Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb

test/engine/engine_util_solve_test.cc

@@ -0,0 +1,66 @@
+// 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_util_solve.c.
+
+#include "src/engine/engine_util_solve.h"
+
+#include <gtest/gtest.h>
+#include <mujoco/mujoco.h>
+#include "test/fixture.h"
+
+namespace mujoco {
+namespace {
+
+using QCQP2Test = MujocoTest;
+
+TEST_F(QCQP2Test, DegenerateAMatrix) {
+  // A 2x2 matrix with determinant zero.
+  const mjtNum Ain[9] { 6, -15, 2, -5 };
+
+  // Any values will do for these three inputs.
+  const mjtNum bin[3] { -12, 49 };
+  const mjtNum d[3] { 11, 31 };
+  const mjtNum r = 0.01;
+
+  // Make output array explicitly nonzero to simulate uninitialized memory.
+  mjtNum res[2] { 999, 999 };
+
+  EXPECT_EQ(mju_QCQP2(res, Ain, bin, d, r), 0);
+  EXPECT_EQ(res[0], 0);
+  EXPECT_EQ(res[1], 0);
+}
+
+using QCQP3Test = MujocoTest;
+
+TEST_F(QCQP3Test, DegenerateAMatrix) {
+  // A 3x3 matrix with determinant zero.
+  const mjtNum Ain[9] { 1, 4, -2, -3, -7, 5, 2, -9, 0 };
+
+  // Any values will do for these three inputs.
+  const mjtNum bin[3] { -12, 49, 8 };
+  const mjtNum d[3] { 11, 31, -23 };
+  const mjtNum r = 0.1;
+
+  // Make output array explicitly nonzero to simulate uninitialized memory.
+  mjtNum res[3] { 999, 999, 999 };
+
+  EXPECT_EQ(mju_QCQP3(res, Ain, bin, d, r), 0);
+  EXPECT_EQ(res[0], 0);
+  EXPECT_EQ(res[1], 0);
+  EXPECT_EQ(res[2], 0);
+}
+
+}  // namespace
+}  // namespace mujoco