From 867e8b8adbf3c78dd6d0cec024e460351bddae18 Mon Sep 17 00:00:00 2001 From: Kyle Bayes Date: Wed, 20 Nov 2024 02:29:11 -0800 Subject: [PATCH] Fix ARM issues with tests with nativeccd. Note: frameless_contact_hfield.xml doesn't work with libccd nor nativeccd on ARM as expected. PiperOrigin-RevId: 698317464 Change-Id: I4c57e04639b9870b416c67d79a16a313c5276cf6 --- test/engine/engine_collision_gjk_test.cc | 5 +++++ test/xml/xml_native_writer_test.cc | 1 + 2 files changed, 6 insertions(+) diff --git a/test/engine/engine_collision_gjk_test.cc b/test/engine/engine_collision_gjk_test.cc index 3ea33dbd1d..aea0e26056 100644 --- a/test/engine/engine_collision_gjk_test.cc +++ b/test/engine/engine_collision_gjk_test.cc @@ -335,6 +335,11 @@ TEST_F(MjGjkTest, SmallBoxMesh) { EXPECT_NEAR(dir[1], 0, kTolerance); EXPECT_NEAR(dir[2], 1, kTolerance); + // position + EXPECT_NEAR(mju_abs(pos[0]), 0.08333333, kTolerance); // -pos[0] on ARM + EXPECT_NEAR(pos[1], 0, kTolerance); + EXPECT_NEAR(pos[2], 0, kTolerance); + mj_deleteData(data); mj_deleteModel(model); } diff --git a/test/xml/xml_native_writer_test.cc b/test/xml/xml_native_writer_test.cc index cad33aa8f0..d6a784e213 100644 --- a/test/xml/xml_native_writer_test.cc +++ b/test/xml/xml_native_writer_test.cc @@ -1319,6 +1319,7 @@ TEST_F(XMLWriterTest, WriteReadCompare) { absl::StrContains(p.path().string(), "gmsh_") || absl::StrContains(p.path().string(), "shark_") || absl::StrContains(p.path().string(), "cow") || + absl::StrContains(p.path().string(), "frameless_contact_hfield") || absl::StrContains(p.path().string(), "spheremesh")) { continue; }