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Remove the convexhull compiler option.

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PiperOrigin-RevId: 690307675
Change-Id: I62d8213579ad07296ca96de004d39ae012174aa4
This commit is contained in:
Yuval Tassa
2024-10-27 04:30:12 -07:00
committed by Copybara-Service
parent 61cb552f8a
commit 7dc8aef807
14 changed files with 58 additions and 87 deletions
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test/engine/testdata/collision_driver/midphase.xml
Vendored
+1 -1
View File
@@ -1,6 +1,6 @@
<mujoco model="midphase">
<include file="humanoid.xml"/>
<compiler autolimits="true" boundmass="1e-05" boundinertia="1e-11" coordinate="local" angle="radian" eulerseq="xyz"/>
<compiler autolimits="true" boundmass="1e-05" boundinertia="1e-11" angle="radian" eulerseq="xyz"/>
<option timestep="0.001" cone="elliptic" noslip_iterations="5" noslip_tolerance="0"/>
<size njmax="1000" nconmax="500"/>
<visual>
test/user/user_mesh_test.cc
+50 -52
View File
@@ -75,7 +75,6 @@ using ::testing::ElementsAre;
using ::testing::HasSubstr;
using ::testing::IsNull;
using ::testing::NotNull;
using ::testing::StartsWith;
// ------------- test invalid filenames ----------------------------------------
@@ -337,8 +336,7 @@ TEST_F(MjCMeshTest, DeduplicateSTLVertices) {
TEST_F(MjCMeshTest, LoadMSH) {
const std::string xml_path = GetTestDataFilePath(kMeshPath);
char error[1024];
size_t error_sz = 1024;
mjModel* model = mj_loadXML(xml_path.c_str(), 0, error, error_sz);
mjModel* model = mj_loadXML(xml_path.c_str(), 0, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
ASSERT_EQ(model->nmeshvert, 36);
mj_deleteModel(model);
@@ -418,8 +416,9 @@ TEST_F(MjCMeshTest, TinyMeshLoads) {
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
mj_deleteModel(model);
}
@@ -458,8 +457,9 @@ TEST_F(MjCMeshTest, FaceNormalAutogenerated) {
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
mj_deleteModel(model);
}
@@ -480,9 +480,9 @@ TEST_F(MjCMeshTest, SmallInertiaLoads) {
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
mj_deleteModel(model);
}
@@ -510,18 +510,18 @@ TEST_F(MjCMeshTest, TinyInertiaFails) {
TEST_F(MjCMeshTest, FlippedFaceAllowedLegacyInertia) {
const std::string xml_path = GetTestDataFilePath(kMalformedFaceOBJPath);
std::array<char, 1024> error;
mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
EXPECT_THAT(model, testing::NotNull()) << error.data();
char error[1024];
mjModel* model = mj_loadXML(xml_path.c_str(), 0, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
EXPECT_THAT(model->nmeshface, 4);
mj_deleteModel(model);
}
TEST_F(MjCMeshTest, MissingFaceAllowedConvexInertia) {
const std::string xml_path = GetTestDataFilePath(kCompareInertiaPath);
std::array<char, 1024> error;
mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
EXPECT_THAT(model, testing::NotNull()) << error.data();
char error[1024];
mjModel* model = mj_loadXML(xml_path.c_str(), 0, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
EXPECT_THAT(model->nmeshface, 10);
EXPECT_THAT(model->body_inertia[3], model->body_inertia[9]);
EXPECT_THAT(model->body_inertia[4], model->body_inertia[10]);
@@ -583,9 +583,9 @@ TEST_F(MjCMeshTest, FlippedFaceAllowedWorld) {
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, NotNull());
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
CheckTetrahedronWasRescaled(model);
mj_deleteModel(model);
}
@@ -605,9 +605,9 @@ TEST_F(MjCMeshTest, FlippedFaceAllowedNoMass) {
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, NotNull()) << error.data();
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
CheckTetrahedronWasRescaled(model);
mj_deleteModel(model);
}
@@ -628,9 +628,9 @@ TEST_F(MjCMeshTest, FlippedFaceAllowedInertial) {
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, NotNull());
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
CheckTetrahedronWasRescaled(model);
mj_deleteModel(model);
}
@@ -650,9 +650,9 @@ TEST_F(MjCMeshTest, FlippedFaceAllowedNegligibleArea) {
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, NotNull());
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
CheckTetrahedronWasRescaled(model);
mj_deleteModel(model);
}
@@ -706,9 +706,9 @@ TEST_F(MjCMeshTest, AreaTooSmallAllowedWorld) {
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, NotNull());
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
mj_deleteModel(model);
}
@@ -736,10 +736,9 @@ TEST_F(MjCMeshTest, VolumeTooSmall) {
TEST_F(MjCMeshTest, VolumeSmallAllowedShell) {
static constexpr char xml[] = R"(
<mujoco>
<compiler convexhull="false"/>
<asset>
<mesh name="example_mesh"
vertex="0 0 0 1 0 0 0 1 0 1 1 0"
vertex="0 0 0 1 0 0 0 1 0 1 1 1e-6"
face="0 1 2 2 1 3" />
</asset>
<worldbody>
@@ -749,9 +748,9 @@ TEST_F(MjCMeshTest, VolumeSmallAllowedShell) {
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull());
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
EXPECT_LE(mju_abs(model->geom_size[0]), 1);
EXPECT_LE(mju_abs(model->geom_size[1]), 1);
EXPECT_LE(mju_abs(model->geom_size[2]), 1);
@@ -815,9 +814,9 @@ TEST_F(MjCMeshTest, VolumeTooSmallAllowedWorld) {
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, NotNull());
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
mj_deleteModel(model);
}
@@ -895,8 +894,9 @@ TEST_F(MjCMeshTest, MeshPosQuat) {
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
// Loading the mesh results in an offset of the geom's pos and quat due to the
// fact that the geom's center is not the volumetric center of the mesh. To
// recover the geom's originally specified pose, the offset used is stored in
@@ -953,8 +953,9 @@ TEST_F(MjCMeshTest, MeshScale) {
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
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));
@@ -972,9 +973,9 @@ TEST_F(MjCMeshTest, CreateFaceTexCoord) {
</asset>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, NotNull()) << error.data();
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
mj_deleteModel(model);
}
@@ -1057,13 +1058,10 @@ TEST_F(MjCMeshTest, InvalidIndexInFace) {
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model, IsNull());
EXPECT_THAT(
error.data(),
HasSubstr(
"in face 0, vertex index 6 does not exist"));
EXPECT_THAT(error, HasSubstr("in face 0, vertex index 6 does not exist"));
mj_deleteModel(model);
}