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Set all flex edges to rigid when the flex is rigid.

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PiperOrigin-RevId: 629740153
Change-Id: Ib2fb6f64e3d160268d2521d63830f41e44d03b20
This commit is contained in:
Alessio Quaglino
2024-05-01 09:04:40 -07:00
committed by Copybara-Service
parent ad5bee73ef
commit 7eb8c4b9f4
5 changed files with 58 additions and 4 deletions
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test/user/user_flex_test.cc
+12
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@@ -231,6 +231,18 @@ TEST_F(UserFlexTest, CreateBVHSuccess) {
mj_deleteData(d);
}
TEST_F(UserFlexTest, RigidFlex) {
const std::string xml_path =
GetTestDataFilePath("user/testdata/rigid_flex.xml");
std::array<char, 1024> error;
mjModel* m = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
ASSERT_THAT(m, NotNull()) << error.data();
mjData* d = mj_makeData(m);
mj_step(m, d);
mj_deleteModel(m);
mj_deleteData(d);
}
TEST_F(UserFlexTest, LoadMSHBinaryGMSH_41_Success) {
const std::string xml_path =
GetTestDataFilePath("user/testdata/shark_41_binary_gmshApp.xml");