Version 2.1.2: Python bindings, OBJ assets support, bugfixes.

PiperOrigin-RevId: 434731612 Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
2022-03-15 14:04:44 +00:00
parent 175d25cd9f
commit 3577e2cf8b
304 changed files with 23906 additions and 1013 deletions
@@ -0,0 +1,97 @@
+// Copyright 2019 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.
+
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using NUnit.Framework;
+using UnityEngine;
+using UnityEngine.TestTools;
+
+namespace Mujoco {
+
+[TestFixture]
+public class MjStlMeshParserTests {
+
+  private Mesh _originalMesh;
+
+  [SetUp]
+  public void SetUp() {
+    _originalMesh = new Mesh();
+    _originalMesh.vertices = new Vector3[] {
+        new Vector3(0, 0, 2), new Vector3(1, 0, 2), new Vector3(0, 1, 2)
+    };
+    _originalMesh.triangles = new int[] {0, 1, 2};
+    _originalMesh.normals = new Vector3[] {
+        new Vector3(0, 0, 1), new Vector3(0, 0, 1), new Vector3(0, 0, 1)
+    };
+  }
+
+  [Test]
+  public void RoundrobinMeshParsing() {
+    var serializedMesh = StlMeshParser.SerializeBinary(_originalMesh);
+    var restoredMesh = StlMeshParser.ParseBinary(serializedMesh, Vector3.one);
+
+    Assert.That(restoredMesh.vertices, Has.Length.EqualTo(_originalMesh.vertices.Length));
+    Assert.That(restoredMesh.normals, Has.Length.EqualTo(_originalMesh.normals.Length));
+    Assert.That(restoredMesh.triangles, Has.Length.EqualTo(_originalMesh.triangles.Length));
+  }
+
+  [Test]
+  public void VertexPositionsSerialization() {
+    var serializedMesh = StlMeshParser.SerializeBinary(_originalMesh);
+    var restoredMesh = StlMeshParser.ParseBinary(serializedMesh, Vector3.one);
+
+    Assert.That(
+        restoredMesh.vertices[restoredMesh.triangles[0]],
+        Is.EqualTo(_originalMesh.vertices[_originalMesh.triangles[0]]));
+    Assert.That(
+        restoredMesh.vertices[restoredMesh.triangles[1]],
+        Is.EqualTo(_originalMesh.vertices[_originalMesh.triangles[1]]));
+    Assert.That(
+        restoredMesh.vertices[restoredMesh.triangles[2]],
+        Is.EqualTo(_originalMesh.vertices[_originalMesh.triangles[2]]));
+  }
+
+  [Test]
+  public void ProcessDuplicatesSharedVertices() {
+    _originalMesh.triangles = new int[] {0, 0, 2};
+    var serializedMesh = StlMeshParser.SerializeBinary(_originalMesh);
+    var restoredMesh = StlMeshParser.ParseBinary(serializedMesh, Vector3.one);
+
+    Assert.That(
+        restoredMesh.vertices[restoredMesh.triangles[0]],
+        Is.EqualTo(_originalMesh.vertices[_originalMesh.triangles[0]]));
+    Assert.That(
+        restoredMesh.vertices[restoredMesh.triangles[1]],
+        Is.EqualTo(_originalMesh.vertices[_originalMesh.triangles[1]]));
+    Assert.That(
+        restoredMesh.vertices[restoredMesh.triangles[2]],
+        Is.EqualTo(_originalMesh.vertices[_originalMesh.triangles[2]]));
+  }
+
+  [Test]
+  public void VertexNormalsAreRcalculated() {
+    _originalMesh.normals = new Vector3[] {
+        new Vector3(1, 0, 0), new Vector3(0, 1, 0), new Vector3(0, 0, 1)
+    };
+    var serializedMesh = StlMeshParser.SerializeBinary(_originalMesh);
+    var restoredMesh = StlMeshParser.ParseBinary(serializedMesh, Vector3.one);
+
+    Assert.That(restoredMesh.normals[0], Is.EqualTo(Vector3.forward));
+    Assert.That(restoredMesh.normals[1], Is.EqualTo(Vector3.forward));
+    Assert.That(restoredMesh.normals[2], Is.EqualTo(Vector3.forward));
+  }
+}
+}