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Change LoadModelFromString to return a smart pointer, add MakeData, and update tests to have C++ RAII clean up model and data.

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PiperOrigin-RevId: 935980153
Change-Id: I41d25bfab4935494dc984168820cb7cad123cadf
This commit is contained in:
Kyle Bayes
2026-06-22 04:18:29 -07:00
committed by Copybara-Service
parent 34d142ee50
commit 1490336955
39 changed files with 4616 additions and 5908 deletions
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test/engine/engine_collision_sdf_test.cc
+24 -27
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@@ -14,14 +14,16 @@
// Tests for sdf collisions.
#include "src/engine/engine_collision_sdf.h"
#include <cstdio>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <mujoco/mjdata.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjtype.h>
#include <mujoco/mujoco.h>
#include "src/engine/engine_collision_sdf.h"
#include "test/fixture.h"
namespace mujoco {
@@ -48,22 +50,24 @@ static constexpr char kSdfModel[] = R"(
TEST_F(SdfTest, SdfPrimitive) {
char error[1024];
mjModel* model = LoadModelFromString(kSdfModel, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
mjData* data = mj_makeData(model);
MjModelPtr model = LoadModelFromString(kSdfModel, error, sizeof(error));
ASSERT_THAT(model.get(), NotNull()) << error;
MjDataPtr data = MakeData(model);
ASSERT_THAT(data, NotNull());
ASSERT_THAT(model->ngeom, kgeoms);
mjSDF sdf;
const mjpPlugin* null_plugin = NULL;
mjtNum gradient[3], dist[kgeoms][kpoints] = {
{0, 0, 0, 0, 1, 1}, // plane
{-1, 0, 0, mju_sqrt(2)-1, mju_sqrt(2)-1, mju_sqrt(3)-1}, // sphere
{(mjtNum)-.1, (mjtNum).9, (mjtNum).9,
mju_sqrt(2)-(mjtNum).1, (mjtNum).9, mju_sqrt(2)-(mjtNum).1}, // capsule
{-1, 0, 0, mju_sqrt(2)-1, 0, mju_sqrt(2)-1}, // cylinder
{-mju_sqrt(3), 0, 0, 0, 0, 0}, // box
};
mjtNum gradient[3],
dist[kgeoms][kpoints] = {
{0, 0, 0, 0, 1, 1}, // plane
{-1, 0, 0, mju_sqrt(2) - 1, mju_sqrt(2) - 1,
mju_sqrt(3) - 1}, // sphere
{(mjtNum)-.1, (mjtNum).9, (mjtNum).9, mju_sqrt(2) - (mjtNum).1,
(mjtNum).9, mju_sqrt(2) - (mjtNum).1}, // capsule
{-1, 0, 0, mju_sqrt(2) - 1, 0, mju_sqrt(2) - 1}, // cylinder
{-mju_sqrt(3), 0, 0, 0, 0, 0}, // box
};
mjtNum points[kpoints][3] = {{0, 0, 0}, {1, 0, 0}, {0, 1, 0},
{1, 1, 0}, {0, 1, 1}, {1, 1, 1}};
@@ -71,16 +75,13 @@ TEST_F(SdfTest, SdfPrimitive) {
sdf.plugin = &null_plugin;
sdf.id = &i;
sdf.type = mjSDFTYPE_SINGLE;
sdf.geomtype = (mjtGeom*)(model->geom_type+i);
sdf.geomtype = (mjtGeom*)(model->geom_type + i);
for (int j = 0; j < kpoints; j++) {
EXPECT_NEAR(mjc_distance(model, data, &sdf, points[j]), dist[i][j],
MjTol(1e-9, 5e-7));
mjc_gradient(model, data, &sdf, gradient, points[j]);
EXPECT_NEAR(mjc_distance(model.get(), data.get(), &sdf, points[j]),
dist[i][j], MjTol(1e-9, 5e-7));
mjc_gradient(model.get(), data.get(), &sdf, gradient, points[j]);
}
}
mj_deleteData(data);
mj_deleteModel(model);
}
static constexpr char kFlexSdfModel[] = R"(
@@ -118,9 +119,9 @@ static constexpr char kFlexSdfModel[] = R"(
TEST_F(SdfTest, FlexSdfCollision) {
char error[1024];
mjModel* model = LoadModelFromString(kFlexSdfModel, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
mjData* data = mj_makeData(model);
MjModelPtr model = LoadModelFromString(kFlexSdfModel, error, sizeof(error));
ASSERT_THAT(model.get(), NotNull()) << error;
MjDataPtr data = MakeData(model);
ASSERT_THAT(data, NotNull());
// check there is at least one flex
@@ -128,7 +129,7 @@ TEST_F(SdfTest, FlexSdfCollision) {
// simulate for a few steps to let flex fall onto torus
for (int i = 0; i < 100; i++) {
mj_step(model, data);
mj_step(model.get(), data.get());
}
// should have contacts between flex and SDF
@@ -143,11 +144,7 @@ TEST_F(SdfTest, FlexSdfCollision) {
}
}
EXPECT_TRUE(has_flex_contact) << "Expected at least one flex contact";
mj_deleteData(data);
mj_deleteModel(model);
}
} // namespace
} // namespace mujoco