Merge branch 'main' into mym/vbd-proxy-full-surface-contact

Author: mmichelis

CHANGELOG.md

@@ -116,6 +116,7 @@
 - Fix USD capsule, cylinder, and cone visuals and sites without authored `radius`/`height` to use the UsdGeom schema fallbacks, matching collision shapes.
 - Fix `ViewerUSD` texture consumers observing partially written PNGs by publishing generated textures atomically (#3288)
 - Fix loading of textures packaged inside `.usdz` archives; package-relative asset paths such as `scene.usdz[tex.png]` are resolved through USD's asset resolver instead of being treated as filesystem paths.
+- Preserve cross-import collision pairs when `SolverMuJoCo` combines independently imported MJCF mask domains.
 - Fix `ModelBuilder.add_usd()` raising `ValueError` when importing a mesh whose material subset binds a texture that decodes to an image array.
 - Fix `ModelBuilder.add_usd()` dropping textures from full meshes and material subsets without recoverable UVs; preserve the texture for projected rendering.
 - Fix textured USD visual meshes and material subsets rendering tinted by scalar or default per-shape colors; textured meshes now import with a white base color so their textures are shown untinted.
@@ -128,6 +129,7 @@
 - Fix `ModelBuilder.add_usd()` treating explicitly authored USD `MassAPI` schema fallback values (zero mass, density, inertia, or principal axes; non-finite center of mass) as overrides; per the schema's value semantics they now behave like unauthored attributes, while negative or non-finite mass, density, and diagonal inertia values are ignored with a warning. (#3418)
 - Report malformed MJCF free-joint and inertial inputs with deterministic validation errors, and ignore MJCF mesh geom `size` lengths consistently.
 - Fix MJCF imports ignoring material and inline RGBA colors on primitive geoms.
+- Preserve MJCF `contype`/`conaffinity` collision filtering when importing into Newton, and compose later Newton pair filters when using native MuJoCo contacts.
 - Fix `SolverMuJoCo` site poses for offset batched worlds and site poses and sizes for runtime shape updates. (#3389)
 - Fix `ModelBuilder.add_usd()` silently dropping a MuJoCo joint equality constraint when the asset supplies the leader joint and coefficients through `NewtonMimicAPI` instead of the deprecated `mjc:target`, `mjc:coef0`, and `mjc:coef1`. `MjcEqualityJointAPI` builds on `NewtonMimicAPI`, so both spellings are now accepted.
 - Fix `ModelBuilder.add_usd()` ignoring `newton:mimicEnabled` on a joint with `MjcEqualityJointAPI` applied. Such a joint is now imported disabled rather than coupled, which also stops the default equality conversion from enforcing the coupling in every solver.

docs/solvers/mujoco.rst

@@ -467,6 +467,80 @@ Newton's pipeline supports non-convex meshes, SDF-based contacts, and
 hydroelastic contacts, which are not available through MuJoCo's collision
 detection.
 
+Collision filtering
+~~~~~~~~~~~~~~~~~~~
+
+MuJoCo gives every geom two 32-bit masks, ``contype`` and ``conaffinity``.
+Together, these masks decide whether two geoms are allowed to collide. For a
+candidate pair ``a, b``, the mask test passes when
+``(contype_a & conaffinity_b) != 0`` or
+``(contype_b & conaffinity_a) != 0``. MuJoCo then applies other selection
+rules, including same-body suppression and body-wide ``<exclude>`` elements;
+explicit ``<pair>`` elements bypass the automatic mask test. See MuJoCo's
+`collision selection documentation
+<https://mujoco.readthedocs.io/en/stable/computation/index.html#selection>`__
+and the `geom mask attributes
+<https://mujoco.readthedocs.io/en/stable/XMLreference.html#body-geom>`__.
+
+**Importing MJCF masks.**
+
+:func:`~newton.utils.parse_mjcf` resolves inherited ``contype`` and
+``conaffinity`` values and determines which shape pairs may collide. It stores
+the same result in Newton collision groups and explicit excluded pairs. The
+original 32-bit values are also retained as
+``model.mujoco.contype`` and ``model.mujoco.conaffinity`` custom attributes
+for a lossless round trip back to MuJoCo.
+
+A *mask domain* is the set of shapes whose mask bits were authored together.
+Each :func:`~newton.utils.parse_mjcf` call creates a new domain and records it
+in the internal ``model.mujoco.collision_mask_domain`` attribute. The domain
+is only a source label. It is not another collision mask and does not enable
+or disable contacts. When :meth:`~newton.ModelBuilder.add_builder` combines
+separately built models, it gives the copied domains new IDs so they remain
+distinct from domains already in the destination builder.
+
+**Choosing masks for a MuJoCo solver.**
+
+With ``use_mujoco_contacts=True``, preserved source masks are forwarded
+verbatim only when every selected collision shape has masks from the same
+domain and those masks already enforce all active Newton pair filters.
+Same-body filtering and imported body-wide ``<exclude>`` elements also count
+as enforced. This path preserves the source MJCF exactly. For a single import,
+the original masks therefore remain the source of truth even if its Newton
+collision groups are later edited.
+
+A native shape, shapes from more than one domain, or a new Newton pair filter
+can make the original masks unsafe to reuse. The solver then lists the shape
+pairs that Newton allows and creates new MuJoCo masks that reproduce that
+list.
+
+**Example: combining two MJCF files.**
+
+Suppose file A and file B both use bit 0. In file A, bit 0 may control contacts
+between its floor and spheres. File B may reuse bit 0 for its own shapes. The
+files were authored independently, so that shared number says nothing about
+how a shape from A should interact with a shape from B.
+
+After both files are added to one builder, Newton's collision groups and
+excluded pairs define those new cross-file interactions. Copying the original
+masks would make MuJoCo treat bit 0 as one global rule and could allow or block
+the wrong cross-file pairs. Because the shapes have different domains, the
+solver instead creates new masks from Newton's final list of allowed pairs.
+
+**Compiling Newton filtering to MuJoCo masks.**
+
+MuJoCo provides only 32 mask bits. One bit can encode all collisions between
+one set of shapes and another set. In graph terminology, that rule is a
+complete bipartite graph, or biclique. The solver tries to reproduce Newton's
+full list of allowed pairs using at most 32 such rules. It is guaranteed to
+find an exact result for up to 33 selected shapes and often handles much larger
+models whose collision groups have a regular structure.
+
+If the rules do not fit in 32 bits, the solver uses the established legacy
+graph-color approximation, which may allow extra contacts. Finding an exact
+result requires checking every shape pair, so models above 256 selected shapes
+or 1,024 explicit excluded pairs skip directly to that fallback.
+
 .. _mujoco-margin-gap-mapping:
 
 Margin and gap mapping
@@ -782,16 +856,10 @@ Caveats
   prescribed. The user-supplied armature on those DOFs is silently
   discarded. See `Kinematic links and fixed roots`_.
 
-**Collision filtering bitmask fallback.**
-  Newton's :attr:`~newton.Model.shape_collision_group` (see
-  :ref:`Collision Groups`) is translated to MuJoCo's ``contype`` /
-  ``conaffinity`` via graph coloring
-  (:github:`newton/_src/sim/graph_coloring.py`). Up to 32 colors are
-  supported (one per ``contype`` bit). If the filtering graph requires
-  more, shapes with color index ≥ 32 fall back to ``contype=1`` /
-  ``conaffinity=1`` and silently collide with every other shape,
-  bypassing the intended filtering and adding extra contact pairs to
-  the broadphase.
+**Collision filtering has a 32-bit capacity.**
+  The solver creates MuJoCo masks that reproduce Newton's allowed collision
+  pairs when they fit in 32 bits. See `Collision filtering`_ for the behavior
+  of imported masks and the warned fallback used when the rules do not fit.
 
 
 .. _mujoco-kinematic-links-and-fixed-roots:

newton/_src/sim/builder.py

@@ -3961,6 +3961,29 @@ def _merge_builder_custom_attributes(
     ) -> None:
         custom_frequency_offsets = dict(self._custom_frequency_counts)
 
+        # Builders allocate MJCF mask-domain IDs independently. Remap every
+        # incoming domain as one unit so its IDs cannot collide with domains
+        # already present in the destination builder.
+        collision_mask_domain_key = "mujoco:collision_mask_domain"
+        collision_mask_domain_remap: dict[int, int] = {}
+        source_domain_attr = builder.custom_attributes.get(collision_mask_domain_key)
+        if source_domain_attr is not None and source_domain_attr.values:
+            source_items = (
+                source_domain_attr.values.items()
+                if isinstance(source_domain_attr.values, dict)
+                else enumerate(source_domain_attr.values)
+            )
+            # Copied shape ranges never overlap, so the first destination shape
+            # in each source domain is already a unique, deterministic ID. This
+            # avoids rescanning the growing destination during replication.
+            shape_offset = entity_offsets["shape"]
+            for shape, value in source_items:
+                if value is None:
+                    continue
+                source_domain = int(value)
+                if source_domain >= 0:
+                    collision_mask_domain_remap.setdefault(source_domain, shape_offset + shape)
+
         def get_offset(entity_or_key: str | None) -> int:
             if entity_or_key is None:
                 return 0
@@ -3997,7 +4020,10 @@ def get_offset(entity_or_key: str | None) -> int:
             use_current_world = attr.references == "world"
             value_offset = 0 if use_current_world else get_offset(attr.references)
             is_equality_target_attr = full_key == "mujoco:equality_constraint_target"
-            needs_remap = value_offset != 0 or use_current_world or is_equality_target_attr
+            is_collision_mask_domain_attr = full_key == collision_mask_domain_key and bool(collision_mask_domain_remap)
+            needs_remap = (
+                value_offset != 0 or use_current_world or is_equality_target_attr or is_collision_mask_domain_attr
+            )
 
             if needs_remap:
 
@@ -4053,9 +4079,12 @@ def transform_enum_value(
                     entity_idx: int,
                     value: Any,
                     is_equality_target: bool = is_equality_target_attr,
+                    is_collision_mask_domain: bool = is_collision_mask_domain_attr,
                 ) -> Any:
                     if is_equality_target:
                         return transform_equality_target_value(entity_idx, value)
+                    if is_collision_mask_domain:
+                        return collision_mask_domain_remap.get(int(value), value)
                     return transform_value(value)
 
             merged = self.custom_attributes.get(full_key)
@@ -12438,34 +12467,36 @@ def _find_shape_contact_pairs(self, model: Model, *, allow_filter_blocks: bool)
                 self._iter_validated_shape_collision_filter_pairs((*filter_pairs.explicit_pairs, *floating_block_pairs))
             )
 
-        # Builder-side compact blocks are valid only while they describe the
-        # model's filters exactly; otherwise the general path queries the model.
-        use_filter_blocks = bool(world_filter_blocks) and allow_filter_blocks
-        if use_filter_blocks:
+        # Builder-side storage is valid only while it describes the model's
+        # filters exactly; otherwise the general path queries the model.
+        use_world_templates = (
+            allow_filter_blocks and self.world_count > 0 and isinstance(filter_pairs, _BuilderShapeCollisionFilterPairs)
+        )
+        if use_world_templates:
             shape_world_np = np.asarray(self.shape_world, dtype=np.int32)
             starts = self.shape_world_start
             if len(starts) != self.world_count + 2:
-                use_filter_blocks = False
+                use_world_templates = False
             else:
                 segment_worlds = np.full(self.shape_count, -1, dtype=np.int32)
                 for world in range(self.world_count):
                     segment_worlds[starts[world] : starts[world + 1]] = world
-                use_filter_blocks = np.array_equal(segment_worlds, shape_world_np)
+                use_world_templates = np.array_equal(segment_worlds, shape_world_np)
 
-        if use_filter_blocks:
+        if use_world_templates:
             blocks_by_world = {}
             global_filter_pairs = set()
             explicit_filters_by_world = {}
             for block in world_filter_blocks:
                 world = block.world
                 if world < 0 or world >= self.world_count:
-                    use_filter_blocks = False
+                    use_world_templates = False
                     break
 
                 world_start = self.shape_world_start[world]
                 world_end = self.shape_world_start[world + 1]
                 if block.shape_start < world_start or block.shape_start + block.shape_count > world_end:
-                    use_filter_blocks = False
+                    use_world_templates = False
                     break
 
                 # Store block starts as world-local offsets for the template cache
@@ -12474,7 +12505,7 @@ def _find_shape_contact_pairs(self, model: Model, *, allow_filter_blocks: bool)
                     (block.shape_start - world_start, block.shape_count, block.local_pairs)
                 )
 
-            if use_filter_blocks:
+            if use_world_templates:
                 # Residual explicit filters may involve global shapes, so split
                 # them into globally keyed filters and per-world local filters.
                 for shape_a, shape_b in explicit_filter_pairs:
@@ -12498,7 +12529,7 @@ def _find_shape_contact_pairs(self, model: Model, *, allow_filter_blocks: bool)
                         )
                     # Cross-world pairs never collide, so filtering them is a no-op.
 
-            if use_filter_blocks:
+            if use_world_templates:
                 contact_pairs = []
                 shape_flags_np = np.asarray(self.shape_flags, dtype=np.int64)
                 colliding_np = (shape_flags_np & int(ShapeFlags.COLLIDE_SHAPES)) != 0