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Add missing mj_deleteVFS to user unit tests.

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PiperOrigin-RevId: 645001843
Change-Id: I671514ea4cb7786e5d1f7f55404d4925e446a262
This commit is contained in:
Kyle Bayes
2024-06-20 06:03:31 -07:00
committed by Copybara-Service
parent 2188cba4cd
commit 18634b6726
2 changed files with 38 additions and 18 deletions
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test/user/user_mesh_test.cc
+27 -17
View File
@@ -16,6 +16,7 @@
#include <array>
#include <cstddef>
#include <limits>
#include <memory>
#include <string>
#include <vector>
@@ -129,6 +130,7 @@ TEST_F(MjCMeshTest, LoadMSHWithVFS) {
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, HasSubstr("resource not found via provider or OS"));
mj_deleteVFS(vfs.get());
}
TEST_F(MjCMeshTest, LoadOBJWithVFS) {
@@ -154,6 +156,7 @@ TEST_F(MjCMeshTest, LoadOBJWithVFS) {
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, HasSubstr("resource not found via provider or OS"));
mj_deleteVFS(vfs.get());
}
TEST_F(MjCMeshTest, LoadSTLWithVFS) {
@@ -179,6 +182,7 @@ TEST_F(MjCMeshTest, LoadSTLWithVFS) {
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, HasSubstr("resource not found via provider or OS"));
mj_deleteVFS(vfs.get());
}
// ------------- test content_type attributes ----------------------------------
@@ -206,6 +210,7 @@ TEST_F(MjCMeshTest, LoadMSHWithContentType) {
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, HasSubstr("resource not found via provider or OS"));
mj_deleteVFS(vfs.get());
}
TEST_F(MjCMeshTest, LoadOBJWithContentType) {
@@ -231,6 +236,7 @@ TEST_F(MjCMeshTest, LoadOBJWithContentType) {
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, HasSubstr("resource not found via provider or OS"));
mj_deleteVFS(vfs.get());
}
TEST_F(MjCMeshTest, LoadSTLWithContentType) {
@@ -256,6 +262,7 @@ TEST_F(MjCMeshTest, LoadSTLWithContentType) {
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, HasSubstr("resource not found via provider or OS"));
mj_deleteVFS(vfs.get());
}
TEST_F(MjCMeshTest, LoadMSHWithContentTypeError) {
@@ -281,6 +288,7 @@ TEST_F(MjCMeshTest, LoadMSHWithContentTypeError) {
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, HasSubstr("unsupported content type: 'model/unknown'"));
mj_deleteVFS(vfs.get());
}
TEST_F(MjCMeshTest, LoadMSHWithContentTypeParam) {
@@ -306,11 +314,12 @@ TEST_F(MjCMeshTest, LoadMSHWithContentTypeParam) {
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, HasSubstr("resource not found via provider or OS"));
mj_deleteVFS(vfs.get());
}
// ------------- test vertex de-duplication (STL) ------------------------------
// ------------- test vertex deduplication (STL) ------------------------------
TEST_F(MjCMeshTest, DeDuplicateSTLVertices) {
TEST_F(MjCMeshTest, DeduplicateSTLVertices) {
const std::string xml_path = GetTestDataFilePath(kDuplicateVerticesPath);
char error[1024];
size_t error_sz = 1024;
@@ -795,15 +804,16 @@ TEST_F(MjCMeshTest, ExactConcaveInertia) {
mjtNum d_cube = .5 - model->body_ipos[5];
mjtNum d_hole = .55 - model->body_ipos[5];
mjtNum I1 = I_cube - m_hole*(.8*.8 + .8*.8)/12;
mjtNum I2 = I_cube - m_hole*(.8*.8 + .9*.9)/12 + m_cube*d_cube*d_cube - m_hole*d_hole*d_hole;
EXPECT_LE(fabs(model->body_mass[1] - m_concave_cube), max_abs_err);
EXPECT_LE(fabs(model->body_mass[2] - m_concave_cube), max_abs_err);
EXPECT_LE(fabs(model->body_mass[3] - m_concave_cube), max_abs_err);
EXPECT_LE(fabs(model->body_mass[4] - m_concave_cube), max_abs_err);
mjtNum I2 = I_cube - m_hole*(.8*.8 + .9*.9)/12
+ m_cube*d_cube*d_cube - m_hole*d_hole*d_hole;
EXPECT_LE(mju_abs(model->body_mass[1] - m_concave_cube), max_abs_err);
EXPECT_LE(mju_abs(model->body_mass[2] - m_concave_cube), max_abs_err);
EXPECT_LE(mju_abs(model->body_mass[3] - m_concave_cube), max_abs_err);
EXPECT_LE(mju_abs(model->body_mass[4] - m_concave_cube), max_abs_err);
for (int i = 3; i < 15; i += 3) {
EXPECT_LE(fabs(model->body_inertia[i] - I1), max_abs_err);
EXPECT_LE(fabs(model->body_inertia[i+1] - I2), max_abs_err);
EXPECT_LE(fabs(model->body_inertia[i+2] - I2), max_abs_err);
EXPECT_LE(mju_abs(model->body_inertia[i] - I1), max_abs_err);
EXPECT_LE(mju_abs(model->body_inertia[i+1] - I2), max_abs_err);
EXPECT_LE(mju_abs(model->body_inertia[i+2] - I2), max_abs_err);
}
mj_deleteModel(model);
}
@@ -815,10 +825,10 @@ TEST_F(MjCMeshTest, ExactConvexInertia) {
// https://en.wikipedia.org/wiki/List_of_moments_of_inertia
mjtNum m_solid_cube = 1.;
mjtNum I_solid_cube = 1./6. * m_solid_cube;
EXPECT_LE(fabs(model->body_mass[1] - m_solid_cube), max_abs_err);
EXPECT_LE(fabs(model->body_mass[2] - m_solid_cube), max_abs_err);
EXPECT_LE(mju_abs(model->body_mass[1] - m_solid_cube), max_abs_err);
EXPECT_LE(mju_abs(model->body_mass[2] - m_solid_cube), max_abs_err);
for (int i = 3; i < 9; i++) {
EXPECT_LE(fabs(model->body_inertia[i] - I_solid_cube), max_abs_err);
EXPECT_LE(mju_abs(model->body_inertia[i] - I_solid_cube), max_abs_err);
}
mj_deleteModel(model);
}
@@ -830,10 +840,10 @@ TEST_F(MjCMeshTest, ExactShellInertia) {
// see https://en.wikipedia.org/wiki/List_of_moments_of_inertia
mjtNum m_hollow_cube = 6.;
mjtNum I_hollow_cube = 5./18. * m_hollow_cube;
EXPECT_LE(fabs(model->body_mass[1] - m_hollow_cube), max_abs_err);
EXPECT_LE(fabs(model->body_inertia[3] - I_hollow_cube), max_abs_err);
EXPECT_LE(fabs(model->body_inertia[4] - I_hollow_cube), max_abs_err);
EXPECT_LE(fabs(model->body_inertia[5] - I_hollow_cube), max_abs_err);
EXPECT_LE(mju_abs(model->body_mass[1] - m_hollow_cube), max_abs_err);
EXPECT_LE(mju_abs(model->body_inertia[3] - I_hollow_cube), max_abs_err);
EXPECT_LE(mju_abs(model->body_inertia[4] - I_hollow_cube), max_abs_err);
EXPECT_LE(mju_abs(model->body_inertia[5] - I_hollow_cube), max_abs_err);
mj_deleteModel(model);
}