c8c
2024-09-12 08:03:18 -07:00
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.
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PiperOrigin-RevId: 673834101
Change-Id: I596b30d2847670261f8067840b34dc13de401ecb
2024-09-12 07:17:53 -07:00
44145742a7
Exit GJK early if geom distance doesn't need to be recovered.
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PiperOrigin-RevId: 672334991
Change-Id: I4af582c799140ccf3ac4d51952e547b08ab5d55e
2024-09-08 14:57:50 -07:00
4fc6fb179b
Remove libccd compatibility layer from native ccd.
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PiperOrigin-RevId: 671740643
Change-Id: If3c1097df5c505f70c2dc0c090a7f5a93a43c683
2024-09-06 06:56:01 -07:00
d360ea1ce6
Minor GJK + EPA improvements:
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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
f986a52e1e
Compute witness points from EPA, and use witness points to determine pos and dir for contact.
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PiperOrigin-RevId: 665791337
Change-Id: If33ca1f455804c4cda534508803f5c3e99c3c52a
2024-08-21 03:06:17 -07:00
64575f399b
Add heightfield collision support for GJK + EPA implementation.
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PiperOrigin-RevId: 663321119
Change-Id: I01a85ae15386c997bff4e9c6d71555a4380dfffe
2024-08-15 08:50:09 -07:00
7f09a7d8c6
Fix bug in S2D and improve readability of GJK + EPA code.
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PiperOrigin-RevId: 663261102
Change-Id: Ibb1d801078cc02bc7ccec246be6dc50fa4f2be18
2024-08-15 04:35:15 -07:00
ebd8615554
Internal change.
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PiperOrigin-RevId: 661267364
Change-Id: If2249eb1658c5b877a43a4d3c29ebf88d2a42d5a
2024-08-09 08:16:41 -07:00
1c9d609b5b
Make mj_gjkPenetration have the same signature as LibCCD penetration functions.
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PiperOrigin-RevId: 661256774
Change-Id: If0ae95e27900a9d7b9c63f189837f1315fbbb987
2024-08-09 07:40:17 -07:00
a1d9b47e2f
Initial (unoptimized) implementation of EPA.
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PiperOrigin-RevId: 659938320
Change-Id: I72c6c6bd7504bce36e4788d90b06b2cb3849b4db
2024-08-06 06:53:55 -07:00
5e39fc0564
Improvements to GJK implementation:
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- 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
1e8454820d
Implement initial GJK algorithm.
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PiperOrigin-RevId: 645368315
Change-Id: I40a1e1023fd9f14a59e11a9dcc6ac22df241b6ae
2024-06-21 06:17:43 -07:00
Kyle Bayes