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Multithreaded mesh compilation.

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PiperOrigin-RevId: 651358120
Change-Id: Id6272aac84ec6ac1b709d2f4a44b7593307bd158
This commit is contained in:
Yuval Tassa
2024-07-11 04:20:59 -07:00
committed by Copybara-Service
parent e7301edd20
commit 3d1d1d0718
7 changed files with 173 additions and 38 deletions
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test/user/user_mesh_test.cc
+45 -12
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@@ -24,6 +24,7 @@
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <absl/strings/str_format.h>
#include <absl/strings/str_replace.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h>
#include <mujoco/mujoco.h>
@@ -72,6 +73,7 @@ using ::testing::ElementsAre;
using ::testing::HasSubstr;
using ::testing::IsNull;
using ::testing::NotNull;
using ::testing::StartsWith;
// ------------- test invalid filenames ----------------------------------------
@@ -745,25 +747,56 @@ TEST_F(MjCMeshTest, VolumeNegativeDefaultsLegacy) {
<mujoco>
<compiler exactmeshinertia="true"/>
<asset>
<mesh name="example_mesh"
vertex="0 0 0 1 0 0 0 1 0 0 0 1"
face="3 0 2 0 3 1 1 3 2 0 1 2" />
MESH_DEFINITIONS
</asset>
<worldbody>
<body>
<geom type="mesh" mesh="example_mesh"/>
GEOM_DEFINITIONS
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, NotNull());
EXPECT_LE(mju_abs(model->geom_size[0]), 1);
EXPECT_LE(mju_abs(model->geom_size[1]), 1);
EXPECT_LE(mju_abs(model->geom_size[2]), 1);
EXPECT_THAT(error.data(), HasSubstr("Malformed"));
mj_deleteModel(model);
static constexpr char bad_mesh[] = R"(
<mesh name="bad_mesh%d"
vertex="0 0 0 1 0 0 0 1 0 0 0 1"
face="3 0 2 0 3 1 1 3 2 0 1 2"/>\n"
)";
static constexpr char geom[] = R"(<geom type="mesh" mesh="bad_mesh%d"/>\n)";
for (int nmesh : {3, 16, 17, 50}) {
std::string mesh_definitions = "";
for (int i = 1; i < nmesh+1; i++) {
mesh_definitions += absl::StrFormat(bad_mesh, i);
}
std::string geom_definitions = "";
for (int i = 1; i < nmesh+1; i++) {
geom_definitions += absl::StrFormat(geom, i);
}
std::string xml_str = xml;
absl::StrReplaceAll({{"MESH_DEFINITIONS", mesh_definitions},
{"GEOM_DEFINITIONS", geom_definitions}}, &xml_str);
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml_str.c_str(),
error.data(), error.size());
EXPECT_THAT(model, NotNull()) << error.data();
EXPECT_LE(mju_abs(model->geom_size[0]), 1);
EXPECT_LE(mju_abs(model->geom_size[1]), 1);
EXPECT_LE(mju_abs(model->geom_size[2]), 1);
EXPECT_THAT(error.data(), StartsWith("Malformed mesh 'bad_mesh1'"));
// first 7 warnings fit in the length-500 warning buffer
for (int i = 2; i < mjMIN(nmesh+1, 8); ++i) {
std::string msg = "Malformed mesh 'bad_mesh" + std::to_string(i);
EXPECT_THAT(error.data(), HasSubstr(msg));
}
mj_deleteModel(model);
}
}
TEST_F(MjCMeshTest, VolumeTooSmallAllowedWorld) {