chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Convert internal representation of vertices to double. Also replace remove duplicate vertices with fast hash implementation.

Browse Source 
PiperOrigin-RevId: 734516595
Change-Id: Ic78556688d5f2b75d69cd286b8d060e2cdeb7c48
This commit is contained in:
Kyle Bayes
2025-03-07 05:16:54 -08:00
committed by Copybara-Service
parent e4ee00e695
commit 4d024f9421
9 changed files with 435 additions and 363 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/engine/engine_collision_gjk_test.cc
+1 -1
View File
@@ -991,7 +991,7 @@ TEST_F(MjGjkTest, SmallBoxMesh) {
EXPECT_NEAR(dir[2], 1, kTolerance);
// position
EXPECT_NEAR(mju_abs(pos[0]), 0.08333333, kTolerance); // -pos[0] on ARM
EXPECT_NEAR(pos[0], 0, kTolerance);
EXPECT_NEAR(pos[1], 0, kTolerance);
EXPECT_NEAR(pos[2], 0, kTolerance);
test/user/user_mesh_test.cc
+46 -10
View File
@@ -85,6 +85,7 @@ TEST_F(MjCMeshTest, UnknownMeshFormat) {
</worldbody>
</mujoco>
)";
std::vector<std::string> invalid_names = {
"noextension",
"anobj",
@@ -92,16 +93,22 @@ TEST_F(MjCMeshTest, UnknownMeshFormat) {
"mesh.exe",
"file%s"
};
mjVFS vfs;
mj_defaultVFS(&vfs);
for (const auto& name : invalid_names) {
mj_addBufferVFS(&vfs, name.c_str(), nullptr, 0);
std::string xml = absl::StrFormat(xml_format, name);
std::array<char, 1024> error;
mjModel* model =
LoadModelFromString(xml.c_str(), error.data(), error.size());
LoadModelFromString(xml.c_str(), error.data(), error.size(), &vfs);
ASSERT_THAT(model, testing::IsNull())
<< "Should fail to load a mesh named: " << name;
EXPECT_THAT(error.data(), HasSubstr("unknown mesh content type for file"));
EXPECT_THAT(error.data(), HasSubstr("unknown or unsupported mesh file: "));
EXPECT_THAT(error.data(), HasSubstr(name));
}
mj_deleteVFS(&vfs);
}
// -------------------- test OS filesystem fallback ----------------------------
@@ -280,14 +287,42 @@ TEST_F(MjCMeshTest, LoadMSHWithContentTypeError) {
size_t error_sz = 1024;
// load VFS on the heap
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
mjVFS vfs;
mj_defaultVFS(&vfs);
mj_addBufferVFS(&vfs, "some_file", nullptr, 0);
// should error with unknown file type
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
mjModel* model = LoadModelFromString(xml, error, error_sz, &vfs);
EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, HasSubstr("unsupported content type: 'model/unknown'"));
mj_deleteVFS(vfs.get());
EXPECT_THAT(error, HasSubstr("unsupported mesh type: 'model/unknown'"));
mj_deleteVFS(&vfs);
}
TEST_F(MjCMeshTest, LoadMSHWithInvalidContentType) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="mesh1" content_type="model" file="some_file"/>
</asset>
<worldbody>
<geom type="mesh" mesh="mesh1"/>
</worldbody>
</mujoco>
)";
char error[1024];
size_t error_sz = 1024;
// load VFS on the heap
mjVFS vfs;
mj_defaultVFS(&vfs);
mj_addBufferVFS(&vfs, "some_file", nullptr, 0);
// should error with unknown file type
mjModel* model = LoadModelFromString(xml, error, error_sz, &vfs);
EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, HasSubstr("invalid content type: 'model'"));
mj_deleteVFS(&vfs);
}
TEST_F(MjCMeshTest, LoadMSHWithContentTypeParam) {
@@ -323,6 +358,7 @@ TEST_F(MjCMeshTest, DeduplicateSTLVertices) {
char error[1024];
size_t error_sz = 1024;
mjModel* model = mj_loadXML(xml_path.c_str(), 0, error, error_sz);
ASSERT_THAT(model, NotNull()) << error;
ASSERT_EQ(model->nmeshvert, 4);
mj_deleteModel(model);
}
@@ -519,9 +555,9 @@ TEST_F(MjCMeshTest, MissingFaceAllowedConvexInertia) {
mjModel* model = mj_loadXML(xml_path.c_str(), 0, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
EXPECT_THAT(model->nmeshface, 10);
EXPECT_THAT(model->body_inertia[3], model->body_inertia[9]);
EXPECT_THAT(model->body_inertia[4], model->body_inertia[10]);
EXPECT_THAT(model->body_inertia[5], model->body_inertia[11]);
EXPECT_NE(model->body_inertia[3], model->body_inertia[9]);
EXPECT_NE(model->body_inertia[4], model->body_inertia[10]);
EXPECT_NE(model->body_inertia[5], model->body_inertia[11]);
EXPECT_NE(model->body_inertia[3], model->body_inertia[6]);
EXPECT_NE(model->body_inertia[4], model->body_inertia[7]);
EXPECT_NE(model->body_inertia[5], model->body_inertia[8]);