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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 <array>
#include <cstddef> #include <cstddef>
#include <limits>
#include <memory> #include <memory>
#include <string> #include <string>
#include <vector> #include <vector>
@@ -129,6 +130,7 @@ TEST_F(MjCMeshTest, LoadMSHWithVFS) {
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get()); mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull()); EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, HasSubstr("resource not found via provider or OS")); EXPECT_THAT(error, HasSubstr("resource not found via provider or OS"));
mj_deleteVFS(vfs.get());
} }
TEST_F(MjCMeshTest, LoadOBJWithVFS) { TEST_F(MjCMeshTest, LoadOBJWithVFS) {
@@ -154,6 +156,7 @@ TEST_F(MjCMeshTest, LoadOBJWithVFS) {
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get()); mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull()); EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, HasSubstr("resource not found via provider or OS")); EXPECT_THAT(error, HasSubstr("resource not found via provider or OS"));
mj_deleteVFS(vfs.get());
} }
TEST_F(MjCMeshTest, LoadSTLWithVFS) { TEST_F(MjCMeshTest, LoadSTLWithVFS) {
@@ -179,6 +182,7 @@ TEST_F(MjCMeshTest, LoadSTLWithVFS) {
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get()); mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull()); EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, HasSubstr("resource not found via provider or OS")); EXPECT_THAT(error, HasSubstr("resource not found via provider or OS"));
mj_deleteVFS(vfs.get());
} }
// ------------- test content_type attributes ---------------------------------- // ------------- test content_type attributes ----------------------------------
@@ -206,6 +210,7 @@ TEST_F(MjCMeshTest, LoadMSHWithContentType) {
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get()); mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull()); EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, HasSubstr("resource not found via provider or OS")); EXPECT_THAT(error, HasSubstr("resource not found via provider or OS"));
mj_deleteVFS(vfs.get());
} }
TEST_F(MjCMeshTest, LoadOBJWithContentType) { TEST_F(MjCMeshTest, LoadOBJWithContentType) {
@@ -231,6 +236,7 @@ TEST_F(MjCMeshTest, LoadOBJWithContentType) {
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get()); mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull()); EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, HasSubstr("resource not found via provider or OS")); EXPECT_THAT(error, HasSubstr("resource not found via provider or OS"));
mj_deleteVFS(vfs.get());
} }
TEST_F(MjCMeshTest, LoadSTLWithContentType) { TEST_F(MjCMeshTest, LoadSTLWithContentType) {
@@ -256,6 +262,7 @@ TEST_F(MjCMeshTest, LoadSTLWithContentType) {
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get()); mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull()); EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, HasSubstr("resource not found via provider or OS")); EXPECT_THAT(error, HasSubstr("resource not found via provider or OS"));
mj_deleteVFS(vfs.get());
} }
TEST_F(MjCMeshTest, LoadMSHWithContentTypeError) { TEST_F(MjCMeshTest, LoadMSHWithContentTypeError) {
@@ -281,6 +288,7 @@ TEST_F(MjCMeshTest, LoadMSHWithContentTypeError) {
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get()); mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull()); EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, HasSubstr("unsupported content type: 'model/unknown'")); EXPECT_THAT(error, HasSubstr("unsupported content type: 'model/unknown'"));
mj_deleteVFS(vfs.get());
} }
TEST_F(MjCMeshTest, LoadMSHWithContentTypeParam) { TEST_F(MjCMeshTest, LoadMSHWithContentTypeParam) {
@@ -306,11 +314,12 @@ TEST_F(MjCMeshTest, LoadMSHWithContentTypeParam) {
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get()); mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull()); EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, HasSubstr("resource not found via provider or OS")); 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); const std::string xml_path = GetTestDataFilePath(kDuplicateVerticesPath);
char error[1024]; char error[1024];
size_t error_sz = 1024; size_t error_sz = 1024;
@@ -795,15 +804,16 @@ TEST_F(MjCMeshTest, ExactConcaveInertia) {
mjtNum d_cube = .5 - model->body_ipos[5]; mjtNum d_cube = .5 - model->body_ipos[5];
mjtNum d_hole = .55 - model->body_ipos[5]; mjtNum d_hole = .55 - model->body_ipos[5];
mjtNum I1 = I_cube - m_hole*(.8*.8 + .8*.8)/12; 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; mjtNum I2 = I_cube - m_hole*(.8*.8 + .9*.9)/12
EXPECT_LE(fabs(model->body_mass[1] - m_concave_cube), max_abs_err); + m_cube*d_cube*d_cube - m_hole*d_hole*d_hole;
EXPECT_LE(fabs(model->body_mass[2] - m_concave_cube), max_abs_err); EXPECT_LE(mju_abs(model->body_mass[1] - m_concave_cube), max_abs_err);
EXPECT_LE(fabs(model->body_mass[3] - m_concave_cube), max_abs_err); EXPECT_LE(mju_abs(model->body_mass[2] - m_concave_cube), max_abs_err);
EXPECT_LE(fabs(model->body_mass[4] - 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) { for (int i = 3; i < 15; i += 3) {
EXPECT_LE(fabs(model->body_inertia[i] - I1), max_abs_err); EXPECT_LE(mju_abs(model->body_inertia[i] - I1), max_abs_err);
EXPECT_LE(fabs(model->body_inertia[i+1] - I2), max_abs_err); EXPECT_LE(mju_abs(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+2] - I2), max_abs_err);
} }
mj_deleteModel(model); mj_deleteModel(model);
} }
@@ -815,10 +825,10 @@ TEST_F(MjCMeshTest, ExactConvexInertia) {
// https://en.wikipedia.org/wiki/List_of_moments_of_inertia // https://en.wikipedia.org/wiki/List_of_moments_of_inertia
mjtNum m_solid_cube = 1.; mjtNum m_solid_cube = 1.;
mjtNum I_solid_cube = 1./6. * m_solid_cube; mjtNum I_solid_cube = 1./6. * m_solid_cube;
EXPECT_LE(fabs(model->body_mass[1] - m_solid_cube), max_abs_err); EXPECT_LE(mju_abs(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[2] - m_solid_cube), max_abs_err);
for (int i = 3; i < 9; i++) { 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); mj_deleteModel(model);
} }
@@ -830,10 +840,10 @@ TEST_F(MjCMeshTest, ExactShellInertia) {
// see https://en.wikipedia.org/wiki/List_of_moments_of_inertia // see https://en.wikipedia.org/wiki/List_of_moments_of_inertia
mjtNum m_hollow_cube = 6.; mjtNum m_hollow_cube = 6.;
mjtNum I_hollow_cube = 5./18. * m_hollow_cube; mjtNum I_hollow_cube = 5./18. * m_hollow_cube;
EXPECT_LE(fabs(model->body_mass[1] - m_hollow_cube), max_abs_err); EXPECT_LE(mju_abs(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(mju_abs(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(mju_abs(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_inertia[5] - I_hollow_cube), max_abs_err);
mj_deleteModel(model); mj_deleteModel(model);
} }
test/user/user_objects_test.cc
+11 -1
View File
@@ -70,6 +70,7 @@ TEST_F(VfsTest, HFieldPngWithVFS) {
EXPECT_THAT(model, IsNull()); EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, EXPECT_THAT(error,
HasSubstr("resource not found via provider or OS filesystem")); HasSubstr("resource not found via provider or OS filesystem"));
mj_deleteVFS(vfs.get());
} }
TEST_F(VfsTest, HFieldCustomWithVFS) { TEST_F(VfsTest, HFieldCustomWithVFS) {
@@ -97,6 +98,7 @@ TEST_F(VfsTest, HFieldCustomWithVFS) {
EXPECT_THAT(model, IsNull()); EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, EXPECT_THAT(error,
HasSubstr("resource not found via provider or OS filesystem")); HasSubstr("resource not found via provider or OS filesystem"));
mj_deleteVFS(vfs.get());
} }
TEST_F(VfsTest, TexturePngWithVFS) { TEST_F(VfsTest, TexturePngWithVFS) {
@@ -125,6 +127,7 @@ TEST_F(VfsTest, TexturePngWithVFS) {
EXPECT_THAT(model, IsNull()); EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, EXPECT_THAT(error,
HasSubstr("resource not found via provider or OS filesystem")); HasSubstr("resource not found via provider or OS filesystem"));
mj_deleteVFS(vfs.get());
} }
TEST_F(VfsTest, TextureCustomWithVFS) { TEST_F(VfsTest, TextureCustomWithVFS) {
@@ -153,6 +156,7 @@ TEST_F(VfsTest, TextureCustomWithVFS) {
EXPECT_THAT(model, IsNull()); EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, EXPECT_THAT(error,
HasSubstr("resource not found via provider or OS filesystem")); HasSubstr("resource not found via provider or OS filesystem"));
mj_deleteVFS(vfs.get());
} }
// ------------------------ test content_type attribute ------------------------ // ------------------------ test content_type attribute ------------------------
@@ -185,6 +189,7 @@ TEST_F(ContentTypeTest, HFieldPngWithContentType) {
EXPECT_THAT(model, IsNull()); EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, EXPECT_THAT(error,
HasSubstr("resource not found via provider or OS filesystem")); HasSubstr("resource not found via provider or OS filesystem"));
mj_deleteVFS(vfs.get());
} }
TEST_F(ContentTypeTest, HFieldCustomWithContentType) { TEST_F(ContentTypeTest, HFieldCustomWithContentType) {
@@ -213,6 +218,7 @@ TEST_F(ContentTypeTest, HFieldCustomWithContentType) {
EXPECT_THAT(model, IsNull()); EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, EXPECT_THAT(error,
HasSubstr("resource not found via provider or OS filesystem")); HasSubstr("resource not found via provider or OS filesystem"));
mj_deleteVFS(vfs.get());
} }
TEST_F(ContentTypeTest, HFieldWithContentTypeError) { TEST_F(ContentTypeTest, HFieldWithContentTypeError) {
@@ -240,6 +246,7 @@ TEST_F(ContentTypeTest, HFieldWithContentTypeError) {
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get()); mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull()); EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, HasSubstr("unsupported content type: 'image/jpeg'")); EXPECT_THAT(error, HasSubstr("unsupported content type: 'image/jpeg'"));
mj_deleteVFS(vfs.get());
} }
TEST_F(ContentTypeTest, TexturePngWithContentType) { TEST_F(ContentTypeTest, TexturePngWithContentType) {
@@ -268,6 +275,7 @@ TEST_F(ContentTypeTest, TexturePngWithContentType) {
EXPECT_THAT(model, IsNull()); EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, EXPECT_THAT(error,
HasSubstr("resource not found via provider or OS filesystem")); HasSubstr("resource not found via provider or OS filesystem"));
mj_deleteVFS(vfs.get());
} }
TEST_F(ContentTypeTest, TextureCustomWithContentType) { TEST_F(ContentTypeTest, TextureCustomWithContentType) {
@@ -297,6 +305,7 @@ TEST_F(ContentTypeTest, TextureCustomWithContentType) {
EXPECT_THAT(model, IsNull()); EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, EXPECT_THAT(error,
HasSubstr("resource not found via provider or OS filesystem")); HasSubstr("resource not found via provider or OS filesystem"));
mj_deleteVFS(vfs.get());
} }
TEST_F(ContentTypeTest, TextureWithContentTypeError) { TEST_F(ContentTypeTest, TextureWithContentTypeError) {
@@ -325,6 +334,7 @@ TEST_F(ContentTypeTest, TextureWithContentTypeError) {
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get()); mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull()); EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, HasSubstr("unsupported content type: 'image/jpeg'")); EXPECT_THAT(error, HasSubstr("unsupported content type: 'image/jpeg'"));
mj_deleteVFS(vfs.get());
} }
TEST_F(ContentTypeTest, TextureLoadPng) { TEST_F(ContentTypeTest, TextureLoadPng) {
@@ -370,7 +380,7 @@ TEST_F(ContentTypeTest, TextureLoadPng) {
EXPECT_THAT(model, NotNull()); EXPECT_THAT(model, NotNull());
mj_deleteModel(model); mj_deleteModel(model);
mj_deleteFileVFS(vfs.get(), filename); mj_deleteVFS(vfs.get());
} }
// ------------------------ test keyframes ------------------------------------- // ------------------------ test keyframes -------------------------------------