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2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 | // 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 sdf collisions.
#include <cstdio>
#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_collision_sdf.h"
#include "test/fixture.h"
namespace mujoco {
namespace {
using ::testing::NotNull;
using SdfTest = MujocoTest;
static constexpr int kpoints = 6;
static constexpr int kgeoms = 5;
static constexpr char kSdfModel[] = R"(
<mujoco>
<worldbody>
<geom type="plane" size="5 5 .1" pos="0 0 -1"/>
<body pos="-.1 .2 2" euler="0 0 45">
<geom type="sphere" size="1"/>
<geom type="capsule" size=".1" fromto="-2 -2 1 2 2 1"/>
<geom type="cylinder" size="1" fromto="0 0 0 2 0 0"/>
<geom type="box" size="1 1 1"/>
</body>
</worldbody>
</mujoco>
)";
TEST_F(SdfTest, SdfPrimitive) {
mjModel* model = LoadModelFromString(kSdfModel);
ASSERT_THAT(model, NotNull());
mjData* data = mj_makeData(model);
ASSERT_THAT(data, NotNull());
ASSERT_THAT(model->ngeom, kgeoms);
mjSDF sdf;
const mjpPlugin* null_plugin = NULL;
mjtNum gradient[3], dist[kgeoms][kpoints] = {
{0, 0, 0, 0, 1, 1}, // plane
{-1, 0, 0, mju_sqrt(2)-1, mju_sqrt(2)-1, mju_sqrt(3)-1}, // sphere
{-.1, .9, .9, mju_sqrt(2)-.1, .9, mju_sqrt(2)-.1}, // capsule
{-1, 0, 0, mju_sqrt(2)-1, 0, mju_sqrt(2)-1}, // cylinder
{-mju_sqrt(3), 0, 0, 0, 0, 0}, // box
};
mjtNum points[kpoints][3] = {{0, 0, 0}, {1, 0, 0}, {0, 1, 0},
{1, 1, 0}, {0, 1, 1}, {1, 1, 1}};
for (int i = 0; i < kgeoms; i++) {
sdf.plugin = &null_plugin;
sdf.id = &i;
sdf.type = mjSDFTYPE_SINGLE;
sdf.geomtype = (mjtGeom*)(model->geom_type+i);
for (int j = 0; j < kpoints; j++) {
EXPECT_NEAR(mjc_distance(model, data, &sdf, points[j]), dist[i][j], 1e-9);
mjc_gradient(model, data, &sdf, gradient, points[j]);
}
}
mj_deleteData(data);
mj_deleteModel(model);
}
} // namespace
} // namespace mujoco
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