// Copyright 2021 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 engine/engine_collision_driver.c. #include #include #include #include #include #include #include #include "test/fixture.h" #include "src/engine/engine_collision_driver.h" namespace mujoco { namespace { using MjCollisionTest = MujocoTest; using GeomPair = std::pair; 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 colliding_pairs( const mjModel* model, const mjData* data) { std::vector 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(""); 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"( )"; 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"( )"; 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"( )"; 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 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"( )"; 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