Yuval Tassa
7942fe957e
The box-box collider sometimes outputs bad contact points which are far outside one of the two boxes. This happens at configurations which are very rare numerically, but rare configurations (e.g. perfect box alignment) are often induced by the designer and the physics, making them actually not-so-rare. Since the box collision functions are very difficult to understand, we circumvent the issue by extending the post processing code to detect and remove such contacts. PiperOrigin-RevId: 589178197 Change-Id: I82b8a888ef04f9196111c960757e3314d0ab6d8e
104 lines
3.0 KiB
CMake
104 lines
3.0 KiB
CMake
# 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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# https://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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mujoco_test(engine_collision_box_test)
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target_link_libraries(engine_collision_box_test fixture gmock)
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mujoco_test(engine_collision_convex_test)
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target_link_libraries(engine_collision_convex_test fixture gmock)
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mujoco_test(engine_collision_driver_test)
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target_link_libraries(engine_collision_driver_test fixture gmock)
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mujoco_test(engine_core_constraint_test)
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target_link_libraries(engine_core_constraint_test fixture gmock)
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mujoco_test(engine_core_smooth_test)
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target_link_libraries(engine_core_smooth_test fixture gmock absl::span)
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mujoco_test(engine_derivative_test)
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target_link_libraries(engine_derivative_test fixture gmock)
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mujoco_test(engine_forward_test)
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target_link_libraries(engine_forward_test fixture gmock)
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mujoco_test(engine_inverse_test)
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target_link_libraries(engine_inverse_test fixture gmock)
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mujoco_test(engine_island_test)
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target_link_libraries(engine_island_test fixture gmock)
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mujoco_test(engine_io_test)
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target_link_libraries(
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engine_io_test
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fixture
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gmock
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absl::str_format
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)
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mujoco_test(
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engine_plugin_test
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PROPERTIES
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ENVIRONMENT
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"MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:elasticity>"
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)
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target_link_libraries(
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engine_plugin_test
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fixture
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gmock
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absl::str_format
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)
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mujoco_test(engine_passive_test)
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target_link_libraries(engine_passive_test fixture gmock)
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mujoco_test(engine_print_test)
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target_link_libraries(engine_print_test fixture gmock)
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mujoco_test(engine_ray_test)
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target_link_libraries(engine_ray_test fixture gmock)
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mujoco_test(engine_resource_test)
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target_link_libraries(engine_resource_test fixture gmock)
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mujoco_test(engine_sensor_test)
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target_link_libraries(engine_sensor_test fixture gmock)
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mujoco_test(engine_solver_test)
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target_link_libraries(engine_solver_test fixture gmock)
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mujoco_test(engine_support_test)
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target_link_libraries(engine_support_test fixture gmock)
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mujoco_test(engine_thread_test)
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target_link_libraries(engine_thread_test fixture gmock)
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mujoco_test(engine_util_blas_test)
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target_link_libraries(engine_util_blas_test fixture gmock)
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mujoco_test(engine_util_errmem_test)
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target_link_libraries(engine_util_errmem_test fixture gmock)
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mujoco_test(engine_util_solve_test)
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target_link_libraries(engine_util_solve_test fixture gmock)
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mujoco_test(engine_util_spatial_test)
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target_link_libraries(engine_util_spatial_test fixture gmock)
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mujoco_test(engine_vfs_test)
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target_link_libraries(engine_vfs_test fixture gmock)
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mujoco_test(engine_vis_state_test)
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target_link_libraries(engine_vis_state_test fixture gmock)
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