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Fix bug with absolute meshdirs in included XML files. Fixes #1772.

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PiperOrigin-RevId: 649150979
Change-Id: I5df08c689afc4f5bc625e989a8c0b9733fcfa3c2
This commit is contained in:
Kyle Bayes
2024-07-03 11:48:13 -07:00
committed by Copybara-Service
parent 9107d3b507
commit 2a4410e4e5
8 changed files with 75 additions and 45 deletions
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test/xml/xml_native_reader_test.cc
+41
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@@ -906,6 +906,47 @@ TEST_F(XMLReaderTest, IncludeAbsoluteTest) {
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, IncludeAbsoluteMeshDirTest) {
static constexpr char xml[] = R"(
<mujoco>
<include file="assets.xml"/>
</mujoco>
)";
static constexpr char assets[] = R"(
<mujoco>
<compiler meshdir="mjMock.IncludeAbsoluteMeshDirTest:/assets"/>
<asset>
<mesh file="cube.obj"/>
</asset>
</mujoco>
)";
static constexpr char cube[] = R"(
v -0.500000 -0.500000 0.500000
v 0.500000 -0.500000 0.500000
v -0.500000 0.500000 0.500000
v 0.500000 0.500000 0.500000
v -0.500000 0.500000 -0.500000
v 0.500000 0.500000 -0.500000
v -0.500000 -0.500000 -0.500000
v 0.500000 -0.500000 -0.500000)";
MockFilesystem fs("IncludeAbsoluteMeshDirTest");
fs.AddFile("/assets/cube.obj", (const unsigned char*) cube, sizeof(cube));
fs.AddFile("assets.xml", (const unsigned char*) assets,
sizeof(assets));
fs.AddFile("model.xml", (const unsigned char*) xml, sizeof(xml));
std::string modelpath = fs.FullPath("model.xml");
std::array<char, 1024> error;
// loading the file should be successful
mjModel* model = mj_loadXML(modelpath.c_str(), nullptr,
error.data(), error.size());
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, ParsePolycoef) {
static constexpr char xml[] = R"(
<mujoco>