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Added support for msh2.2

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Now we can load flex with format 2.2 binary and ASCII.
There are two different parsing strategies. One for gmsh app and the other is for ftetwild.

Used the shark model from Scanned Objects by Google Research:
https://app.gazebosim.org/GoogleResearch/fuel/models/Weisshai_Great_White_Shark

PiperOrigin-RevId: 619229499
Change-Id: I6eb876afcbc8a00631914b093c45bde10c0caaf6
This commit is contained in:
Google DeepMind
2024-03-26 10:11:07 -07:00
committed by Copybara-Service
parent 4d2aa46e56
commit 4f0293c6cb
35 changed files with 38103 additions and 219 deletions
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test/user/user_flex_test.cc
+172
View File
@@ -227,5 +227,177 @@ TEST_F(UserFlexTest, CreateBVHSuccess) {
mj_deleteData(d);
}
TEST_F(UserFlexTest, LoadMSHBinaryGMSH_41_Success) {
const std::string xml_path =
GetTestDataFilePath("user/testdata/shark_41_binary_gmshApp.xml");
std::array<char, 1024> error;
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
mjData* d = mj_makeData(m);
EXPECT_THAT(m, NotNull()) << error.data();
EXPECT_EQ(m->nflexvert, 652);
EXPECT_EQ(m->nflexelem, 1654);
mj_step(m, d);
mj_deleteModel(m);
mj_deleteData(d);
}
TEST_F(UserFlexTest, LoadMSHBinaryGMSH_22_Success) {
const std::string xml_path =
GetTestDataFilePath("user/testdata/shark_22_binary_gmshApp.xml");
std::array<char, 1024> error;
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
mjData* d = mj_makeData(m);
EXPECT_THAT(m, NotNull()) << error.data();
EXPECT_EQ(m->nflexvert, 644);
EXPECT_EQ(m->nflexelem, 1635);
mj_step(m, d);
mj_deleteModel(m);
mj_deleteData(d);
}
TEST_F(UserFlexTest, LoadMSHBinaryFTETWILD_22_Success) {
const std::string xml_path =
GetTestDataFilePath("user/testdata/shark_22_binary_fTetWild.xml");
std::array<char, 1024> error;
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
mjData* d = mj_makeData(m);
EXPECT_THAT(m, NotNull()) << error.data();
EXPECT_EQ(m->nflexvert, 644);
EXPECT_EQ(m->nflexelem, 1635);
mj_step(m, d);
mj_deleteModel(m);
mj_deleteData(d);
}
TEST_F(UserFlexTest, LoadMSHASCIIGMSH_41_Success) {
const std::string xml_path =
GetTestDataFilePath("user/testdata/shark_41_ascii_gmshApp.xml");
std::array<char, 1024> error;
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
mjData* d = mj_makeData(m);
EXPECT_THAT(m, NotNull()) << error.data();
EXPECT_EQ(m->nflexvert, 652);
EXPECT_EQ(m->nflexelem, 1654);
mj_step(m, d);
mj_deleteModel(m);
mj_deleteData(d);
}
TEST_F(UserFlexTest, LoadMSHASCIIGMSH_22_Success) {
const std::string xml_path =
GetTestDataFilePath("user/testdata/shark_22_ascii_gmshApp.xml");
std::array<char, 1024> error;
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
mjData* d = mj_makeData(m);
EXPECT_THAT(m, NotNull()) << error.data();
EXPECT_EQ(m->nflexvert, 652);
EXPECT_EQ(m->nflexelem, 1654);
mj_step(m, d);
mj_deleteModel(m);
mj_deleteData(d);
}
TEST_F(UserFlexTest, LoadMSHASCIIFTETWILD_22_Success) {
const std::string xml_path =
GetTestDataFilePath("user/testdata/shark_22_ascii_fTetWild.xml");
std::array<char, 1024> error;
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
mjData* d = mj_makeData(m);
EXPECT_THAT(m, NotNull()) << error.data();
EXPECT_EQ(m->nflexvert, 652);
EXPECT_EQ(m->nflexelem, 1654);
mj_step(m, d);
mj_deleteModel(m);
mj_deleteData(d);
}
TEST_F(UserFlexTest, LoadMSHASCII_41_MissingNodeHeader_Fail) {
const std::string xml_path =
GetTestDataFilePath(
"user/testdata/malformed_shark_41_ascii_missing_node_header.xml");
std::array<char, 1024> error;
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
EXPECT_THAT(error.data(), HasSubstr(
"XML Error: Error: All nodes must be in single block"));
mj_deleteModel(m);
}
TEST_F(UserFlexTest, LoadMSHASCII_41_MissingNodeIndex_Fail) {
const std::string xml_path =
GetTestDataFilePath(
"user/testdata/malformed_shark_41_ascii_missing_node_index.xml");
std::array<char, 1024> error;
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
EXPECT_THAT(error.data(), HasSubstr(
"XML Error: Element size must be a multiple of dim+1"));
mj_deleteModel(m);
}
TEST_F(UserFlexTest, LoadMSHASCII_41_MissingElementHeader_Fail) {
const std::string xml_path =
GetTestDataFilePath(
"user/testdata/malformed_shark_41_ascii_missing_element_header.xml");
std::array<char, 1024> error;
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
EXPECT_THAT(error.data(), HasSubstr(
"XML Error: Error: All elements must be in single block"));
mj_deleteModel(m);
}
TEST_F(UserFlexTest, LoadMSHASCII_41_MissingElement_Fail) {
const std::string xml_path =
GetTestDataFilePath(
"user/testdata/malformed_shark_41_ascii_missing_element.xml");
std::array<char, 1024> error;
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
EXPECT_THAT(error.data(), HasSubstr(
"XML Error: Error: Error reading Elements"));
mj_deleteModel(m);
}
TEST_F(UserFlexTest, LoadMSHASCII_22_MissingNumNodes_Fail) {
const std::string xml_path =
GetTestDataFilePath(
"user/testdata/malformed_shark_22_ascii_missing_num_nodes.xml");
std::array<char, 1024> error;
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
EXPECT_THAT(error.data(), HasSubstr(
"XML Error: Element size must be a multiple of dim+1"));
mj_deleteModel(m);
}
TEST_F(UserFlexTest, LoadMSHASCII_22_MissingNode_Fail) {
const std::string xml_path =
GetTestDataFilePath(
"user/testdata/malformed_shark_22_ascii_missing_node.xml");
std::array<char, 1024> error;
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
EXPECT_THAT(error.data(), HasSubstr(
"XML Error: Error: Error reading node tags"));
mj_deleteModel(m);
}
TEST_F(UserFlexTest, LoadMSHASCII_22_MissingNumElements_Fail) {
const std::string xml_path =
GetTestDataFilePath(
"user/testdata/malformed_shark_22_ascii_missing_num_elements.xml");
std::array<char, 1024> error;
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
EXPECT_THAT(error.data(), HasSubstr(
"XML Error: Element size must be a multiple of dim+1"));
mj_deleteModel(m);
}
TEST_F(UserFlexTest, LoadMSHASCII_22_MissingElement_Fail) {
const std::string xml_path =
GetTestDataFilePath(
"user/testdata/malformed_shark_22_ascii_missing_element.xml");
std::array<char, 1024> error;
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
EXPECT_THAT(error.data(), HasSubstr(
"XML Error: Error: Error reading Elements"));
mj_deleteModel(m);
}
} // namespace
} // namespace mujoco