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//
// 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 engine/engine_collision_driver.c.
#include <cstddef>
#include <string>
#include <vector>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mujoco.h>
#include "test/fixture.h"
#include "src/engine/engine_collision_driver.h"
namespace mujoco {
namespace {
using MjCollisionTest = MujocoTest;
using GeomPair = std::pair<std::string, std::string>;
using ::testing::IsEmpty;
using ::testing::ElementsAre;
using ::testing::NotNull;
// Returns a sorted list of pairs of colliding geom names, where each pair of
// geom names is sorted.
static std::vector<GeomPair> colliding_pairs(
const mjModel* model, const mjData* data) {
std::vector<GeomPair> result;
for (int i = 0; i < data->ncon; i++) {
std::string geom1 = mj_id2name(model, mjOBJ_GEOM, data->contact[i].geom[0]);
std::string geom2 = mj_id2name(model, mjOBJ_GEOM, data->contact[i].geom[1]);
result.push_back(GeomPair(std::min(geom1, geom2), std::max(geom1, geom2)));
}
std::sort(result.begin(), result.end());
return result;
}
TEST_F(MjCollisionTest, AllCollisions) {
static const char* const kModelFilePath =
"engine/testdata/collisions.xml";
const std::string xml_path = GetTestDataFilePath(kModelFilePath);
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
mjData* data = mj_makeData(model);
// mjCOL_ALL is the default
mj_fwdPosition(model, data);
EXPECT_THAT(colliding_pairs(model, data), ElementsAre(
GeomPair("box", "sphere_collides"),
GeomPair("box", "sphere_predefined")
));
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(MjCollisionTest, EmptyModel) {
mjModel* model = LoadModelFromString("<mujoco/>");
mjData* data = mj_makeData(model);
mj_fwdPosition(model, data);
EXPECT_THAT(colliding_pairs(model, data), IsEmpty());
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(MjCollisionTest, ZeroedHessian) {
static const char* const kModelFilePath =
"engine/testdata/collisions.xml";
const std::string xml_path = GetTestDataFilePath(kModelFilePath);
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
mjData* data = mj_makeData(model);
mj_fwdPosition(model, data);
for (int i = 0; i < data->ncon; i++) {
for (int j = 0; j < 36; j++) {
EXPECT_FALSE(isnan(data->contact[i].H[j]))
<< "NaN in contact[" << i << "].H[" << j << "]";
}
}
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(MjCollisionTest, ContactCount) {
constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom type="plane" size="5 5 .01"/>
</body>
<body pos="0 0 0.9">
<freejoint/>
<geom type="sphere" size="1" pos="-1 -1 0"/>
<geom type="sphere" size="1" pos="-1 1 0"/>
<geom type="sphere" size="1" pos=" 1 -1 0"/>
<geom type="sphere" size="1" pos=" 1 1 0"/>
<geom type="sphere" size="1" pos="-2 -2 0"/>
<geom type="sphere" size="1" pos="-2 2 0"/>
<geom type="sphere" size="1" pos=" 2 -2 0"/>
<geom type="sphere" size="1" pos=" 2 2 0"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* m = LoadModelFromString(xml);
ASSERT_THAT(m, NotNull());
mjData* d = mj_makeData(m);
ASSERT_THAT(d, NotNull());
mj_forward(m, d);
// there are 8 spheres, all touching the floor
EXPECT_EQ(d->ncon, 8);
mj_deleteData(d);
mj_deleteModel(m);
}
TEST_F(MjCollisionTest, FilterParent) {
constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body pos="0 0 0">
<freejoint/>
<geom name="colliding1" size="1" pos="0 0 100"/>
<body>
<geom size="1"/>
<body>
<joint axis="1 0 0"/>
<geom size="1" pos="0 0 50"/>
<body>
<geom name="colliding2" size="1" pos="0 0 99.5"/>
</body>
</body>
</body>
</body>
</worldbody>
</mujoco>
)";
mjModel* m = LoadModelFromString(xml);
ASSERT_THAT(m, NotNull());
mjData* d = mj_makeData(m);
ASSERT_THAT(d, NotNull());
mj_fwdPosition(m, d);
// there should be zero contacts, because colliding1 and colliding2 are in
// bodies that have a parent-child relationship, through welds
EXPECT_EQ(d->ncon, 0);
// when this filtering is disabled, the geoms should collide
m->opt.disableflags |= mjDSBL_FILTERPARENT;
mj_fwdPosition(m, d);
EXPECT_THAT(colliding_pairs(m, d),
ElementsAre(GeomPair("colliding1", "colliding2")));
mj_deleteData(d);
mj_deleteModel(m);
}
TEST_F(MjCollisionTest, FilterParentDoesntAffectWorldBody) {
constexpr char xml[] = R"(
<mujoco>
<worldbody>
<geom name="colliding1" size="1" pos="0 0 100"/>
<body pos="0 0 0">
<joint axis="1 0 0"/>
<geom name="colliding2" size="1" pos="0 0 99.5"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* m = LoadModelFromString(xml);
ASSERT_THAT(m, NotNull());
mjData* d = mj_makeData(m);
ASSERT_THAT(d, NotNull());
mj_fwdPosition(m, d);
// even though colliding1 and colliding2 are have a parent-child relationship,
// they collide because colliding1 is in <worldbody>
EXPECT_THAT(colliding_pairs(m, d),
ElementsAre(GeomPair("colliding1", "colliding2")));
mj_deleteData(d);
mj_deleteModel(m);
}
TEST_F(MjCollisionTest, TestOBB) {
mjtNum bvh1[6] = {-1, -1, -1, 1, 1, 1};
mjtNum bvh2[6] = {-1, -1, -1, 1, 1, 1};
mjtNum pos1[3] = {0, 0, 0};
mjtNum mat1[9] = {1, 0, 0, 0, 1, 0, 0, 0, 1};
mjtNum pos2[3] = {1.71, 1.71, 0}; // just a little more than 1+sqrt(2)/2
mjtNum mat2[9] = {1, 0, 0, 0, 1, 0, 0, 0, 1};
EXPECT_THAT(
mj_collideOBB(bvh1, bvh2, pos1, mat1, pos2, mat2, 0, NULL, NULL, 0), true);
// rotate by 45 degrees
mat2[0] = 1./mju_sqrt(2.); mat2[1] = -1./mju_sqrt(2.);
mat2[3] = 1./mju_sqrt(2.); mat2[4] = 1./mju_sqrt(2.);
EXPECT_THAT(
mj_collideOBB(bvh1, bvh2, pos1, mat1, pos2, mat2, 0, NULL, NULL, 0), false);
}
TEST_F(MjCollisionTest, PlaneInBody) {
constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom pos="0 0 0" type="plane" size="1 1 .01"/>
</body>
<body pos="0 0 .0499">
<joint type="slide" axis="0 0 1"/>
<geom size=".05"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* m = LoadModelFromString(xml);
ASSERT_THAT(m, NotNull());
mjData* d = mj_makeData(m);
ASSERT_THAT(d, NotNull());
mj_step(m, d);
mj_deleteData(d);
mj_deleteModel(m);
}
} // namespace
} // namespace mujoco
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