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Correctly handle the case of explicit zero mass in xml_native_writer.

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PiperOrigin-RevId: 450901455
Change-Id: I77aaf2a214ac05ed1ed1e6ffe473bf98f2fea8ef
This commit is contained in:
Alessio Quaglino
2022-05-25 05:28:44 -07:00
committed by Copybara-Service
parent 3034e8537c
commit 223874c4ca
2 changed files with 19 additions and 1 deletions
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src/xml/xml_native_writer.cc
+2 -1
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@@ -290,7 +290,8 @@ void mjXWriter::OneGeom(XMLElement* elem, mjCGeom* pgeom, mjCDef* def) {
WriteAttr(elem, "gap", 1, &pgeom->gap, &def->geom.gap);
WriteAttr(elem, "gap", 1, &pgeom->gap, &def->geom.gap);
if (mjuu_defined(pgeom->_mass)) {
WriteAttr(elem, "mass", 1, &pgeom->mass, &def->geom.mass);
double mass = pgeom->GetVolume() * def->geom.density;
WriteAttr(elem, "mass", 1, &pgeom->mass, &mass);
} else {
WriteAttr(elem, "density", 1, &pgeom->density, &def->geom.density);
}
test/xml/xml_native_writer_test.cc
+17
View File
@@ -214,6 +214,23 @@ TEST_F(XMLWriterTest, WritesMass) {
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, ZeroMass) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom type="box" size=".05 .05 .05" mass="0"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, Not(HasSubstr("density")));
EXPECT_THAT(saved_xml, HasSubstr("mass=\"0\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, OverwritesDensity) {
static constexpr char xml[] = R"(
<mujoco>