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Do not set geom_dataid for primitives fitted to a mesh. #3471

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Do not set geom_dataid for primitives fitted to a mesh. #3471

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3 changes: 2 additions & 1 deletion src/user/user_model.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -2791,7 +2791,8 @@ void mjCModel::CopyTree(mjModel* m) {
m->geom_conaffinity[gid] = pg->conaffinity;
m->geom_condim[gid] = pg->condim;
m->geom_bodyid[gid] = pg->body->id;
if (pg->mesh) {
// a primitive fitted to a mesh keeps pg->mesh, but must not reference it in mjModel
if (pg->mesh && (pg->type == mjGEOM_MESH || pg->type == mjGEOM_SDF)) {
m->geom_dataid[gid] = pg->mesh->id;
} else if (pg->hfield) {
m->geom_dataid[gid] = pg->hfield->id;
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27 changes: 27 additions & 0 deletions test/engine/engine_collision_convex_test.cc
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Expand Up @@ -76,5 +76,32 @@ TEST_F(MjcConvexTest, CylinderBox) {
mj_deleteModel(model);
}

TEST_F(MjcConvexTest, PlaneFittedEllipsoid) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="blob"
vertex="0 0 .3 .2 0 0 0 .2 0 -.2 0 0 0 -.2 0 0 0 -.3"
face="0 1 2 0 2 3 0 3 4 0 4 1 5 2 1 5 3 2 5 4 3 5 1 4"/>
</asset>
<worldbody>
<geom type="plane" size="5 5 .1"/>
<body pos="0 0 .1">
<freejoint/>
<geom type="ellipsoid" mesh="blob"/>
</body>
</worldbody>
</mujoco>
)";
char error[1024];
MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model.get(), NotNull()) << error;
MjDataPtr data = MakeData(model);

// plane vs ellipsoid is a single contact, whether or not it was mesh-fitted
mj_forward(model.get(), data.get());
EXPECT_EQ(data->ncon, 1);
}

} // namespace
} // namespace mujoco
34 changes: 34 additions & 0 deletions test/user/user_objects_test.cc
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Expand Up @@ -1153,6 +1153,40 @@ TEST_F(MjCGeomTest, BadMeshZeroMassDensityDoesntError) {
EXPECT_EQ(model->body_mass[2], 0);
}

TEST_F(MjCGeomTest, FittedPrimitiveHasNoMeshDataid) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="blob"
vertex="0 0 .3 .2 0 0 0 .2 0 -.2 0 0 0 -.2 0 0 0 -.3"
face="0 1 2 0 2 3 0 3 4 0 4 1 5 2 1 5 3 2 5 4 3 5 1 4"/>
</asset>
<worldbody>
<body><geom type="sphere" mesh="blob"/></body>
<body><geom type="capsule" mesh="blob"/></body>
<body><geom type="ellipsoid" mesh="blob"/></body>
<body><geom type="cylinder" mesh="blob"/></body>
<body><geom type="box" mesh="blob"/></body>
<body><geom type="mesh" mesh="blob"/></body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
MjModelPtr model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model.get(), NotNull()) << error.data();
ASSERT_EQ(model->ngeom, 6);

// fitted primitives must not reference the mesh they were fitted to
for (int i = 0; i < 5; i++) {
EXPECT_NE(model->geom_type[i], mjGEOM_MESH);
EXPECT_EQ(model->geom_dataid[i], -1) << "geom " << i;
}

// an actual mesh geom still references its mesh
EXPECT_EQ(model->geom_type[5], mjGEOM_MESH);
EXPECT_EQ(model->geom_dataid[5], 0);
}

// ------------- test joints --------------------------------------------------

using MjCJointTest = MujocoTest;
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