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Added support for GMSH22 surface loading

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PiperOrigin-RevId: 629734063
Change-Id: I6a250b81de4e7c8f7520795bfe74a81d719dfb50
This commit is contained in:
Mohammad Hamid
2024-05-01 08:42:53 -07:00
committed by Copybara-Service
parent 57b1dbac65
commit 131b1745db
14 changed files with 403 additions and 42 deletions
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test/user/user_flex_test.cc
+108 -3
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@@ -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);
}