Add a single-precision job to GitHub CI - #3
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When penetration exceeds a box's smallest half-size, the midpoint between the contact surfaces can land outside both boxes. The outside- box filter in mjc_BoxBox then removed every contact of the manifold, returning nothing for a visibly overlapping pair, letting boxes fall through each other. Fixes google-deepmind#1800. If the filter would remove all contacts, restore the penetrating ones. This is strictly additive: configurations where any contact survives the filter are unchanged. The removed midpoints are bitwise-identical to the witness midpoints computed by mj_geomDistance for these configurations, so the positions follow the engine-wide contact position convention; re-anchoring them onto a box surface would not. Fixes google-deepmind#1800 PiperOrigin-RevId: 957867315 Change-Id: Ia9c858661d4badeb2a832d25455e33402936011d
The GitHub build matrix only tests double precision, so pull requests that break single-precision (mjUSESINGLE) builds or tests look green on GitHub and only fail on internal import. Add a dedicated `single` job: one fast configuration (ubuntu / clang-18) that builds the library and test suite with -DmjUSESINGLE and runs the C/C++ tests.
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Validation complete; submitted upstream as google-deepmind#3448. |
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Adds a dedicated
singlejob to build.yml: ubuntu-24.04 / clang-18, builds the library and test suite with-DmjUSESINGLEin the C/C++ flags and runs ctest.Rationale: the GitHub matrix is double-only, so PRs that break single-precision builds or tests look green on GitHub and only fail on internal import. One fast configuration suffices; internal CI already covers single precision on its own toolchain.
This PR exists to exercise the new job on the fork before sending the change upstream.