chenlin/Mujoco_WASM
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Remove box, cylinder and ellipsoid composite types.

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Also, fix a bug with Flex textures that was causing an incorrect allocation of the textures in mjModel. Fixes #2013.

PiperOrigin-RevId: 692510858
Change-Id: If781716216974e085244da27bc3aa57d91c3458c
This commit is contained in:
Alessio Quaglino
2024-11-02 11:13:16 -07:00
committed by Copybara-Service
parent ebe60b9ad5
commit 831d9881d3
12 changed files with 54 additions and 547 deletions
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test/engine/testdata/skingroup.xml
Vendored
+4 -6
View File
@@ -27,17 +27,15 @@
<geom type="box" size=".5 .5 .1"/>
</body>
<body pos="1 -1 .6">
<freejoint/>
<composite prefix="B0" type="box" count="4 4 4" spacing=".2">
<composite prefix="B0" type="grid" count="4 4 1" spacing=".2">
<geom group="4" size=".1"/>
<skin rgba="1 1 0 1" group="2"/>
<skin rgba="1 1 0 1" group="2" inflate=".1"/>
</composite>
</body>
<body pos="-1 1 .6">
<freejoint/>
<composite prefix="B1" type="box" count="4 4 4" spacing=".2">
<composite prefix="B1" type="grid" count="4 4 1" spacing=".2">
<geom group="2" size=".1"/>
<skin rgba="0 1 1 1" group="4"/>
<skin rgba="0 1 1 1" group="4" inflate=".1"/>
</composite>
</body>
</worldbody>
test/user/user_composite_test.cc
+1 -1
View File
@@ -43,7 +43,7 @@ TEST_F(UserCompositeTest, MultipleJointsNotAllowedUnlessParticle) {
<worldbody>
<body>
<freejoint/>
<composite type="box" count="7 7 7" spacing="0.04">
<composite type="grid" count="7 7 1" spacing="0.04">
<joint kind="main" solreffix="0.03 1" solimpfix="0 .1 .01"/>
<joint kind="main" solreffix="0.03 1" solimpfix="0 .1 .01"/>
</composite>
test/xml/xml_native_reader_test.cc
+5 -5
View File
@@ -1681,13 +1681,13 @@ TEST_F(XMLReaderTest, ReadsSkinGroups) {
<mujoco>
<worldbody>
<body>
<composite prefix="B0" type="box" count="4 4 4" spacing=".2">
<composite prefix="B0" type="grid" count="4 4 1" spacing=".2">
<geom size=".1" group="2"/>
<skin group="4"/>
</composite>
</body>
<body>
<composite prefix="B1" type="box" count="4 4 4" spacing=".2">
<composite prefix="B1" type="grid" count="4 4 1" spacing=".2">
<geom size=".1" group="4"/>
<skin group="2"/>
</composite>
@@ -1698,8 +1698,8 @@ TEST_F(XMLReaderTest, ReadsSkinGroups) {
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull());
int geomid1 = mj_name2id(model, mjOBJ_GEOM, "B0G0_0_0");
int geomid2 = mj_name2id(model, mjOBJ_GEOM, "B1G0_0_0");
int geomid1 = mj_name2id(model, mjOBJ_GEOM, "B0G0_0");
int geomid2 = mj_name2id(model, mjOBJ_GEOM, "B1G0_0");
EXPECT_THAT(model->geom_group[geomid1], 2);
EXPECT_THAT(model->skin_group[0], 4);
EXPECT_THAT(model->geom_group[geomid2], 4);
@@ -1712,7 +1712,7 @@ TEST_F(XMLReaderTest, InvalidSkinGroup) {
<mujoco>
<worldbody>
<body>
<composite prefix="B0" type="box" count="6 6 6" spacing=".2">
<composite prefix="B0" type="grid" count="6 6 1" spacing=".2">
<geom size=".1"/>
<skin group="6"/>
</composite>