Skip to content

Add phantom box contact regression #3478

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Closed
Miko997 wants to merge 1 commit into from
Closed

Add phantom box contact regression #3478

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
34 changes: 34 additions & 0 deletions test/engine/engine_collision_box_test.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -522,5 +522,39 @@ TEST_F(MjCollisionBoxTest, EdgeContactAtDepthBound) {
}
}

TEST_F(MjCollisionBoxTest, NoPhantomDeepContact) {
constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body><freejoint/><geom type="box" size="75 35.5 22.5" mass="0.25"/></body>
<body><freejoint/><geom type="box" size="75 35.5 22.5" mass="0.25"/></body>
</worldbody>
</mujoco>
)";
char error[1024];
MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model.get(), NotNull()) << error;
MjDataPtr data = MakeData(model);

const mjtNum pose1[7] = {
862.4672361088551, 444.5974448882937, -87.50001574938747,
0.70870472649706, 2.2005940043163968e-13,
-1.8342950101702237e-13, 0.7055052165935622};
const mjtNum pose2[7] = {
862.4009654665109, 594.9219226097865, -87.50002095390447,
0.7054546906050059, -7.947440490083151e-08,
-3.301086291725321e-08, 0.7087550207958939};
mju_copy(data->qpos, pose1, 7);
mju_copy(data->qpos + 7, pose2, 7);
mj_forward(model.get(), data.get());

EXPECT_LT(mj_geomDistance(model.get(), data.get(), 0, 1, 1, nullptr), 0);
mjPreContact precon[mjMAXCONPAIR];
int num = mjc_BoxBox(model.get(), data.get(), precon, 0, 1, 0);
for (int i = 0; i < num; i++) {
EXPECT_GT(precon[i].dist, -0.1);
}
}

} // namespace
} // namespace mujoco