Added support for GMSH22 surface loading
PiperOrigin-RevId: 629734063 Change-Id: I6a250b81de4e7c8f7520795bfe74a81d719dfb50
This commit is contained in:
Mohammad Hamid
committed by
Copybara-Service
Copybara-Service
parent
57b1dbac65
commit
131b1745db
@@ -3452,9 +3452,10 @@ saving the XML:
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.. _body-flexcomp-file:
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:at:`file`: :at-val:`string, optional`
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The name of the file from which a **mesh** or a **gmsh** is loaded. For mesh, the file extentsion is used to
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determine the file format. Supported formats are the same as in :ref:`mesh assets<asset-mesh>`. For gmsh, the file is
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expected to be in GMSH format 4.1 or 2.2, ascii or binary, see :ref:`here<gmsh-file-docs>`.
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The name of the file from which a **surface** (triangular) or **volumetric** (tetrahedral) mesh is loaded. For
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surface meshes, the file extension is used to determine the file format. Supported formats are the same as in
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:ref:`mesh assets<asset-mesh>` and also including GMSH. Volumetric meshes are supported only in GMSH format.
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See :ref:`here<gmsh-file-docs>` for more information on GMSH files.
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.. _body-flexcomp-rigid:
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+18
-17
@@ -24,39 +24,40 @@ General
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field.
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4. The type of the ``size`` argument of :ref:`mj_stackAllocNum` and :ref:`mj_stackAllocInt` was changed from ``int``
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to ``size_t``.
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5. Added support for gmsh format version 2.2 surface meshes in :ref:`flexcomp<body-flexcomp-file>`.
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MJX
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^^^
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.. admonition:: Breaking API changes
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:class: attention
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5. Removed deprecated ``mjx.device_get_into`` and ``mjx.device_put`` functions as they lack critical new
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6. Removed deprecated ``mjx.device_get_into`` and ``mjx.device_put`` functions as they lack critical new
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functionality.
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**Migration:** Use ``mjx.get_data_into`` instead of ``mjx.device_get_into``, and ``mjx.put_data`` instead of
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``mjx.device_put``.
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6. Added cylinder plane collisions.
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7. Added ``efc_type`` to ``mjx.Data`` and ``dim``, ``efc_address`` to ``mjx.Contact``.
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8. Added ``geom`` to ``mjx.Contact`` and marked ``geom1``, ``geom2`` deprecated.
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9. Added ``ne``, ``nf``, ``nl``, ``nefc``, and ``ncon`` to ``mjx.Data`` to match ``mujoco.MjData``.
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10. Given the above added fields, removed ``mjx.get_params``, ``mjx.ncon``, and ``mjx.count_constraints``.
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11. Changed the way meshes are organized on device to speed up collision detection when a mesh is replicated for many
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7. Added cylinder plane collisions.
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8. Added ``efc_type`` to ``mjx.Data`` and ``dim``, ``efc_address`` to ``mjx.Contact``.
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9. Added ``geom`` to ``mjx.Contact`` and marked ``geom1``, ``geom2`` deprecated.
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10. Added ``ne``, ``nf``, ``nl``, ``nefc``, and ``ncon`` to ``mjx.Data`` to match ``mujoco.MjData``.
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11. Given the above added fields, removed ``mjx.get_params``, ``mjx.ncon``, and ``mjx.count_constraints``.
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12. Changed the way meshes are organized on device to speed up collision detection when a mesh is replicated for many
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geoms.
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12. Fixed a bug where capsules might be ignored in broadphase colliision checking.
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13. Added cylinder collisions using SDFs.
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14. Added support for all :ref:`condim <coContact>`: 1, 3, 4, 6.
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15. Add support functions for ``id2name`` and ``name2id``, MJX versions of :ref:`mj_id2name` and :ref:`mj_name2id`.
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16. Added support for :ref:`gravcomp<body-gravcomp>` and :ref:`actuatorgravcomp<body-joint-actuatorgravcomp>`.
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17. Fixed a bug in ``mjx.ray`` for sometimes allowed negative distances for ray-mesh tests.
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13. Fixed a bug where capsules might be ignored in broadphase colliision checking.
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14. Added cylinder collisions using SDFs.
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15. Added support for all :ref:`condim <coContact>`: 1, 3, 4, 6.
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16. Add support functions for ``id2name`` and ``name2id``, MJX versions of :ref:`mj_id2name` and :ref:`mj_name2id`.
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17. Added support for :ref:`gravcomp<body-gravcomp>` and :ref:`actuatorgravcomp<body-joint-actuatorgravcomp>`.
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18. Fixed a bug in ``mjx.ray`` for sometimes allowed negative distances for ray-mesh tests.
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Bug fixes
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^^^^^^^^^
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18. Defaults of lights were not being saved, now fixed.
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19. Prevent overwriting of frame names by body names when saving an XML. Bug introduced in 3.1.4.
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20. Fixed bug in Python binding of :ref:`mj_saveModel`: ``buffer`` argument was documented as optional but was actually
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19. Defaults of lights were not being saved, now fixed.
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20. Prevent overwriting of frame names by body names when saving an XML. Bug introduced in 3.1.4.
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21. Fixed bug in Python binding of :ref:`mj_saveModel`: ``buffer`` argument was documented as optional but was actually
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not optional.
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21. Fixed bug that prevented memory allocations larger than 2.15 GB.
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22. Fixed bug that prevented memory allocations larger than 2.15 GB.
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Version 3.1.4 (April 10th, 2024)
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+54
-17
@@ -62,7 +62,7 @@ static void ReadStrFromBuffer(char* dest, const char* src, int maxlen) {
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std::strncpy(dest, src, maxlen);
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}
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bool IsValidElementHeader22(const std::string& line) {
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bool IsValidElementOrNodeHeader22(const std::string& line) {
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// making sure characters are numbers
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for (char c : line) {
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if (!std::isdigit(c)) {
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@@ -1296,10 +1296,21 @@ void mjCFlexcomp::LoadGMSH41(char* buffer, int binary, int nodeend,
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// load GMSH format 2.2
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void mjCFlexcomp::LoadGMSH22(char* buffer, int binary, int nodeend,
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int nodebegin, int elemend, int elembegin) {
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// number of nodes
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size_t numNodes = 0;
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// ascii nodes
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if (binary == 0) {
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// convert node char buffer to stringstream
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stringstream ss(std::string(buffer + nodebegin, nodeend - nodebegin));
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std::string line;
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// checking header template
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std::getline(ss, line);
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if (!IsValidElementOrNodeHeader22(line)) {
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throw mjCError(NULL, "Invalid node header");
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}
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ss.seekg(-(line.size()+1), std::ios::cur);
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// read header
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size_t maxNodeTag = 0;
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@@ -1307,7 +1318,7 @@ void mjCFlexcomp::LoadGMSH22(char* buffer, int binary, int nodeend,
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if (!ss.good()) {
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throw mjCError(NULL, "Error reading Nodes header");
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}
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size_t numNodes = maxNodeTag;
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numNodes = maxNodeTag;
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if (numNodes < 0 || numNodes >= INT_MAX / 3) {
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throw mjCError(NULL, "Invalid number of nodes.");
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@@ -1349,7 +1360,7 @@ void mjCFlexcomp::LoadGMSH22(char* buffer, int binary, int nodeend,
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ReadStrFromBuffer(maxNodeTagChar, buffer + nodebegin, std::min(10, nodeend - nodebegin));
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size_t measuredHeaderSize = strnlen(maxNodeTagChar, 10) - 1;
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size_t maxNodeTag = std::stoi(maxNodeTagChar);
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size_t numNodes = maxNodeTag;
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numNodes = maxNodeTag;
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// check number of nodes is a positive number
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if (numNodes < 0) {
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@@ -1396,7 +1407,7 @@ void mjCFlexcomp::LoadGMSH22(char* buffer, int binary, int nodeend,
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// checking header template
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std::getline(ss, line);
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if (!IsValidElementHeader22(line)) {
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if (!IsValidElementOrNodeHeader22(line)) {
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throw mjCError(NULL, "Invalid elements header");
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}
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ss.seekg(-(line.size()+1), std::ios::cur);
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@@ -1404,7 +1415,7 @@ void mjCFlexcomp::LoadGMSH22(char* buffer, int binary, int nodeend,
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size_t maxElementTag = 0;
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ss >> maxElementTag;
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if (!ss.good()) {
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throw mjCError(NULL, "GetMaxElementTag::Error reading Elements header");
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throw mjCError(NULL, "Error reading Elements header");
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}
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size_t numElements = maxElementTag;
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@@ -1419,18 +1430,30 @@ void mjCFlexcomp::LoadGMSH22(char* buffer, int binary, int nodeend,
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}
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// reading first element's type
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int tag = 0, type = 0, numTags = 0;
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ss >> tag >> type >> numTags;
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int tag = 0, elementType = 0, numTags = 0;
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ss >> tag >> elementType >> numTags;
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if (!ss.good()) {
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throw mjCError(NULL, "Error reading Elements");
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}
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int numNodeTags = type;
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size_t entityDim = 0;
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int numNodeTags = 0;
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// surface
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if (elementType == 2) {
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entityDim = 2;
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numNodeTags = 3;
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}
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// tetrahedral
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else if (elementType == 4) {
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entityDim = 3;
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numNodeTags = 4;
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}
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if (numNodeTags < 1 || numNodeTags >4) {
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throw mjCError(NULL, "Invalid number of node tags");
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}
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// setting entityDim
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size_t entityDim = numNodeTags - 1;
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def.spec.flex->dim = entityDim;
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// read elements, discard all tags
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@@ -1438,7 +1461,7 @@ void mjCFlexcomp::LoadGMSH22(char* buffer, int binary, int nodeend,
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for (size_t i=0; i<numElements; i++) {
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int nodeTag = 0, physicalEntityTag = 0, elmentModelEntityTag = 0;
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if (i != 0) {
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ss >> tag >> type >> numTags;
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ss >> tag >> elementType >> numTags;
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if (!ss.good()) {
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throw mjCError(NULL, "Error reading Elements");
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}
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@@ -1454,7 +1477,7 @@ void mjCFlexcomp::LoadGMSH22(char* buffer, int binary, int nodeend,
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if (!ss.good()) {
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throw mjCError(NULL, "Error reading Elements");
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}
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if (nodeTag > numElements || nodeTag < 1) {
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if (nodeTag > numNodes || nodeTag < 1) {
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throw mjCError(NULL, "Invalid node tag");
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}
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element.push_back((int)(nodeTag-1));
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@@ -1464,7 +1487,7 @@ void mjCFlexcomp::LoadGMSH22(char* buffer, int binary, int nodeend,
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// binary elements
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else {
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// header size for gmshApp
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constexpr int elementHeaderSizeGmshApp = 6;
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constexpr int elementHeaderSizeGmshApp = 4;
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// header size for Ftetwild
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constexpr int elementHeaderSizeFtetwild = 17;
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// check header size
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@@ -1480,7 +1503,7 @@ void mjCFlexcomp::LoadGMSH22(char* buffer, int binary, int nodeend,
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int numElements = maxElementTag;
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int tag, numTags;
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int nodeTag;
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int numNodeTags;
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int elementType;
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// check number of elements is a positive number
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if (numElements < 0) {
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@@ -1491,14 +1514,28 @@ void mjCFlexcomp::LoadGMSH22(char* buffer, int binary, int nodeend,
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int componentSize = sizeof(int);
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// element buffer
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const char* elementsBuffer = buffer + elembegin + measuredHeaderSize;
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ReadFromBuffer(&numNodeTags, elementsBuffer);
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ReadFromBuffer(&elementType, elementsBuffer);
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ReadFromBuffer(&numTags, elementsBuffer + componentSize*2);
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ReadFromBuffer(&tag, elementsBuffer + componentSize*3);
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// tetrahedral has 4 node tags and surface has 3
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int numNodeTags = 0;
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size_t entityDim = 0;
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// surface
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if (elementType == 2) {
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entityDim = 2;
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numNodeTags = 3;
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}
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// tetrahedral
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else if (elementType == 4) {
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entityDim = 3;
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numNodeTags = 4;
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}
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if (numNodeTags < 1 || numNodeTags >4) {
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throw mjCError(NULL, "Invalid number of node tags");
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}
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size_t entityDim = numNodeTags - 1;
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def.spec.flex->dim = entityDim;
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// element data(Ftetwild): tag and 4 nodeTag
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@@ -1534,7 +1571,7 @@ void mjCFlexcomp::LoadGMSH22(char* buffer, int binary, int nodeend,
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// read first element
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for (int k =0; k<numNodeTags; k++) {
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ReadFromBuffer(&nodeTag, elementsBuffer + componentSize*(6+k));
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if (nodeTag > numElements || nodeTag < 1) {
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if (nodeTag > numNodes || nodeTag < 1) {
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throw mjCError(NULL, "Invalid node tag");
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}
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element.push_back(nodeTag-1);
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@@ -1564,7 +1601,7 @@ void mjCFlexcomp::LoadGMSH22(char* buffer, int binary, int nodeend,
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for (int k = 0; k < numNodeTags; k++) {
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const char* nodeTagBuffer = elementsBuffer + componentSize*(4+k);
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ReadFromBuffer(&nodeTag, nodeTagBuffer);
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if (nodeTag > numElements || nodeTag < 1) {
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if (nodeTag > numNodes || nodeTag < 1) {
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throw mjCError(NULL, "Invalid node tag");
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}
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element.push_back(nodeTag-1);
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@@ -0,0 +1,47 @@
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$MeshFormat
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2.2 0 8
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$EndMeshFormat
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$Nodes
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14
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1 -0.5 -0.5 0
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2 0.5 -0.5 0
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3 0.5 0.5 0
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4 -0.5 0.5 0
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5 -0.5 -0.5 1
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6 0.5 -0.5 1
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7 0.5 0.5 1
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8 -0.5 0.5 1
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9 0 0 0
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10 0 -0.5 0.5
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11 0.5 0 0.5
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12 0 0.5 0.5
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13 -0.5 0 0.5
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14 0 0 1
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$EndNodes
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$Elements
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24
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1 2 2 0 1 9 4 3
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2 2 2 0 1 9 3 2
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3 2 2 0 1 9 1 4
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4 2 2 0 1 9 2 1
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5 2 2 0 1 2 10 1
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6 2 2 0 1 1 10 5
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7 2 2 0 1 6 10 2
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8 2 2 0 1 5 10 6
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9 2 2 0 1 3 11 2
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10 2 2 0 1 2 11 6
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11 2 2 0 1 7 11 3
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12 2 2 0 1 6 11 7
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13 2 2 0 1 4 12 3
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14 2 2 0 1 3 12 7
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15 2 2 0 1 8 12 4
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16 2 2 0 1 7 12 8
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17 2 2 0 1 1 13 4
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18 2 2 0 1 5 13 1
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19 2 2 0 1 4 13 8
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20 2 2 0 1 8 13 5
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21 2 2 0 1 5 6 14
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22 2 2 0 1 8 5 14
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23 2 2 0 1 6 7 14
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24 2 2 0 1 7 8 14
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$EndElements
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@@ -0,0 +1,26 @@
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<mujoco model="gmsh">
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<option timestep="0.01" integrator="implicitfast" solver="CG"/>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
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<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
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<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
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</asset>
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<visual>
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<headlight diffuse="0.9 0.9 0.9" ambient="0.3 0.3 0.3" specular="0 0 0"/>
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<map force="0.1" zfar="30"/>
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<rgba haze="0.15 0.25 0.35 1"/>
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<quality shadowsize="4096"/>
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<global offwidth="800" offheight="800"/>
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</visual>
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<worldbody>
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<geom name="floor" size="1 1 .05" type="plane" material="grid" condim="3"/>
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<light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1"/>
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<flexcomp name="cube" type="gmsh" dim="2" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 0"
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mass="10" scale="1 1 1" file="cube_22_ascii_surf_gmshApp.msh">
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<edge equality="true"/>
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</flexcomp>
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</worldbody>
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</mujoco>
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Binary file not shown.
@@ -0,0 +1,26 @@
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<mujoco model="gmsh">
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<option timestep="0.01" integrator="implicitfast" solver="CG"/>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
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<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
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<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
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</asset>
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<visual>
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<headlight diffuse="0.9 0.9 0.9" ambient="0.3 0.3 0.3" specular="0 0 0"/>
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<map force="0.1" zfar="30"/>
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<rgba haze="0.15 0.25 0.35 1"/>
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<quality shadowsize="4096"/>
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<global offwidth="800" offheight="800"/>
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</visual>
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<worldbody>
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<geom name="floor" size="1 1 .05" type="plane" material="grid" condim="3"/>
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<light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1"/>
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<flexcomp name="cube" type="gmsh" dim="2" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 0"
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mass="10" scale="1 1 1" file="cube_22_binary_surf_gmshApp.msh">
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<edge equality="true"/>
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</flexcomp>
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</worldbody>
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</mujoco>
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@@ -0,0 +1,67 @@
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$MeshFormat
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4.1 0 8
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$EndMeshFormat
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$Entities
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0 0 1 0
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1 -0.5 -0.5 0 0.5 0.5 1 0 0
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$EndEntities
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$Nodes
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1 14 1 14
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2 1 0 14
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1
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2
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3
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4
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5
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6
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7
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8
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9
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10
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11
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12
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13
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14
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||||
-0.5 -0.5 0
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0.5 -0.5 0
|
||||
0.5 0.5 0
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||||
-0.5 0.5 0
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||||
-0.5 -0.5 1
|
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0.5 -0.5 1
|
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0.5 0.5 1
|
||||
-0.5 0.5 1
|
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0 0 0
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0 -0.5 0.5
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0.5 0 0.5
|
||||
0 0.5 0.5
|
||||
-0.5 0 0.5
|
||||
0 0 1
|
||||
$EndNodes
|
||||
$Elements
|
||||
1 24 1 24
|
||||
2 1 2 24
|
||||
1 9 4 3
|
||||
2 9 3 2
|
||||
3 9 1 4
|
||||
4 9 2 1
|
||||
5 2 10 1
|
||||
6 1 10 5
|
||||
7 6 10 2
|
||||
8 5 10 6
|
||||
9 3 11 2
|
||||
10 2 11 6
|
||||
11 7 11 3
|
||||
12 6 11 7
|
||||
13 4 12 3
|
||||
14 3 12 7
|
||||
15 8 12 4
|
||||
16 7 12 8
|
||||
17 1 13 4
|
||||
18 5 13 1
|
||||
19 4 13 8
|
||||
20 8 13 5
|
||||
21 5 6 14
|
||||
22 8 5 14
|
||||
23 6 7 14
|
||||
24 7 8 14
|
||||
$EndElements
|
||||
@@ -0,0 +1,26 @@
|
||||
<mujoco model="gmsh">
|
||||
<option timestep="0.01" integrator="implicitfast" solver="CG"/>
|
||||
|
||||
<asset>
|
||||
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
|
||||
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
|
||||
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
|
||||
</asset>
|
||||
|
||||
<visual>
|
||||
<headlight diffuse="0.9 0.9 0.9" ambient="0.3 0.3 0.3" specular="0 0 0"/>
|
||||
<map force="0.1" zfar="30"/>
|
||||
<rgba haze="0.15 0.25 0.35 1"/>
|
||||
<quality shadowsize="4096"/>
|
||||
<global offwidth="800" offheight="800"/>
|
||||
</visual>
|
||||
|
||||
<worldbody>
|
||||
<geom name="floor" size="1 1 .05" type="plane" material="grid" condim="3"/>
|
||||
<light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1"/>
|
||||
<flexcomp name="cube" type="gmsh" dim="2" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 0"
|
||||
mass="10" scale="1 1 1" file="cube_41_ascii_surf_gmshApp.msh">
|
||||
<edge equality="true"/>
|
||||
</flexcomp>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
Binary file not shown.
@@ -0,0 +1,26 @@
|
||||
<mujoco model="gmsh">
|
||||
<option timestep="0.01" integrator="implicitfast" solver="CG"/>
|
||||
|
||||
<asset>
|
||||
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
|
||||
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
|
||||
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
|
||||
</asset>
|
||||
|
||||
<visual>
|
||||
<headlight diffuse="0.9 0.9 0.9" ambient="0.3 0.3 0.3" specular="0 0 0"/>
|
||||
<map force="0.1" zfar="30"/>
|
||||
<rgba haze="0.15 0.25 0.35 1"/>
|
||||
<quality shadowsize="4096"/>
|
||||
<global offwidth="800" offheight="800"/>
|
||||
</visual>
|
||||
|
||||
<worldbody>
|
||||
<geom name="floor" size="1 1 .05" type="plane" material="grid" condim="3"/>
|
||||
<light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1"/>
|
||||
<flexcomp name="cube" type="gmsh" dim="2" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 0"
|
||||
mass="10" scale="1 1 1" file="cube_41_binary_surf_gmshApp.msh">
|
||||
<edge equality="true"/>
|
||||
</flexcomp>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
@@ -19,7 +19,7 @@
|
||||
<worldbody>
|
||||
<geom name="floor" size="20 20 .05" type="plane" material="grid" condim="3" />
|
||||
<light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1" />
|
||||
<flexcomp name="shark binary 2.2" type="gmsh" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4"
|
||||
<flexcomp name="shark binary 2.2" type="gmsh" dim="3" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 4"
|
||||
mass="10" scale="1 1 1" file="shark_41_ascii_missing_node_index.msh">
|
||||
<edge equality="true" />
|
||||
</flexcomp>
|
||||
|
||||
@@ -8,7 +8,6 @@ $EndEntities
|
||||
$Nodes
|
||||
1 652 1 652
|
||||
3 0 0 652
|
||||
1
|
||||
2
|
||||
3
|
||||
4
|
||||
|
||||
+108
-3
@@ -23,6 +23,8 @@
|
||||
#include <mujoco/mujoco.h>
|
||||
#include "test/fixture.h"
|
||||
|
||||
|
||||
|
||||
namespace mujoco {
|
||||
namespace {
|
||||
|
||||
@@ -32,6 +34,8 @@ using ::testing::HasSubstr;
|
||||
using UserFlexTest = MujocoTest;
|
||||
|
||||
|
||||
|
||||
|
||||
TEST_F(UserFlexTest, ParentMustHaveName) {
|
||||
static constexpr char xml[] = R"(
|
||||
<mujoco>
|
||||
@@ -255,6 +259,56 @@ TEST_F(UserFlexTest, LoadMSHBinaryGMSH_22_Success) {
|
||||
mj_deleteData(d);
|
||||
}
|
||||
|
||||
TEST_F(UserFlexTest, LoadMSHSurfaceBinaryGMSH_41_Success) {
|
||||
const std::string xml_path =
|
||||
GetTestDataFilePath("user/testdata/cube_41_binary_surf_gmshApp.xml");
|
||||
std::array<char, 1024> error;
|
||||
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
|
||||
ASSERT_THAT(m, NotNull()) << error.data();
|
||||
mjData* d = mj_makeData(m);
|
||||
EXPECT_EQ(m->nflexvert, 14);
|
||||
EXPECT_EQ(m->nflexelem, 24);
|
||||
|
||||
// first node x y z
|
||||
EXPECT_EQ(m->flex_xvert0[0], -0.5 );
|
||||
EXPECT_EQ(m->flex_xvert0[1], -0.5 );
|
||||
EXPECT_EQ(m->flex_xvert0[2], 0 );
|
||||
|
||||
// first element
|
||||
EXPECT_EQ(m->flex_elem[0], 9-1 );
|
||||
EXPECT_EQ(m->flex_elem[1], 4-1 );
|
||||
EXPECT_EQ(m->flex_elem[2], 3-1 );
|
||||
|
||||
mj_step(m, d);
|
||||
mj_deleteModel(m);
|
||||
mj_deleteData(d);
|
||||
}
|
||||
|
||||
TEST_F(UserFlexTest, LoadMSHSurfaceBinaryGMSH_22_Success) {
|
||||
const std::string xml_path =
|
||||
GetTestDataFilePath("user/testdata/cube_22_binary_surf_gmshApp.xml");
|
||||
std::array<char, 1024> error;
|
||||
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
|
||||
ASSERT_THAT(m, NotNull()) << error.data();
|
||||
mjData* d = mj_makeData(m);
|
||||
EXPECT_EQ(m->nflexvert, 14);
|
||||
EXPECT_EQ(m->nflexelem, 24);
|
||||
|
||||
// first node x y z
|
||||
EXPECT_EQ(m->flex_xvert0[0], -0.5 );
|
||||
EXPECT_EQ(m->flex_xvert0[1], -0.5 );
|
||||
EXPECT_EQ(m->flex_xvert0[2], 0 );
|
||||
|
||||
// first element
|
||||
EXPECT_EQ(m->flex_elem[0], 9-1 );
|
||||
EXPECT_EQ(m->flex_elem[1], 4-1 );
|
||||
EXPECT_EQ(m->flex_elem[2], 3-1 );
|
||||
|
||||
mj_step(m, d);
|
||||
mj_deleteModel(m);
|
||||
mj_deleteData(d);
|
||||
}
|
||||
|
||||
TEST_F(UserFlexTest, LoadMSHBinaryFTETWILD_22_Success) {
|
||||
const std::string xml_path =
|
||||
GetTestDataFilePath("user/testdata/shark_22_binary_fTetWild.xml");
|
||||
@@ -297,6 +351,56 @@ TEST_F(UserFlexTest, LoadMSHASCIIGMSH_22_Success) {
|
||||
mj_deleteData(d);
|
||||
}
|
||||
|
||||
TEST_F(UserFlexTest, LoadMSHSurfaceASCIIGMSH_41_Success) {
|
||||
const std::string xml_path =
|
||||
GetTestDataFilePath("user/testdata/cube_41_ascii_surf_gmshApp.xml");
|
||||
std::array<char, 1024> error;
|
||||
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
|
||||
ASSERT_THAT(m, NotNull()) << error.data();
|
||||
mjData* d = mj_makeData(m);
|
||||
EXPECT_EQ(m->nflexvert, 14);
|
||||
EXPECT_EQ(m->nflexelem, 24);
|
||||
|
||||
// first node x y z
|
||||
EXPECT_EQ(m->flex_xvert0[0], -0.5 );
|
||||
EXPECT_EQ(m->flex_xvert0[1], -0.5 );
|
||||
EXPECT_EQ(m->flex_xvert0[2], 0 );
|
||||
|
||||
// first element
|
||||
EXPECT_EQ(m->flex_elem[0], 9-1 );
|
||||
EXPECT_EQ(m->flex_elem[1], 4-1 );
|
||||
EXPECT_EQ(m->flex_elem[2], 3-1 );
|
||||
|
||||
mj_step(m, d);
|
||||
mj_deleteModel(m);
|
||||
mj_deleteData(d);
|
||||
}
|
||||
|
||||
TEST_F(UserFlexTest, LoadMSHSurfaceASCIIGMSH_22_Success) {
|
||||
const std::string xml_path =
|
||||
GetTestDataFilePath("user/testdata/cube_22_ascii_surf_gmshApp.xml");
|
||||
std::array<char, 1024> error;
|
||||
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
|
||||
ASSERT_THAT(m, NotNull()) << error.data();
|
||||
mjData* d = mj_makeData(m);
|
||||
EXPECT_EQ(m->nflexvert, 14);
|
||||
EXPECT_EQ(m->nflexelem, 24);
|
||||
|
||||
// first node x y z
|
||||
EXPECT_EQ(m->flex_xvert0[0], -0.5 );
|
||||
EXPECT_EQ(m->flex_xvert0[1], -0.5 );
|
||||
EXPECT_EQ(m->flex_xvert0[2], 0 );
|
||||
|
||||
// first element
|
||||
EXPECT_EQ(m->flex_elem[0], 9-1 );
|
||||
EXPECT_EQ(m->flex_elem[1], 4-1 );
|
||||
EXPECT_EQ(m->flex_elem[2], 3-1 );
|
||||
|
||||
mj_step(m, d);
|
||||
mj_deleteModel(m);
|
||||
mj_deleteData(d);
|
||||
}
|
||||
|
||||
TEST_F(UserFlexTest, LoadMSHASCIIFTETWILD_22_Success) {
|
||||
const std::string xml_path =
|
||||
GetTestDataFilePath("user/testdata/shark_22_ascii_fTetWild.xml");
|
||||
@@ -329,7 +433,7 @@ TEST_F(UserFlexTest, LoadMSHASCII_41_MissingNodeIndex_Fail) {
|
||||
std::array<char, 1024> error;
|
||||
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
|
||||
EXPECT_THAT(error.data(), HasSubstr(
|
||||
"XML Error: Element size must be a multiple of dim+1"));
|
||||
"XML Error: Error: Node tags must be sequential"));
|
||||
mj_deleteModel(m);
|
||||
}
|
||||
|
||||
@@ -361,8 +465,9 @@ TEST_F(UserFlexTest, LoadMSHASCII_22_MissingNumNodes_Fail) {
|
||||
"user/testdata/malformed_shark_22_ascii_missing_num_nodes.xml");
|
||||
std::array<char, 1024> error;
|
||||
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
|
||||
EXPECT_THAT(error.data(), HasSubstr(
|
||||
"XML Error: Element size must be a multiple of dim+1"));
|
||||
// TODO(mohammadhamid): Replace with an assertion about the error message. For
|
||||
// some reason, on Windows the error message is different on GH Actions
|
||||
EXPECT_THAT(m, IsNull());
|
||||
mj_deleteModel(m);
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user