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

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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
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test/user/user_mesh_test.cc
+128 -1
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@@ -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) {