Kyle Bayes
1e8454820d
PiperOrigin-RevId: 645368315 Change-Id: I40a1e1023fd9f14a59e11a9dcc6ac22df241b6ae
137 lines
3.8 KiB
C++
137 lines
3.8 KiB
C++
// Copyright 2024 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_gjk.c.
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#include "src/engine/engine_collision_gjk.h"
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#include <array>
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#include "src/engine/engine_collision_convex.h"
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#include <mujoco/mujoco.h>
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#include <mujoco/mjtnum.h>
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#include "test/fixture.h"
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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namespace mujoco {
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namespace {
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using ::testing::NotNull;
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mjtNum run_gjk(mjModel* m, mjData* d, int g1, int g2, mjtNum* x_0) {
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mjGjkConfig config = {100, 1e-6};
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mjtCCObj obj1 = {m, d, g1, -1, -1, -1, -1, 0, {1, 0, 0, 0}};
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mjtCCObj obj2 = {m, d, g2, -1, -1, -1, -1, 0, {1, 0, 0, 0}};
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return mj_gjk(&config, &obj1, &obj2, x_0);
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}
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using MjGjkTest = MujocoTest;
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TEST_F(MjGjkTest, SphereSphereIntersect) {
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mjtNum x_0[3] = {-2, 0, 0};
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static constexpr char xml[] = R"(
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<mujoco>
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<option>
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<flag gravity="disable"/>
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</option>
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<worldbody>
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<geom name="geom1" type="sphere" pos="-1 0 0" size="1"/>
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<geom name="geom2" type="sphere" pos="1 0 0" size="1"/>
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</worldbody>
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</mujoco>)";
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std::array<char, 1000> error;
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mjModel* model = LoadModelFromString(xml, error.data(), error.size());
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ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
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mjData* data = mj_makeData(model);
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mj_forward(model, data);
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int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
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int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
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mjtNum dist = run_gjk(model, data, geom1, geom2, x_0);
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EXPECT_EQ(dist, 0);
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mj_deleteData(data);
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mj_deleteModel(model);
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}
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TEST_F(MjGjkTest, SphereSphere) {
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mjtNum x_0[3] = {-2, 0, 0};
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static constexpr char xml[] = R"(
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<mujoco>
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<option>
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<flag gravity="disable"/>
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</option>
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<worldbody>
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<body pos="-1.5 0 0">
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<freejoint/>
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<geom name="geom1" type="sphere" size="1"/>
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</body>
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<body pos="1.5 0 0">
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<freejoint/>
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<geom name="geom2" type="sphere" size="1"/>
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</body>
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</worldbody>
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</mujoco>)";
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std::array<char, 1000> error;
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mjModel* model = LoadModelFromString(xml, error.data(), error.size());
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ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
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mjData* data = mj_makeData(model);
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mj_forward(model, data);
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int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
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int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
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mjtNum dist = run_gjk(model, data, geom1, geom2, x_0);
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EXPECT_EQ(dist, 1);
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mj_deleteData(data);
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mj_deleteModel(model);
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}
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TEST_F(MjGjkTest, BoxBox) {
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mjtNum x_0[3] = {-3, .5, 0};
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static constexpr char xml[] = R"(
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<mujoco>
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<option>
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<flag gravity="disable"/>
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</option>
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<worldbody>
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<geom name="geom1" type="box" pos="-1.5 .5 0" size="1 1 1"/>
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<geom name="geom2" type="box" pos="1.5 0 0" size="1 1 1"/>
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</worldbody>
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</mujoco>)";
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std::array<char, 1000> error;
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mjModel* model = LoadModelFromString(xml, error.data(), error.size());
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ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
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mjData* data = mj_makeData(model);
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mj_forward(model, data);
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int geom1 = mj_name2id(model, mjOBJ_GEOM, "geom1");
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int geom2 = mj_name2id(model, mjOBJ_GEOM, "geom2");
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mjtNum dist = run_gjk(model, data, geom1, geom2, x_0);
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EXPECT_EQ(dist, 1);
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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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