Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
2022-05-23 01:08:10 -07:00
parent 0e5d062302
commit 1913a02b40
275 changed files with 99607 additions and 935 deletions
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+// Copyright 2021 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+// Tests for engine/engine_collision_convex.c.
+
+#include <cstddef>
+#include <string>
+
+#include <gmock/gmock.h>
+#include <gtest/gtest.h>
+#include <mujoco/mjmodel.h>
+#include <mujoco/mujoco.h>
+#include "test/fixture.h"
+
+namespace mujoco {
+namespace {
+
+using ::testing::NotNull;
+
+static const char* const kFramelessContactPath =
+    "engine/testdata/collision_convex/frameless_contact.xml";
+static const char* const kFramelessContactHfieldPath =
+    "engine/testdata/collision_convex/frameless_contact_hfield.xml";
+static const char* const kCylinderBoxPath =
+    "engine/testdata/collision_convex/cylinder_box.xml";
+
+using MjcConvexTest = MujocoTest;
+
+TEST_F(MjcConvexTest, FramelessContact) {
+  const std::string xml_path = GetTestDataFilePath(kFramelessContactPath);
+  char error[1024];
+  const std::size_t error_sz = 1024;
+  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, error_sz);
+  // Loading used to fail with "engine error: xaxis of contact frame undefined".
+  EXPECT_THAT(model, NotNull()) << "Failed to load model: " << error;
+  mj_deleteModel(model);
+}
+
+TEST_F(MjcConvexTest, FramelessContactHfield) {
+  const std::string xml_path = GetTestDataFilePath(kFramelessContactHfieldPath);
+  char error[1024];
+  const std::size_t error_sz = 1024;
+  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, error_sz);
+  // Loading used to fail with "engine error: xaxis of contact frame undefined".
+  EXPECT_THAT(model, NotNull()) << "Failed to load model: " << error;
+  mj_deleteModel(model);
+}
+
+TEST_F(MjcConvexTest, CylinderBox) {
+  const std::string xml_path = GetTestDataFilePath(kCylinderBoxPath);
+  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
+  ASSERT_THAT(model, NotNull());
+  mjData* data = mj_makeData(model);
+
+  // with multiCCD enabled, should find 5 contacts
+  mj_forward(model, data);
+  ASSERT_EQ(data->ncon, 5);
+
+  // with multiCCD disabled, should find 1 contact
+  model->opt.enableflags &= ~mjENBL_MULTICCD;
+  mj_forward(model, data);
+  ASSERT_EQ(data->ncon, 1);
+
+  mj_deleteData(data);
+  mj_deleteModel(model);
+}
+
+}  // namespace
+}  // namespace mujoco