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

Cache OBJ files in MuJoCo compiler.

Browse Source 
PiperOrigin-RevId: 616211896
Change-Id: I3b765f4529957914e6154f0e62ef36fd9df93c96
This commit is contained in:
Kyle Bayes
2024-03-15 12:30:51 -07:00
committed by Copybara-Service
parent bf66801bc9
commit 74d3d8cb4e
8 changed files with 227 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/user/user_api_test.cc
+54
View File
@@ -16,6 +16,7 @@
#include <array>
#include <filesystem>
#include <memory>
#include <string>
#include <vector>
@@ -116,5 +117,58 @@ TEST_F(PluginTest, RecompileCompare) {
}
}
// ------------------- test cache with modified assets -------------------------
TEST_F(PluginTest, RecompileCompareCache) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh file="cube.obj"/>
</asset>
<worldbody>
<geom type="mesh" mesh="cube"/>
</worldbody>
</mujoco>)";
static constexpr char cube1[] = R"(
v -0.500000 -0.500000 0.500000
v 0.500000 -0.500000 0.500000
v -0.500000 0.500000 0.500000
v 0.500000 0.500000 0.500000
v -0.500000 0.500000 -0.500000
v 0.500000 0.500000 -0.500000
v -0.500000 -0.500000 -0.500000
v 0.500000 -0.500000 -0.500000)";
static constexpr char cube2[] = R"(
v -1 -1 1
v 1 -1 1
v -1 1 1
v 1 1 1
v -1 1 -1
v 1 1 -1
v -1 -1 -1
v 1 -1 -1)";
auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get());
mj_addBufferVFS(vfs.get(), "cube.obj", cube1, sizeof(cube1));
std::array<char, 1024> error;
// load model once
mjModel* m = LoadModelFromString(xml, error.data(), error.size(), vfs.get());
EXPECT_EQ(m->mesh_vert[0], -0.5);
mj_deleteModel(m);
// update cube.obj, load again
mj_deleteFileVFS(vfs.get(), "cube.obj");
mj_addBufferVFS(vfs.get(), "cube.obj", cube2, sizeof(cube2));
m = LoadModelFromString(xml, error.data(), error.size(), vfs.get());
EXPECT_EQ(m->mesh_vert[0], -1);
mj_deleteModel(m);
mj_deleteVFS(vfs.get());
}
} // namespace
} // namespace mujoco