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MeshShapeCollisionTraversalNode::leafCollides can create a contact with all values set to NaN #636

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jorisv opened this issue Dec 6, 2024 · 1 comment
Open

MeshShapeCollisionTraversalNode::leafCollides can create a contact with all values set to NaN #636

jorisv opened this issue Dec 6, 2024 · 1 comment

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@jorisv
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jorisv commented Dec 6, 2024

When running the test test_talos in pinocchio-test-cpp-parallel-geometry we run into a failure because geometry_data_ref.collisionResults[k].getContacts() is filled with NaN.

This is because runGJKAndEPA fall in the details::GJK::NoCollisionEarlyStopped stop criterion. Then, MeshShapeCollisionTraversalNode::leafCollides don't filter this output and create a Contact even if there is no collision.
@lmontaut
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lmontaut commented Dec 6, 2024

Thanks @jorisv
I will look into it soon

@jorisv jorisv mentioned this issue Dec 6, 2024
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@jorisv @lmontaut