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

Add MjcPhysicsSiteAPI support and testing.

Browse Source 
PiperOrigin-RevId: 759124593
Change-Id: Ic2fa2a00f8384f432ee2eef95c80f5c180aa4ca9
This commit is contained in:
Sam Haves
2025-05-15 06:37:10 -07:00
committed by Copybara-Service
parent 7ba507323d
commit 81442e06a0
3 changed files with 114 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+15
View File
@@ -17,6 +17,8 @@
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include "src/experimental/usd/mjcPhysics/sceneAPI.h"
#include "src/experimental/usd/mjcPhysics/siteAPI.h"
#include "test/experimental/usd/test_utils.h"
#include "test/fixture.h"
#include <pxr/base/gf/vec2f.h>
@@ -518,15 +520,28 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestSitePrimsAuthored) {
auto stage = pxr::UsdStage::Open(layer);
EXPECT_PRIM_VALID(stage, "/test/box_site");
EXPECT_PRIM_IS_A(stage, "/test/box_site", pxr::UsdGeomCube);
EXPECT_PRIM_API_APPLIED(stage, "/test/box_site", pxr::MjcPhysicsSiteAPI);
EXPECT_PRIM_VALID(stage, "/test/ball/ball/sphere_site");
EXPECT_PRIM_IS_A(stage, "/test/ball/ball/sphere_site", pxr::UsdGeomSphere);
EXPECT_PRIM_API_APPLIED(stage, "/test/ball/ball/sphere_site",
pxr::MjcPhysicsSiteAPI);
EXPECT_PRIM_VALID(stage, "/test/ball/ball/capsule_site");
EXPECT_PRIM_IS_A(stage, "/test/ball/ball/capsule_site", pxr::UsdGeomCapsule);
EXPECT_PRIM_API_APPLIED(stage, "/test/ball/ball/capsule_site",
pxr::MjcPhysicsSiteAPI);
EXPECT_PRIM_VALID(stage, "/test/ball/ball/cylinder_site");
EXPECT_PRIM_IS_A(stage, "/test/ball/ball/cylinder_site",
pxr::UsdGeomCylinder);
EXPECT_PRIM_API_APPLIED(stage, "/test/ball/ball/cylinder_site",
pxr::MjcPhysicsSiteAPI);
EXPECT_PRIM_VALID(stage, "/test/ball/ball/ellipsoid_site");
EXPECT_PRIM_IS_A(stage, "/test/ball/ball/ellipsoid_site", pxr::UsdGeomSphere);
EXPECT_PRIM_API_APPLIED(stage, "/test/ball/ball/ellipsoid_site",
pxr::MjcPhysicsSiteAPI);
}
TEST_F(MjcfSdfFileFormatPluginTest, TestSitePrimsPurpose) {