chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

Add content_type attribute that takes a MIME type to specify the file contents for meshes, hfields, and textures.

Browse Source 
PiperOrigin-RevId: 549302344
Change-Id: I30a8adfef5b5d87bb20479329f3396892f5137ff
This commit is contained in:
Kyle Bayes
2023-07-19 06:50:35 -07:00
committed by Copybara-Service
parent 5f327b0c31
commit 5fcdae771b
12 changed files with 556 additions and 44 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/user/user_mesh_test.cc
+128 -1
View File
@@ -88,7 +88,7 @@ TEST_F(MjCMeshTest, UnknownMeshFormat) {
LoadModelFromString(xml.c_str(), error.data(), error.size());
ASSERT_THAT(model, testing::IsNull())
<< "Should fail to load a mesh named: " << name;
EXPECT_THAT(error.data(), HasSubstr("Unknown mesh file type"));
EXPECT_THAT(error.data(), HasSubstr("unknown mesh content type for file"));
EXPECT_THAT(error.data(), HasSubstr(name));
}
}
@@ -170,6 +170,133 @@ TEST_F(MjCMeshTest, LoadSTLWithVFS) {
EXPECT_THAT(error, HasSubstr("resource not found via provider or OS filesystem"));
}
// ------------- test content_type attributes ----------------------------------
TEST_F(MjCMeshTest, LoadMSHWithContentType) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="mesh1" content_type="model/vnd.mujoco.msh" 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
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
// should try opening the file (not found obviously)
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, HasSubstr("resource not found via provider or OS filesystem"));
}
TEST_F(MjCMeshTest, LoadOBJWithContentType) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="mesh1" content_type="model/obj" 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
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
// should try opening the file (not found obviously)
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, HasSubstr("resource not found via provider or OS filesystem"));
}
TEST_F(MjCMeshTest, LoadSTLWithContentType) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="mesh1" content_type="model/stl" 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
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
// should try opening the file (not found obviously)
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, HasSubstr("resource not found via provider or OS filesystem"));
}
TEST_F(MjCMeshTest, LoadMSHWithContentTypeError) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="mesh1" content_type="model/unknown" 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
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
// should error with unknown file type
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, HasSubstr("unsupported content type: 'model/unknown'"));
}
TEST_F(MjCMeshTest, LoadMSHWithContentTypeParam) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="mesh1" content_type="model/vnd.mujoco.msh;parameter=value" 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
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
// should try opening the file (not found obviously)
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, HasSubstr("resource not found via provider or OS filesystem"));
}
// ------------- test vertex de-duplication (STL) ------------------------------
TEST_F(MjCMeshTest, DeDuplicateSTLVertices) {
test/user/user_objects_test.cc
+218
View File
@@ -150,6 +150,224 @@ TEST_F(VfsTest, TextureCustomWithVFS) {
EXPECT_THAT(error, HasSubstr("resource not found via provider or OS filesystem"));
}
// ------------------------ test content_type attribute ------------------------
using ContentTypeTest = MujocoTest;
TEST_F(ContentTypeTest, HFieldPngWithContentType) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<hfield name="hfield" content_type="image/png"
file="some_file.png" size="0.5 0.5 1 0.1"/>
</asset>
<worldbody>
<geom type="hfield" hfield="hfield" pos="-.4 .6 .05"/>
</worldbody>
</mujoco>
)";
char error[1024];
size_t error_sz = 1024;
// load VFS on the heap
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
// should try loading the file
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, HasSubstr("resource not found via provider or OS filesystem"));
}
TEST_F(ContentTypeTest, HFieldCustomWithContentType) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<hfield name="hfield" content_type="image/vnd.mujoco.hfield"
file="some_file" size="0.5 0.5 1 0.1"/>
</asset>
<worldbody>
<geom type="hfield" hfield="hfield" pos="-.4 .6 .05"/>
</worldbody>
</mujoco>
)";
char error[1024];
size_t error_sz = 1024;
// load VFS on the heap
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
// should try loading the file
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, HasSubstr("resource not found via provider or OS filesystem"));
}
TEST_F(ContentTypeTest, HFieldWithContentTypeError) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<hfield name="hfield" content_type="image/jpeg"
file="some_file" size="0.5 0.5 1 0.1"/>
</asset>
<worldbody>
<geom type="hfield" hfield="hfield" pos="-.4 .6 .05"/>
</worldbody>
</mujoco>
)";
char error[1024];
size_t error_sz = 1024;
// load VFS on the heap
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
// should try loading the file
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, HasSubstr("unsupported content type: 'image/jpeg'"));
}
TEST_F(ContentTypeTest, TexturePngWithContentType) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<texture name="texture" content_type="image/png" file="some_file" type="2d"/>
<material name="material" texture="texture"/>
</asset>
<worldbody>
<geom type="plane" material="material" size="4 4 4"/>
</worldbody>
</mujoco>
)";
char error[1024];
size_t error_sz = 1024;
// load VFS on the heap
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
// should try loading the file
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, HasSubstr("resource not found via provider or OS filesystem"));
}
TEST_F(ContentTypeTest, TextureCustomWithContentType) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<texture name="texture" content_type="image/vnd.mujoco.texture"
file="some_file" type="2d"/>
<material name="material" texture="texture"/>
</asset>
<worldbody>
<geom type="plane" material="material" size="4 4 4"/>
</worldbody>
</mujoco>
)";
char error[1024];
size_t error_sz = 1024;
// load VFS on the heap
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
// should try loading the file
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, HasSubstr("resource not found via provider or OS filesystem"));
}
TEST_F(ContentTypeTest, TextureWithContentTypeError) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<texture name="texture" content_type="image/jpeg"
file="some_file" type="2d"/>
<material name="material" texture="texture"/>
</asset>
<worldbody>
<geom type="plane" material="material" size="4 4 4"/>
</worldbody>
</mujoco>
)";
char error[1024];
size_t error_sz = 1024;
// load VFS on the heap
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
// should try loading the file
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, HasSubstr("unsupported content type: 'image/jpeg'"));
}
TEST_F(ContentTypeTest, TextureLoadPng) {
static constexpr char filename[] = "tiny";
static constexpr char xml[] = R"(
<mujoco>
<asset>
<texture content_type="image/png" file="tiny" type="2d"/>
<material name="material" texture="tiny"/>
</asset>
<worldbody>
<geom type="plane" material="material" size="4 4 4"/>
</worldbody>
</mujoco>
)";
// credit: https://www.mjt.me.uk/posts/smallest-png/
static constexpr unsigned char tiny[] =
{ 0x89, 0x50, 0x4E, 0x47, 0x0D, 0x0A, 0x1A, 0x0A, 0x00,
0x00, 0x00, 0x0D, 0x49, 0x48, 0x44, 0x52, 0x00, 0x00,
0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x03, 0x00,
0x00, 0x00, 0x66, 0xBC, 0x3A, 0x25, 0x00, 0x00, 0x00,
0x03, 0x50, 0x4C, 0x54, 0x45, 0xB5, 0xD0, 0xD0, 0x63,
0x04, 0x16, 0xEA, 0x00, 0x00, 0x00, 0x1F, 0x49, 0x44,
0x41, 0x54, 0x68, 0x81, 0xED, 0xC1, 0x01, 0x0D, 0x00,
0x00, 0x00, 0xC2, 0xA0, 0xF7, 0x4F, 0x6D, 0x0E, 0x37,
0xA0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0xBE, 0x0D, 0x21, 0x00, 0x00, 0x01, 0x9A, 0x60, 0xE1,
0xD5, 0x00, 0x00, 0x00, 0x00, 0x49, 0x45, 0x4E, 0x44,
0xAE, 0x42, 0x60, 0x82 };
size_t tiny_sz = sizeof(tiny);
char error[1024];
size_t error_sz = 1024;
// load VFS on the heap
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
mj_makeEmptyFileVFS(vfs.get(), filename, 105);
int i = mj_findFileVFS(vfs.get(), filename);
memcpy(vfs->filedata[i], tiny, tiny_sz);
// loading the file should be successful
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, NotNull());
mj_deleteModel(model);
mj_deleteFileVFS(vfs.get(), filename);
}
// ------------------------ test keyframes -------------------------------------
using KeyframeTest = MujocoTest;