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Allow multiple textures per material in MJCF.

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PiperOrigin-RevId: 654795013
Change-Id: I418b72533484d00accaf801a342aa183e602a2d0
This commit is contained in:
Tom Erez
2024-07-22 09:56:58 -07:00
committed by Copybara-Service
parent e79efa60d6
commit 33e5960653
14 changed files with 474 additions and 106 deletions
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test/xml/xml_native_reader_test.cc
+97 -1
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@@ -782,12 +782,108 @@ TEST_F(XMLReaderTest, FallbackIncludePathTest) {
std::array<char, 1024> error;
mjModel* model = mj_loadXML(modelpath.c_str(), nullptr,
error.data(), error.size());
ASSERT_THAT(model, NotNull());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_EQ(mj_name2id(model, mjOBJ_GEOM, "ball"), 2);
EXPECT_EQ(mj_name2id(model, mjOBJ_GEOM, "another_box"), 3);
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, MaterialTextureTest) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<texture file="tiny0.png" type="2d" name="tiny0"/>
<texture file="tiny1.png" type="2d" name="tiny1"/>
<material name="material">
<occlusion texture="tiny0"/>
<roughness texture="tiny0"/>
<metallic texture="tiny0"/>
<rgb texture="tiny1"/>
</material>
</asset>
<worldbody>
<geom type="plane" material="material" size="4 4 4"/>
</worldbody>
</mujoco>
)";
MockFilesystem fs("MaterialTextureTest");
fs.AddFile("tiny0.png", kTinyPng, sizeof(kTinyPng));
fs.AddFile("tiny1.png", kTinyPng, sizeof(kTinyPng));
fs.AddFile("model.xml", (const unsigned char*) xml, sizeof(xml));
std::string modelpath = fs.FullPath("model.xml");
char error[1024];
mjModel* model = mj_loadXML(modelpath.c_str(), nullptr, error, 1024);
EXPECT_THAT(model, NotNull()) << error;
EXPECT_EQ(model->mat_texid[mjTEXROLE_RGB], 1);
EXPECT_EQ(model->mat_texid[mjTEXROLE_METALLIC], 0);
EXPECT_EQ(model->mat_texid[mjTEXROLE_ROUGHNESS], 0);
EXPECT_EQ(model->mat_texid[mjTEXROLE_OCCLUSION], 0);
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, LegacyMaterialTextureTest) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<texture file="tiny0.png" type="2d" name="tiny0"/>
<texture file="tiny1.png" type="2d" name="tiny1"/>
<material name="material" texture="tiny1"/>
</asset>
<worldbody>
<geom type="plane" material="material" size="4 4 4"/>
</worldbody>
</mujoco>
)";
MockFilesystem fs("LegacyMaterialTextureTest");
fs.AddFile("tiny0.png", kTinyPng, sizeof(kTinyPng));
fs.AddFile("tiny1.png", kTinyPng, sizeof(kTinyPng));
fs.AddFile("model.xml", (const unsigned char*) xml, sizeof(xml));
std::string modelpath = fs.FullPath("model.xml");
char error[1024];
mjModel* model = mj_loadXML(modelpath.c_str(), nullptr, error, 1024);
EXPECT_THAT(model, NotNull()) << error;
EXPECT_EQ(model->mat_texid[mjTEXROLE_RGB], 1);
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, MaterialTextureFailTest) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<texture file="tiny0.png" type="2d" name="tiny0"/>
<texture file="tiny1.png" type="2d" name="tiny1"/>
<material name="material" texture="tiny1">
<rgb texture="tiny1"/>
<occlusion texture="tiny0"/>
</material>
</asset>
<worldbody>
<geom type="plane" material="material" size="4 4 4"/>
</worldbody>
</mujoco>
)";
MockFilesystem fs("MaterialTextureFailTest");
fs.AddFile("tiny0.png", kTinyPng, sizeof(kTinyPng));
fs.AddFile("tiny1.png", kTinyPng, sizeof(kTinyPng));
fs.AddFile("model.xml", (const unsigned char*) xml, sizeof(xml));
std::string modelpath = fs.FullPath("model.xml");
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, IsNull());
EXPECT_THAT(error.data(), HasSubstr("A material with a texture attribute "
"cannot have texture sub-elements"));
}
TEST_F(XMLReaderTest, IncludeAssetsTest) {
static constexpr char xml[] = R"(
<mujoco>