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Enforce strict positivity of extent and znear attributes at parse time.

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PiperOrigin-RevId: 477597498
Change-Id: Ic927655cd5ba2fd8fdb1a1a5f7e54ff5040c3370
This commit is contained in:
Kevin Zakka
2022-09-28 17:52:25 -07:00
committed by Copybara-Service
parent d3dbc554b9
commit 48f2ed99a5
3 changed files with 60 additions and 2 deletions
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test/xml/xml_native_reader_test.cc
+52
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@@ -762,6 +762,58 @@ TEST_F(ActuatorParseTest, DampersDontRequireRange) {
mj_deleteModel(model);
}
TEST_F(UserDataTest, ZnearZeroNotAllowed) {
static constexpr char xml[] = R"(
<mujoco>
<visual>
<map znear="0"/>
</visual>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("znear must be strictly positive"));
}
TEST_F(UserDataTest, ZnearNegativeNotAllowed) {
static constexpr char xml[] = R"(
<mujoco>
<visual>
<map znear="-1"/>
</visual>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("znear must be strictly positive"));
}
TEST_F(UserDataTest, ExtentZeroNotAllowed) {
static constexpr char xml[] = R"(
<mujoco>
<statistic extent="0"/>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("extent must be strictly positive"));
}
TEST_F(UserDataTest, ExtentNegativeNotAllowed) {
static constexpr char xml[] = R"(
<mujoco>
<statistic extent="-1"/>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("extent must be strictly positive"));
}
} // namespace
} // namespace mujoco