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Add checks for degenerate meshes in convex hull computation.

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Fixes #3260

PiperOrigin-RevId: 911610731
Change-Id: I9efd15eee1bb5cb13639fd733a49535a147c3401
This commit is contained in:
Yuval Tassa
2026-05-06 16:24:41 -07:00
committed by Copybara-Service
parent a501731089
commit 0f53f55853
2 changed files with 130 additions and 1 deletions
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test/user/user_mesh_test.cc
+58 -1
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@@ -713,7 +713,7 @@ TEST_F(MjCMeshTest, AreaTooSmall) {
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, testing::IsNull());
EXPECT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("mesh surface area is too small"));
}
@@ -1385,6 +1385,63 @@ TEST_F(MjCMeshTest, QhullCache) {
mj_deleteVFS(&vfs);
}
TEST_F(MjCMeshTest, ColocatedMeshError) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="example_mesh"
vertex="0 0 0 0 0 0 0 0 0 0 0 0"
face="0 1 2 1 3 2"/>
</asset>
<worldbody>
<geom type="mesh" mesh="example_mesh"/>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("colocated"));
}
TEST_F(MjCMeshTest, CollinearMeshError) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="example_mesh"
vertex="0 0 0 1 0 0 2 0 0 3 0 0"
face="0 1 2 1 3 2"/>
</asset>
<worldbody>
<geom type="mesh" mesh="example_mesh"/>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("collinear"));
}
TEST_F(MjCMeshTest, CoplanarMeshError) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="flat_quad"
vertex="-5 -5 0 5 -5 0 -5 5 0 5 5 0"
face="0 1 2 1 3 2"/>
</asset>
<worldbody>
<geom type="mesh" mesh="flat_quad"/>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("coplanar"));
}
TEST_F(MjCMeshTest, LoadSkin) {
const std::string xml_path = GetTestDataFilePath(kCubeSkinPath);
std::array<char, 1024> error;