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Add mjs_makeMesh to create a builtin mesh.

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PiperOrigin-RevId: 788538127
Change-Id: I999733399a1a0da07b0f915f34d31364ab8b3b52
This commit is contained in:
Alessio Quaglino
2025-07-29 11:30:19 -07:00
committed by Copybara-Service
parent 46dc67b7eb
commit 89f4789085
23 changed files with 569 additions and 649 deletions
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test/xml/xml_native_reader_test.cc
+112
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@@ -2021,6 +2021,118 @@ TEST_F(XMLReaderTest, ReadShellParameter) {
mj_deleteModel(model);
}
// ----------------------- test builtin mesh parsing ---------------------------
TEST_F(XMLReaderTest, ReadWedgeMesh) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="wedge" builtin="wedge" params="25 25 180 90 0"/>
</asset>
<worldbody>
<geom type="mesh" mesh="wedge"/>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, UnsupportedMesh) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="cone" builtin="cone" params="25 25 180 90 0"/>
</asset>
<worldbody>
<geom type="mesh" mesh="cone"/>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("Unsupported mesh type"));
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, BuiltinAndFile) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="wedge" builtin="wedge" vertex="0 0 0 1 0 0 0 1 0 0 1 0"
params="25 25 180 90 0"/>
</asset>
<worldbody>
<geom type="mesh" mesh="wedge"/>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(),
HasSubstr("builtin mesh cannot be used with user vertex data"));
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, MakePlateNoParameters) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="plate" builtin="plate"/>
</asset>
<worldbody>
<geom type="mesh" mesh="plate" contype="0" conaffinity="0"/>
</worldbody>
</mujoco>)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("required attribute missing: 'params'"));
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, MakePlateTooFewParameters) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="plate" builtin="plate" params="1"/>
</asset>
<worldbody>
<geom type="mesh" mesh="plate" contype="0" conaffinity="0"/>
</worldbody>
</mujoco>)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(
error.data(),
HasSubstr("Plate builtin mesh type requires 2 parameters"));
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, MakePlateInvalidParameters) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="plate" builtin="plate" params="-1 -1"/>
</asset>
<worldbody>
<geom type="mesh" mesh="plate" contype="0" conaffinity="0"/>
</worldbody>
</mujoco>)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("resolutions must be positive"));
mj_deleteModel(model);
}
// ----------------------- test skin parsing --------------------------------
TEST_F(XMLReaderTest, ReadsSkinGroups) {
static constexpr char xml[] = R"(
<mujoco>