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Add built-in hemisphere mesh.

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PiperOrigin-RevId: 791148546
Change-Id: Ic9ff0c9b0f5fa4fd22d5f7f848f150cf74d378ba
This commit is contained in:
Yuval Tassa
2025-08-05 04:15:27 -07:00
committed by Copybara-Service
parent a5a6379f83
commit 5220767457
8 changed files with 179 additions and 2 deletions
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test/user/testdata/makemesh.xml
Vendored
+2
View File
@@ -1,5 +1,6 @@
<mujoco model="makemesh">
<asset>
<mesh name="hemisphere" builtin="hemisphere" params="4" scale=".8 .8 .8"/>
<mesh name="wedge" builtin="wedge" params="10 10 60 60 0"/>
<mesh name="prism3" builtin="cone" params="3 1" scale=".3 .3 .3"/>
<mesh name="prism5" builtin="cone" params="5 1" scale=".3 .3 .1"/>
@@ -9,6 +10,7 @@
<worldbody>
<light pos="0 0 10"/>
<geom mesh="hemisphere" type="mesh" pos="-2 0 0"/>
<geom mesh="wedge" type="mesh" euler="90 -90 0"/>
<geom mesh="prism5" type="mesh" pos="2 0 0" euler="90 0 0"/>
<geom mesh="prism3" type="mesh" pos="3 0 0"/>
test/user/user_mesh_test.cc
+21
View File
@@ -1288,6 +1288,27 @@ TEST_F(MjCMeshTest, OctreeNotComputedForNonSDF) {
mj_deleteModel(model);
}
TEST_F(MjCMeshTest, HemisphereSizes) {
static constexpr char xml[] = R"(
<mujoco model="makemesh">
<asset>
<mesh name="h0" builtin="hemisphere" params="0"/>
<mesh name="h1" builtin="hemisphere" params="1"/>
<mesh name="h2" builtin="hemisphere" params="2"/>
</asset>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_EQ(model->mesh_vertnum[0], 2 * (0 + 1) * (0 + 2) + 2);
EXPECT_EQ(model->mesh_vertnum[1], 2 * (1 + 1) * (1 + 2) + 2);
EXPECT_EQ(model->mesh_vertnum[2], 2 * (2 + 1) * (2 + 2) + 2);
EXPECT_EQ(model->mesh_facenum[0], 4 * (0 + 1) * (0 + 2));
EXPECT_EQ(model->mesh_facenum[1], 4 * (1 + 1) * (1 + 2));
EXPECT_EQ(model->mesh_facenum[2], 4 * (2 + 1) * (2 + 2));
mj_deleteModel(model);
}
} // namespace
} // namespace mujoco