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82e92cbcaae55b381a34de58be84b5a3e8c18093
Mujoco_WASM/test/engine/engine_ray_test.cc
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Sam Haves 82e92cbcaa Remove PluginTest and make MujocoTest load plugins. 
MujocoTest now loads plugins from MUJOCO_PLUGIN_DIR if set.
PluginTest is removed; all tests use MujocoTest directly.
testspeed binary loads plugins from MUJOCO_PLUGIN_DIR.

This is in preparation for moving common asset format parsing (obj, msh, stl, etc.) where we will always want to load those plugins.

PiperOrigin-RevId: 874194428
Change-Id: Id90805a9ba5de4627911b56d8b9c4ab4e1b29310
2026-02-23 12:15:22 -08:00

667 lines
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// Copyright 2022 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// Tests for ray casting.
#include <cstring>
#include <string>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <mujoco/mjdata.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h>
#include <mujoco/mujoco.h>
#include "src/engine/engine_ray.h"
#include "test/fixture.h"
namespace mujoco {
namespace {
static constexpr char kSingleGeomModel[] = R"(
<mujoco>
<worldbody>
<body pos="-2 0 0">
<geom type="sphere" pos="1 0 0" size=".1"/>
</body>
</worldbody>
</mujoco>
)";
static constexpr char kRayCastingModel[] = R"(
<mujoco>
<worldbody>
<geom name="static_group1" type="sphere" size=".1" pos="1 0 0" group="1"/>
<body pos="0 0 0">
<body pos="0 0 0">
<joint/>
<geom name="group0" type="sphere" size=".1" pos="3 0 0"/>
</body>
<geom name="group2" type="sphere" size=".1" pos="5 0 0" group="2"/>
</body>
</worldbody>
</mujoco>
)";
static constexpr char kCubeletModel[] = R"(
<mujoco>
<asset>
<mesh name="cubelet"
vertex="0.0085 -0.01 0.0085 -0.0085 -0.01 -0.0085 0.0085 -0.01 -0.0085
0.01 0.0085 0.0085 0.01 -0.0085 -0.0085 0.01 0.0085 -0.0085
-0.0085 0.0085 0.01 0.0085 -0.0085 0.01 0.0085 0.0085 0.01
-0.01 -0.0085 0.0085 -0.01 0.0085 -0.0085 -0.01 -0.0085 -0.0085
-0.0085 0.01 0.0085 0.0085 0.01 -0.0085 -0.0085 0.01 -0.0085
-0.0085 -0.0085 -0.01 -0.0085 -0.01 0.0085 -0.0085 -0.0085 0.01
-0.0085 0.0085 -0.01 -0.01 0.0085 0.0085 0.0085 -0.0085 -0.01
0.01 -0.0085 0.0085 0.0085 0.0085 -0.01 0.0085 0.01 0.0085"/>
</asset>
<worldbody>
<body pos="1 0 0">
<geom type="mesh" mesh="cubelet"/>
</body>
</worldbody>
</mujoco>
)";
using ::std::string;
using ::testing::AnyOf;
using ::testing::DoubleNear;
using ::testing::ElementsAre;
using ::testing::NotNull;
using ::testing::Pointwise;
using RayTest = MujocoTest;
TEST_F(RayTest, NoExclusions) {
char error[1024];
mjModel* model = LoadModelFromString(kRayCastingModel, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
mjData* data = mj_makeData(model);
ASSERT_THAT(data, NotNull());
mjtNum pnt[] = {0.0, 0.0, 0.0};
mjtNum vec[] = {1.0, 0.0, 0.0};
mjtByte* geomgroup = nullptr;
mjtByte flg_static = 1; // Include static geoms
int bodyexclude = -1;
int geomid = -1;
mj_kinematics(model, data);
mjtNum distance = mj_ray(model, data, pnt, vec, geomgroup, flg_static,
bodyexclude, &geomid, nullptr);
EXPECT_STREQ(mj_id2name(model, mjOBJ_GEOM, geomid), "static_group1");
EXPECT_FLOAT_EQ(distance, 0.9);
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(RayTest, Exclusions) {
char error[1024];
mjModel* model = LoadModelFromString(kRayCastingModel, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
mjData* data = mj_makeData(model);
ASSERT_THAT(data, NotNull());
mjtNum pnt[] = {0.0, 0.0, 0.0};
mjtNum vec[] = {1.0, 0.0, 0.0};
mjtByte geomgroup[] = {1, 1, 1};
mjtByte flg_static = 1;
int bodyexclude = -1;
int geomid = -1;
mj_kinematics(model, data);
mjtNum distance = mj_ray(model, data, pnt, vec, geomgroup, flg_static,
bodyexclude, &geomid, nullptr);
EXPECT_STREQ(mj_id2name(model, mjOBJ_GEOM, geomid), "static_group1");
EXPECT_FLOAT_EQ(distance, 0.9);
// Exclude nearest geom
geomgroup[1] = 0;
distance = mj_ray(model, data, pnt, vec, geomgroup, flg_static, bodyexclude,
&geomid, nullptr);
EXPECT_STREQ(mj_id2name(model, mjOBJ_GEOM, geomid), "group0");
EXPECT_FLOAT_EQ(distance, 2.9);
geomgroup[0] = 0;
distance = mj_ray(model, data, pnt, vec, geomgroup, flg_static, bodyexclude,
&geomid, nullptr);
EXPECT_STREQ(mj_id2name(model, mjOBJ_GEOM, geomid), "group2");
EXPECT_FLOAT_EQ(distance, 4.9);
geomgroup[2] = 0;
distance = mj_ray(model, data, pnt, vec, geomgroup, flg_static, bodyexclude,
&geomid, nullptr);
EXPECT_EQ(geomid, -1);
EXPECT_FLOAT_EQ(distance, -1);
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(RayTest, ExcludeStatic) {
char error[1024];
mjModel* model = LoadModelFromString(kRayCastingModel, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
mjData* data = mj_makeData(model);
ASSERT_THAT(data, NotNull());
mjtNum pnt[] = {0.0, 0.0, 0.0};
mjtNum vec[] = {1.0, 0.0, 0.0};
mjtByte geomgroup[] = {1, 1, 1};
mjtByte flg_static = 0; // Exclude static geoms
int bodyexclude = -1;
int geomid = -1;
mj_kinematics(model, data);
mjtNum distance = mj_ray(model, data, pnt, vec, geomgroup, flg_static,
bodyexclude, &geomid, nullptr);
EXPECT_STREQ(mj_id2name(model, mjOBJ_GEOM, geomid), "group0");
EXPECT_FLOAT_EQ(distance, 2.9);
mj_deleteData(data);
mj_deleteModel(model);
}
// ------------------------------- mj_multiRay --------------------------------
TEST_F(RayTest, MultiRayEqualsSingleRay) {
char error[1024];
mjModel* m = LoadModelFromString(kRayCastingModel, error, sizeof(error));
ASSERT_THAT(m, NotNull()) << error;
mjData* d = mj_makeData(m);
ASSERT_THAT(d, NotNull());
mj_forward(m, d);
// create ray array
constexpr int N = 80;
constexpr int M = 60;
mjtNum vec[3*N*M];
mjtNum pnt[3] = {-1, 0, 0};
mjtNum cone[4][3] = {{1, .2, -.2}, {1, .2, .2}, {1, -.2, -.2}, {1, -.2, .2}};
memset(vec, 0, 3*N*M*sizeof(mjtNum));
for (int i = 0; i < N; ++i) {
for (int j = 0; j < M; ++j) {
for (int k = 0; k < 3; ++k) {
vec[3 * (i * M + j) + k] = i * cone[0][k] / (N - 1) +
j * cone[1][1] / (M - 1) +
(N - i - 1) * cone[2][k] / (N - 1) +
(M - j - 1) * cone[3][k] / (M - 1);
}
}
}
// compute intersections with multiray functions
mjtNum dist_multiray[N*M];
int rgeomid_multiray[N*M];
mj_multiRay(m, d, pnt, vec, NULL, 1, -1, rgeomid_multiray, dist_multiray,
nullptr, N * M, mjMAXVAL);
// compare results with single ray function
mjtNum dist;
int rgeomid;
int nhits = 0;
for (int i = 0; i < N; ++i) {
for (int j = 0; j < M; ++j) {
int idx = i * M + j;
dist = mj_ray(m, d, pnt, vec + 3 * idx, NULL, 1, -1, &rgeomid, nullptr);
EXPECT_FLOAT_EQ(dist, dist_multiray[idx]);
EXPECT_EQ(rgeomid, rgeomid_multiray[idx]);
nhits += dist >= 0;
}
}
EXPECT_GT(nhits, 10);
mj_deleteData(d);
mj_deleteModel(m);
}
TEST_F(RayTest, MultiRayNormalEqualsSingleRayNormal) {
char error[1024];
mjModel* m = LoadModelFromString(kRayCastingModel, error, sizeof(error));
ASSERT_THAT(m, NotNull()) << error;
mjData* d = mj_makeData(m);
ASSERT_THAT(d, NotNull());
mj_forward(m, d);
// create ray array
constexpr int N = 80;
constexpr int M = 60;
mjtNum vec[3*N*M];
mjtNum pnt[3] = {-1, 0, 0};
mjtNum cone[4][3] = {{1, .2, -.2}, {1, .2, .2}, {1, -.2, -.2}, {1, -.2, .2}};
memset(vec, 0, 3*N*M*sizeof(mjtNum));
for (int i = 0; i < N; ++i) {
for (int j = 0; j < M; ++j) {
for (int k = 0; k < 3; ++k) {
vec[3 * (i * M + j) + k] = i * cone[0][k] / (N - 1) +
j * cone[1][1] / (M - 1) +
(N - i - 1) * cone[2][k] / (N - 1) +
(M - j - 1) * cone[3][k] / (M - 1);
}
}
}
// compute intersections with multiray normal function
mjtNum dist_multiray[N*M];
int rgeomid_multiray[N*M];
mjtNum normal_multiray[3*N*M];
mj_multiRay(m, d, pnt, vec, NULL, 1, -1, rgeomid_multiray,
dist_multiray, normal_multiray, N * M, mjMAXVAL);
// compare results with single ray normal function
mjtNum dist;
int rgeomid;
mjtNum normal[3];
int nhits = 0;
for (int i = 0; i < N; ++i) {
for (int j = 0; j < M; ++j) {
int idx = i * M + j;
dist = mj_ray(m, d, pnt, vec + 3 * idx, NULL, 1, -1, &rgeomid,
normal);
EXPECT_FLOAT_EQ(dist, dist_multiray[idx]);
EXPECT_EQ(rgeomid, rgeomid_multiray[idx]);
EXPECT_FLOAT_EQ(normal[0], normal_multiray[3*idx]);
EXPECT_FLOAT_EQ(normal[1], normal_multiray[3*idx + 1]);
EXPECT_FLOAT_EQ(normal[2], normal_multiray[3*idx + 2]);
nhits += dist >= 0;
}
}
EXPECT_GT(nhits, 10);
mj_deleteData(d);
mj_deleteModel(m);
}
TEST_F(RayTest, EdgeCases) {
char error[1024];
mjModel* m = LoadModelFromString(kSingleGeomModel, error, sizeof(error));
ASSERT_THAT(m, NotNull()) << error;
ASSERT_THAT(m->nbvh, 1);
mjData* d = mj_makeData(m);
ASSERT_THAT(d, NotNull());
mj_forward(m, d);
// spherical bounding box and result arrays
mjtNum geom_ba[4];
mjtNum dist;
int rgeomid;
int flags[1] = {0};
// pnt contained in bounding box
mjtNum pnt1[] = {-1, 0, 0};
mju_multiRayPrepare(m, d, pnt1, NULL, NULL, 1, -1, mjMAXVAL, geom_ba, flags);
EXPECT_FLOAT_EQ(geom_ba[0], -mjPI);
EXPECT_FLOAT_EQ(geom_ba[1], 0);
EXPECT_FLOAT_EQ(geom_ba[2], mjPI);
EXPECT_FLOAT_EQ(geom_ba[3], mjPI);
mjtNum vec1[] = {1, 0, 0};
mj_multiRay(m, d, pnt1, vec1, NULL, 1, -1, &rgeomid, &dist, nullptr, 1,
mjMAXVAL);
EXPECT_FLOAT_EQ(dist, 0.1);
// pnt at phi = Pi, -Pi
mjtNum pnt2[] = {-.5, 0, 0};
mju_multiRayPrepare(m, d, pnt2, NULL, NULL, 1, -1, mjMAXVAL, geom_ba, flags);
EXPECT_FLOAT_EQ(geom_ba[0], -mjPI); // atan(y<0, x<0)
EXPECT_FLOAT_EQ(geom_ba[2], mjPI); // atan(y>0, x<0)
mjtNum vec2[] = {-1, 0, 0};
mj_multiRay(m, d, pnt2, vec2, NULL, 1, -1, &rgeomid, &dist, nullptr, 1,
mjMAXVAL);
EXPECT_FLOAT_EQ(dist, 0.4);
// with cutoff
mjtNum cutoff1 = 0.41, cutoff2 = 0.39;
mju_multiRayPrepare(m, d, pnt2, NULL, NULL, 1, -1, cutoff1, geom_ba, flags);
EXPECT_EQ(flags[0], 0);
mju_multiRayPrepare(m, d, pnt2, NULL, NULL, 1, -1, cutoff2, geom_ba, flags);
EXPECT_EQ(flags[0], 1);
mj_multiRay(m, d, pnt2, vec2, NULL, 1, -1, &rgeomid, &dist, nullptr, 1,
cutoff2);
EXPECT_FLOAT_EQ(dist, -1);
// pnt on the boundary of the box
mjtNum pnt3[] = {.1, .1, .05};
mju_multiRayPrepare(m, d, pnt3, NULL, NULL, 1, -1, mjMAXVAL, geom_ba, flags);
EXPECT_FLOAT_EQ(geom_ba[1], 0);
EXPECT_FLOAT_EQ(geom_ba[3], mjPI);
mjtNum vec3[] = {1, 1, 0};
mj_multiRay(m, d, pnt3, vec3, NULL, 1, -1, &rgeomid, &dist, nullptr, 1,
mjMAXVAL);
EXPECT_FLOAT_EQ(dist, -1);
// size 0 geom
mjtNum pnt4[] = {-2, 0, 0};
m->geom_aabb[0] = m->geom_aabb[1] = m->geom_aabb[2] = 0;
m->geom_aabb[3] = m->geom_aabb[4] = m->geom_aabb[5] = 0;
mju_multiRayPrepare(m, d, pnt4, NULL, NULL, 1, -1, mjMAXVAL, geom_ba, flags);
// margin = atan(max_half / dist) where max_half = max(aabb[3..5])
// For a zero-size AABB: max_half = 0, so margin = 0
mjtNum dist4 = mju_dist3(pnt4, d->geom_xpos);
mjtNum max_half4 =
mju_max(m->geom_aabb[3], mju_max(m->geom_aabb[4], m->geom_aabb[5]));
mjtNum margin4 = mju_atan2(max_half4, dist4);
EXPECT_NEAR(geom_ba[0], 0 - margin4, 1e-6);
EXPECT_NEAR(geom_ba[1], mjPI/2 - margin4, 1e-6);
EXPECT_NEAR(geom_ba[2], 0 + margin4, 1e-6);
EXPECT_NEAR(geom_ba[3], mjPI/2 + margin4, 1e-6);
mjtNum vec4[] = {1, 0, 0};
mj_multiRay(m, d, pnt4, vec4, NULL, 1, -1, &rgeomid, &dist, nullptr, 1,
mjMAXVAL);
EXPECT_FLOAT_EQ(dist, 0.9);
mj_deleteData(d);
mj_deleteModel(m);
}
// ------------------------------- mj_rayMesh ---------------------------------
// old ray mesh intersection
mjtNum _rayMesh(const mjModel* m, const mjData* d, int geomid,
const mjtNum* pnt, const mjtNum* vec) {
// check geom type
if (m->geom_type[geomid] != mjGEOM_MESH) {
mju_error("mj_rayMesh: geom with mesh type expected");
}
// map to local frame
mjtNum lpnt[3], lvec[3];
const mjtNum* pos = d->geom_xpos+3*geomid;
const mjtNum dif[3] = {pnt[0]-pos[0], pnt[1]-pos[1], pnt[2]-pos[2]};
mju_mulMatTVec3(lpnt, d->geom_xmat+9*geomid, dif);
mju_mulMatTVec3(lvec, d->geom_xmat+9*geomid, vec);
// construct basis vectors of normal plane
mjtNum b0[3] = {1, 1, 1}, b1[3];
if (mju_abs(lvec[0]) >= mju_abs(lvec[1]) &&
mju_abs(lvec[0]) >= mju_abs(lvec[2])) {
b0[0] = 0;
} else if (mju_abs(lvec[1]) >= mju_abs(lvec[2])) {
b0[1] = 0;
} else {
b0[2] = 0;
}
mju_addScl3(b1, b0, lvec, -mju_dot3(lvec, b0)/mju_dot3(lvec, lvec));
mju_normalize3(b1);
mju_cross(b0, b1, lvec);
mju_normalize3(b0);
// init solution
mjtNum x = -1, sol;
// process all triangles
int face, meshid = m->geom_dataid[geomid];
for (face = m->mesh_faceadr[meshid];
face < m->mesh_faceadr[meshid] + m->mesh_facenum[meshid];
face++) {
// get float vertices
float* vf[3];
vf[0] = m->mesh_vert + 3*(m->mesh_face[3*face] + m->mesh_vertadr[meshid]);
vf[1] = m->mesh_vert + 3*(m->mesh_face[3*face+1] + m->mesh_vertadr[meshid]);
vf[2] = m->mesh_vert + 3*(m->mesh_face[3*face+2] + m->mesh_vertadr[meshid]);
// convert to mjtNum
mjtNum v[3][3];
for (int i=0; i < 3; i++) {
for (int j=0; j < 3; j++) {
v[i][j] = (mjtNum)vf[i][j];
}
}
// solve
sol = ray_triangle(v, lpnt, lvec, b0, b1, nullptr);
// update
if (sol >= 0 && (x < 0 || sol < x)) {
x = sol;
}
}
return x;
}
// performs a ray mesh test using a given mjModel
void _rayMeshTest(const mjModel* m) {
mjData* d = mj_makeData(m);
ASSERT_THAT(d, NotNull());
mj_forward(m, d);
// create ray array
constexpr int N = 80;
constexpr int M = 60;
mjtNum vec[3*N*M];
mjtNum pnt[3] = {1, .2, 0};
mjtNum cone[4][3] = {{-1, -1, -1}, {-1, -1, 1}, {1, -1, 1}, {1, -1, -1}};
memset(vec, 0, 3*N*M*sizeof(mjtNum));
for (int i = 0; i < N; ++i) {
for (int j = 0; j < M; ++j) {
for (int k = 0; k < 3; ++k) {
vec[3 * (i * M + j) + k] = i * cone[0][k] / (N - 1) +
j * cone[1][1] / (M - 1) +
(N - i - 1) * cone[2][k] / (N - 1) +
(M - j - 1) * cone[3][k] / (M - 1);
}
}
}
// compare results with single ray function
mjtNum dist_new, dist_old;
for (int i = 0; i < N; ++i) {
for (int j = 0; j < M; ++j) {
int idx = i * M + j;
dist_old = _rayMesh(m, d, /*geomid=*/0, pnt, vec + 3 * idx);
dist_new = mj_rayMesh(m, d, /*geomid=*/0, pnt, vec + 3 * idx, nullptr);
EXPECT_FLOAT_EQ(dist_new, dist_old);
}
}
mj_deleteData(d);
}
TEST_F(RayTest, RayMeshPruning) {
char error[1024];
const string xml_path =
GetTestDataFilePath("engine/testdata/ray/stanford_bunny.xml");
mjModel* m = mj_loadXML(xml_path.c_str(), NULL, error, sizeof(error));
ASSERT_THAT(m, NotNull()) << error;
_rayMeshTest(m);
mj_deleteModel(m);
m = LoadModelFromString(kCubeletModel, error, sizeof(error));
ASSERT_THAT(m, NotNull()) << error;
_rayMeshTest(m);
mj_deleteModel(m);
}
TEST_F(RayTest, RayHfield) {
const char xml[] = R"(
<mujoco>
<asset>
<hfield name="J" size="2 3 1 1" nrow="4" ncol="3"
elevation="0 0 0
0 0 0
1 1 1
1 1 1"/>
</asset>
<worldbody>
<light pos="0 0 1"/>
<body name="dummy">
<geom type="hfield" hfield="J" pos="0 0 .5"/>
</body>
<site name="1" pos="3 -2 1" zaxis="-1 0 0"/>
<site name="2" pos="3 -2 0" zaxis="-1 0 0"/>
<site name="3" pos="3 1 0" zaxis="-1 0 0"/>
<body mocap="true" pos="1 0 1.5">
<geom type="box" size=".2 .2 .2"/>
<site name="4" zaxis="0 0 -1"/>
</body>
</worldbody>
<sensor>
<rangefinder site="1"/>
<rangefinder site="2"/>
<rangefinder site="3"/>
<rangefinder site="4"/>
</sensor>
</mujoco>
)";
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
mjData* data = mj_makeData(model);
mj_forward(model, data);
double tol = 1e-8;
EXPECT_THAT(data->sensordata[0], DoubleNear(1, tol));
EXPECT_THAT(data->sensordata[1], DoubleNear(1, tol));
EXPECT_THAT(data->sensordata[2], DoubleNear(1, tol));
EXPECT_THAT(data->sensordata[3], DoubleNear(0.5, tol));
mj_deleteData(data);
mj_deleteModel(model);
}
static const char* const kPlaneModel = "engine/testdata/ray/plane.xml";
static const char* const kSphereModel = "engine/testdata/ray/sphere.xml";
static const char* const kCapsuleModel = "engine/testdata/ray/capsule.xml";
static const char* const kEllipsoidModel = "engine/testdata/ray/ellipsoid.xml";
static const char* const kCylinderModel = "engine/testdata/ray/cylinder.xml";
static const char* const kBoxModel = "engine/testdata/ray/box.xml";
static const char* const kMeshModel = "engine/testdata/ray/mesh.xml";
static const char* const kSdfModel = "engine/testdata/ray/sdf.xml";
static const char* const kHfieldModel = "engine/testdata/ray/hfield.xml";
static const char* const kFlexModel = "engine/testdata/ray/flex.xml";
TEST_F(RayTest, RayNormal) {
for (const char* path : {kPlaneModel, kSphereModel, kCapsuleModel,
kEllipsoidModel, kCylinderModel, kBoxModel,
kMeshModel, kSdfModel, kHfieldModel, kFlexModel}) {
const std::string xml_path = GetTestDataFilePath(path);
char error[1024];
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error, sizeof(error));
ASSERT_THAT(m, NotNull()) << error;
// exactly one geom or one flex, and one site in each model
ASSERT_EQ(m->nsite, 1) << path;
ASSERT_TRUE((m->ngeom == 1) != (m->nflex == 1)) << path;
bool is_flex = m->nflex == 1;
mjData* d = mj_makeData(m);
// test parameters
mjtNum kDuration = 2.0; // length of rollout (seconds)
int kCompare = 100; // number of tests per rollout
int compare_every = kDuration / (m->opt.timestep * kCompare);
// roll out and compare analytic normal with fin-diff approximation
int ntest = 0; // tests performed
int nstep = 0; // steps elapsed
while (d->time < kDuration) {
mj_step(m, d);
nstep++;
// skip until this is timestep we should test on
if (nstep % compare_every != 1) {
continue;
}
// site info
const mjtNum* pnt = d->site_xpos;
const mjtNum vec[3] = {d->site_xmat[2], d->site_xmat[5], d->site_xmat[8]};
// compute ray length and normal, compare with sensor
mjtNum r, normal[3];
if (!is_flex) {
int geomid;
r = mj_ray(m, d, pnt, vec, nullptr, 1, -1, &geomid, normal);
// compare with sensor, expect geomid to be 0
EXPECT_EQ(r, d->sensordata[0]) << path << ", time " << d->time;
EXPECT_EQ(geomid, r >= 0 ? 0 : -1);
} else {
r = mj_rayFlex(m, d, /*flex_layer*/ 0, /*flg_vert*/ 1,
/*flg_edge*/ 1, /*flg_face*/ 1,
/*flg_skin*/ 1, /*flex_id*/ 0,
pnt, vec, nullptr, normal);
// no sensor comparison: rangefinders only intersect with geoms
}
// if no intersection, skip
if (r < 0) {
EXPECT_THAT(normal, ElementsAre(0, 0, 0))
<< path << ", time " << d->time;
continue;
}
// compute surface intersection point s
mjtNum s[3];
mju_addScl3(s, pnt, vec, r);
// compute intersection points ds, nudged by eps in x,y site frame
mjtNum eps = 1e-6;
mjtNum ds[2][3];
for (int i = 0; i < 2; ++i) {
mjtNum nudge[3] = {d->site_xmat[0 + i],
d->site_xmat[3 + i],
d->site_xmat[6 + i]};
mjtNum dr, dpnt[3];
mju_addScl3(dpnt, pnt, nudge, eps);
if (!is_flex) {
dr = mj_ray(m, d, dpnt, vec, NULL, 1, -1, nullptr, nullptr);
} else {
dr = mj_rayFlex(m, d, 0, 1, 1, 1, 1, 0, dpnt, vec, nullptr, nullptr);
}
mju_addScl3(ds[i], dpnt, vec, dr);
}
// compute in-plane tangents and expected normal
mjtNum t0[3], t1[3], expected[3];
mju_sub3(t0, ds[0], s);
mju_sub3(t1, ds[1], s);
mju_cross(expected, t1, t0);
// normalize expected normal, skip if degenerate
mjtNum norm = mju_normalize3(expected);
if (norm < mjMINVAL) continue;
// flipped expected normal, should match either expected or -expected
mjtNum expected_neg[3] = {-expected[0], -expected[1], -expected[2]};
// compare analytic with fin-diff approximation
EXPECT_THAT(normal, AnyOf(Pointwise(DoubleNear(100 * eps), expected),
Pointwise(DoubleNear(100 * eps), expected_neg)))
<< path << ", time " << d->time;
// increment count
ntest++;
}
// at least 10 tests should have been performed
EXPECT_GT(ntest, 10);
mj_deleteData(d);
mj_deleteModel(m);
}
}
} // namespace
} // namespace mujoco
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