Alessio Quaglino
e97e5d31d0
This approximation is equivalent to the exact SDF on the surface and externally, but it is smooth on the inside, rotating the gradient from radial at the box center to normal to the faces at the surface, and interpolated linearly (using two Euler angles) in between. This enables stable contact gradients for deeper penetrations. PiperOrigin-RevId: 776574022 Change-Id: I562976e9f0535b0067aa12b2bc9d48eccb6472e9
85 lines
2.6 KiB
C++
85 lines
2.6 KiB
C++
// Copyright 2022 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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// Tests for sdf collisions.
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#include <cstdio>
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <mujoco/mjdata.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjtnum.h>
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#include <mujoco/mujoco.h>
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#include "src/engine/engine_collision_sdf.h"
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#include "test/fixture.h"
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namespace mujoco {
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namespace {
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using ::testing::NotNull;
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using SdfTest = MujocoTest;
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static constexpr int kpoints = 6;
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static constexpr int kgeoms = 5;
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static constexpr char kSdfModel[] = R"(
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<mujoco>
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<worldbody>
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<geom type="plane" size="5 5 .1" pos="0 0 -1"/>
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<body pos="-.1 .2 2" euler="0 0 45">
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<geom type="sphere" size="1"/>
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<geom type="capsule" size=".1" fromto="-2 -2 1 2 2 1"/>
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<geom type="cylinder" size="1" fromto="0 0 0 2 0 0"/>
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<geom type="box" size="1 1 1"/>
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</body>
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</worldbody>
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</mujoco>
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)";
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TEST_F(SdfTest, SdfPrimitive) {
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mjModel* model = LoadModelFromString(kSdfModel);
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ASSERT_THAT(model, NotNull());
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mjData* data = mj_makeData(model);
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ASSERT_THAT(data, NotNull());
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ASSERT_THAT(model->ngeom, kgeoms);
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mjSDF sdf;
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const mjpPlugin* null_plugin = NULL;
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mjtNum gradient[3], dist[kgeoms][kpoints] = {
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{0, 0, 0, 0, 1, 1}, // plane
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{-1, 0, 0, mju_sqrt(2)-1, mju_sqrt(2)-1, mju_sqrt(3)-1}, // sphere
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{-.1, .9, .9, mju_sqrt(2)-.1, .9, mju_sqrt(2)-.1}, // capsule
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{-1, 0, 0, mju_sqrt(2)-1, 0, mju_sqrt(2)-1}, // cylinder
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{-mju_sqrt(3), 0, 0, 0, 0, 0}, // box
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};
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mjtNum points[kpoints][3] = {{0, 0, 0}, {1, 0, 0}, {0, 1, 0},
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{1, 1, 0}, {0, 1, 1}, {1, 1, 1}};
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for (int i = 0; i < kgeoms; i++) {
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sdf.plugin = &null_plugin;
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sdf.id = &i;
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sdf.type = mjSDFTYPE_SINGLE;
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sdf.geomtype = (mjtGeom*)(model->geom_type+i);
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for (int j = 0; j < kpoints; j++) {
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EXPECT_NEAR(mjc_distance(model, data, &sdf, points[j]), dist[i][j], 1e-9);
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mjc_gradient(model, data, &sdf, gradient, points[j]);
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}
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}
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mj_deleteData(data);
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mj_deleteModel(model);
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}
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} // namespace
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} // namespace mujoco
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