Alessio Quaglino
70959c1a2c
PiperOrigin-RevId: 517357695 Change-Id: I068fee714d9638be2fb6d042d5d86f8ff970635b
242 lines
7.0 KiB
C++
242 lines
7.0 KiB
C++
// Copyright 2021 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 engine/engine_collision_driver.c.
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#include <cstddef>
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#include <string>
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#include <vector>
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mujoco.h>
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#include "test/fixture.h"
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#include "src/engine/engine_collision_driver.h"
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namespace mujoco {
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namespace {
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using MjCollisionTest = MujocoTest;
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using GeomPair = std::pair<std::string, std::string>;
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using ::testing::IsEmpty;
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using ::testing::ElementsAre;
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using ::testing::NotNull;
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// Returns a sorted list of pairs of colliding geom names, where each pair of
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// geom names is sorted.
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static std::vector<GeomPair> colliding_pairs(
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const mjModel* model, const mjData* data) {
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std::vector<GeomPair> result;
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for (int i = 0; i < data->ncon; i++) {
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std::string geom1 = mj_id2name(model, mjOBJ_GEOM, data->contact[i].geom1);
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std::string geom2 = mj_id2name(model, mjOBJ_GEOM, data->contact[i].geom2);
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result.push_back(GeomPair(std::min(geom1, geom2), std::max(geom1, geom2)));
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}
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std::sort(result.begin(), result.end());
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return result;
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}
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TEST_F(MjCollisionTest, PredefinedPairsOnly) {
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static const char* const kModelFilePath =
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"engine/testdata/collisions.xml";
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const std::string xml_path = GetTestDataFilePath(kModelFilePath);
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mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
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model->opt.collision = mjCOL_PAIR;
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mjData* data = mj_makeData(model);
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mj_fwdPosition(model, data);
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EXPECT_THAT(colliding_pairs(model, data), ElementsAre(
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GeomPair("box", "sphere_predefined")));
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mj_deleteData(data);
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mj_deleteModel(model);
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}
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TEST_F(MjCollisionTest, AllCollisions) {
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static const char* const kModelFilePath =
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"engine/testdata/collisions.xml";
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const std::string xml_path = GetTestDataFilePath(kModelFilePath);
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mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
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mjData* data = mj_makeData(model);
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// mjCOL_ALL is the default
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mj_fwdPosition(model, data);
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EXPECT_THAT(colliding_pairs(model, data), ElementsAre(
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GeomPair("box", "sphere_collides"),
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GeomPair("box", "sphere_predefined")
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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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TEST_F(MjCollisionTest, EmptyModel) {
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mjModel* model = LoadModelFromString("<mujoco/>");
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mjData* data = mj_makeData(model);
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mj_fwdPosition(model, data);
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EXPECT_THAT(colliding_pairs(model, data), IsEmpty());
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mj_deleteData(data);
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mj_deleteModel(model);
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}
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TEST_F(MjCollisionTest, ZeroedHessian) {
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static const char* const kModelFilePath =
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"engine/testdata/collisions.xml";
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const std::string xml_path = GetTestDataFilePath(kModelFilePath);
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mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
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mjData* data = mj_makeData(model);
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mj_fwdPosition(model, data);
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for (int i = 0; i < data->ncon; i++) {
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for (int j = 0; j < 36; j++) {
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EXPECT_FALSE(isnan(data->contact[i].H[j]))
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<< "NaN in contact[" << i << "].H[" << 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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TEST_F(MjCollisionTest, ContactCount) {
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constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<body>
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<geom type="plane" size="5 5 .01"/>
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</body>
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<body pos="0 0 0.9">
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<freejoint/>
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<geom type="sphere" size="1" pos="-1 -1 0"/>
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<geom type="sphere" size="1" pos="-1 1 0"/>
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<geom type="sphere" size="1" pos=" 1 -1 0"/>
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<geom type="sphere" size="1" pos=" 1 1 0"/>
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<geom type="sphere" size="1" pos="-2 -2 0"/>
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<geom type="sphere" size="1" pos="-2 2 0"/>
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<geom type="sphere" size="1" pos=" 2 -2 0"/>
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<geom type="sphere" size="1" pos=" 2 2 0"/>
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</body>
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</worldbody>
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</mujoco>
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)";
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mjModel* m = LoadModelFromString(xml);
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ASSERT_THAT(m, NotNull());
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mjData* d = mj_makeData(m);
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ASSERT_THAT(d, NotNull());
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mj_forward(m, d);
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// there are 8 spheres, all touching the floor
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EXPECT_EQ(d->ncon, 8);
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mj_deleteData(d);
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mj_deleteModel(m);
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}
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TEST_F(MjCollisionTest, FilterParent) {
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constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<body pos="0 0 0">
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<freejoint/>
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<geom name="colliding1" size="1" pos="0 0 100"/>
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<body>
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<geom size="1"/>
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<body>
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<joint axis="1 0 0"/>
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<geom size="1" pos="0 0 50"/>
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<body>
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<geom name="colliding2" size="1" pos="0 0 99.5"/>
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</body>
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</body>
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</body>
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</body>
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</worldbody>
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</mujoco>
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)";
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mjModel* m = LoadModelFromString(xml);
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ASSERT_THAT(m, NotNull());
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mjData* d = mj_makeData(m);
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ASSERT_THAT(d, NotNull());
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mj_fwdPosition(m, d);
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// there should be zero contacts, because colliding1 and colliding2 are in
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// bodies that have a parent-child relationship, through welds
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EXPECT_EQ(d->ncon, 0);
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// when this filtering is disabled, the geoms should collide
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m->opt.disableflags |= mjDSBL_FILTERPARENT;
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mj_fwdPosition(m, d);
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EXPECT_THAT(colliding_pairs(m, d),
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ElementsAre(GeomPair("colliding1", "colliding2")));
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mj_deleteData(d);
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mj_deleteModel(m);
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}
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TEST_F(MjCollisionTest, FilterParentDoesntAffectWorldBody) {
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constexpr char xml[] = R"(
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<mujoco>
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<worldbody>
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<geom name="colliding1" size="1" pos="0 0 100"/>
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<body pos="0 0 0">
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<joint axis="1 0 0"/>
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<geom name="colliding2" size="1" pos="0 0 99.5"/>
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</body>
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</worldbody>
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</mujoco>
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)";
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mjModel* m = LoadModelFromString(xml);
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ASSERT_THAT(m, NotNull());
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mjData* d = mj_makeData(m);
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ASSERT_THAT(d, NotNull());
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mj_fwdPosition(m, d);
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// even though colliding1 and colliding2 are have a parent-child relationship,
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// they collide because colliding1 is in <worldbody>
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EXPECT_THAT(colliding_pairs(m, d),
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ElementsAre(GeomPair("colliding1", "colliding2")));
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mj_deleteData(d);
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mj_deleteModel(m);
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}
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TEST_F(MjCollisionTest, TestOBB) {
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mjtNum bvh1[6] = {-1, -1, -1, 1, 1, 1};
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mjtNum bvh2[6] = {-1, -1, -1, 1, 1, 1};
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mjtNum pos1[3] = {0, 0, 0};
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mjtNum mat1[9] = {1, 0, 0, 0, 1, 0, 0, 0, 1};
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mjtNum pos2[3] = {1.71, 1.71, 0}; // just a little more than 1+sqrt(2)/2
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mjtNum mat2[9] = {1, 0, 0, 0, 1, 0, 0, 0, 1};
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EXPECT_THAT(
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mj_collideOBB(bvh1, bvh2, pos1, mat1, pos2, mat2, NULL, NULL, 0), true);
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// rotate by 45 degrees
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mat2[0] = 1./mju_sqrt(2.); mat2[1] = -1./mju_sqrt(2.);
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mat2[3] = 1./mju_sqrt(2.); mat2[4] = 1./mju_sqrt(2.);
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EXPECT_THAT(
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mj_collideOBB(bvh1, bvh2, pos1, mat1, pos2, mat2, NULL, NULL, 0), false);
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}
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} // namespace
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} // namespace mujoco
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