--set stage ID to 0;

facebookresearch · Feb 8, 2024 · 772bc70 · 772bc70
1 parent 378d24d
commit 772bc70
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Showing 6 changed files with 16 additions and 14 deletions.
diff --git a/examples/viewer.py b/examples/viewer.py
@@ -723,7 +723,7 @@ def mouse_press_event(self, event: Application.MouseEvent) -> None:
                 hit_object, ao_link = -1, -1
                 hit_info = raycast_results.hits[0]
 
-                if hit_info.object_id >= 0:
+                if hit_info.object_id >= 1:
                     # we hit an non-staged collision object
                     ro_mngr = self.sim.get_rigid_object_manager()
                     ao_mngr = self.sim.get_articulated_object_manager()

diff --git a/src/esp/physics/RigidStage.cpp b/src/esp/physics/RigidStage.cpp
@@ -9,7 +9,7 @@ namespace physics {
 
 RigidStage::RigidStage(scene::SceneNode* rigidBodyNode,
                        const assets::ResourceManager& resMgr)
-    : RigidBase(rigidBodyNode, ID_UNDEFINED, resMgr) {}
+    : RigidBase(rigidBodyNode, 0, resMgr) {}
 
 bool RigidStage::initialize(
     metadata::attributes::AbstractObjectAttributes::ptr initAttributes) {

diff --git a/src/esp/physics/bullet/BulletPhysicsManager.cpp b/src/esp/physics/bullet/BulletPhysicsManager.cpp
@@ -524,7 +524,7 @@ void BulletPhysicsManager::lookUpObjectIdAndLinkId(
 
   *linkId = -1;
   // If the lookup fails, default to the stage. TODO: better error-handling.
-  *objectId = -1;
+  *objectId = 0;
   auto rawColObjIdIter = collisionObjToObjIds_->find(colObj);
   if (rawColObjIdIter != collisionObjToObjIds_->end()) {
     int rawObjectId = rawColObjIdIter->second;
@@ -558,8 +558,8 @@ std::vector<ContactPointData> BulletPhysicsManager::getContactPoints() const {
     const btPersistentManifold* manifold =
         dispatcher->getInternalManifoldPointer()[i];
 
-    int objectIdA = -2;  // stage is -1
-    int objectIdB = -2;
+    int objectIdA = -1;  // stage is 0
+    int objectIdB = -1;
     int linkIndexA = -1;  // -1 if not a multibody
     int linkIndexB = -1;
 

diff --git a/src/tests/PhysicsTest.cpp b/src/tests/PhysicsTest.cpp
@@ -726,7 +726,7 @@ void PhysicsTest::testNumActiveContactPoints() {
     CORRADE_COMPARE(physicsManager_->getNumActiveOverlappingPairs(), 2);
     CORRADE_COMPARE(
         physicsManager_->getStepCollisionSummary(),
-        "[RigidObject, cubeSolid, id 0] vs [Stage, subpart 6], 4 points\n");
+        "[RigidObject, cubeSolid, id 1] vs [Stage, subpart 6], 4 points\n");
 
     float totalNormalForce = 0;
     for (auto& cp : allContactPoints) {
@@ -736,9 +736,9 @@ void PhysicsTest::testNumActiveContactPoints() {
       CORRADE_COMPARE_AS(
           (cp.contactNormalOnBInWS - Magnum::Vector3{0.0, 1.0, 0.0}).length(),
           1.0e-4, Cr::TestSuite::Compare::LessOrEqual);
-      // one object is the cube (0), other is the stage (-1)
-      CORRADE_COMPARE(cp.objectIdA, 0);
-      CORRADE_COMPARE(cp.objectIdB, -1);
+      // one object is the cube (1), other is the stage (0)
+      CORRADE_COMPARE(cp.objectIdA, 1);
+      CORRADE_COMPARE(cp.objectIdB, 0);
       // accumulate the normal force
       totalNormalForce += cp.normalForce;
       // solver should keep the cube at the contact boundary (~0 penetration)

diff --git a/tests/test_physics.py b/tests/test_physics.py
@@ -543,7 +543,8 @@ def test_raycast():
                 atol=0.07,
             )
             assert abs(raycast_results.hits[0].ray_distance - 6.831) < 0.001
-            assert raycast_results.hits[0].object_id == -1
+            # hit stage
+            assert raycast_results.hits[0].object_id == 0
 
             # add a primitive object to the world and test a ray away from the origin
             cube_prim_handle = obj_template_mgr.get_template_handles("cube")[0]
@@ -906,7 +907,7 @@ def test_articulated_object_add_remove():
         robot = art_obj_mgr.add_articulated_object_from_urdf(filepath=robot_file)
         assert robot
         assert robot.is_alive
-        assert robot.object_id == 0  # first robot added
+        assert robot.object_id == 1  # first robot added
 
         # add a second robot
         robot2 = art_obj_mgr.add_articulated_object_from_urdf(
@@ -1859,7 +1860,8 @@ def test_rigid_constraints():
         assert robot.translation[1] < -3
 
         # hang AO from the world with P2P
-        constraint_settings_2.object_id_b = -1
+        # object_id_b is stage
+        constraint_settings_2.object_id_b = 0
         constraint_settings_2.constraint_type = (
             habitat_sim.physics.RigidConstraintType.PointToPoint
         )
@@ -2032,7 +2034,7 @@ def test_bullet_collision_helper():
         assert sim.get_physics_num_active_overlapping_pairs() == 1
         assert (
             sim.get_physics_step_collision_summary()
-            == "[RigidObject, cubeSolid, id 0] vs [Stage, subpart 0], 4 points\n"
+            == "[RigidObject, cubeSolid, id 1] vs [Stage, subpart 0], 4 points\n"
         )
 
         sim.step_physics(3.0)

diff --git a/tests/test_simulator.py b/tests/test_simulator.py
@@ -247,7 +247,7 @@ def test_object_template_editing():
 
             # test adding a new object
             obj = rigid_obj_mgr.add_object_by_template_id(template_ids[0])
-            assert obj.object_id != -1
+            assert obj.object_id != 0
 
             # test getting initialization templates
             stage_init_template = sim.get_stage_initialization_template()