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introvoyz041
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mujoco

	// 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 <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