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Add mjModel.mesh_scale: scaling applied to asset vertices.

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PiperOrigin-RevId: 625083195
Change-Id: I36290282379e57ad23ec771d65d1bd6bf2a75b07
This commit is contained in:
Yuval Tassa
2024-04-15 14:25:04 -07:00
committed by Copybara-Service
parent 9f1651b7bd
commit 7b3f1a0261
10 changed files with 61 additions and 10 deletions
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test/user/user_mesh_test.cc
+26
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@@ -58,6 +58,11 @@ static const char* const kDuplicateOBJPath =
static const char* const kMalformedFaceOBJPath =
"user/testdata/malformed_face.xml";
std::vector<mjtNum> AsVector(const mjtNum* array, int n) {
return std::vector<mjtNum>(array, array + n);
}
using ::testing::ElementsAre;
using ::testing::HasSubstr;
using ::testing::IsNull;
using ::testing::NotNull;
@@ -863,6 +868,27 @@ TEST_F(MjCMeshTest, MeshPosQuat) {
mj_deleteModel(model);
}
TEST_F(MjCMeshTest, MeshScale) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="pyramid" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
<mesh name="pyramid_scaled" vertex="0 0 0 1 0 0 0 1 0 0 0 1" scale="0.9 1 -1"/>
</asset>
<worldbody>
<geom type="mesh" name="geom1" mesh="pyramid"/>
<geom type="mesh" name="geom2" mesh="pyramid_scaled"/>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
EXPECT_THAT(AsVector(model->mesh_scale + 0, 3), ElementsAre(1, 1, 1));
EXPECT_THAT(AsVector(model->mesh_scale + 3, 3), ElementsAre(0.9, 1, -1));
mj_deleteModel(model);
}
// ----------------------------- texcoord -------------------------------------
TEST_F(MjCMeshTest, CreateFaceTexCoord) {