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Use a non-symmetric tetrahedron for user_mesh_test.

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PiperOrigin-RevId: 486658331
Change-Id: I96edd3b2aba916f9215661a7ba94271696690807
This commit is contained in:
Alessio Quaglino
2022-11-07 07:42:24 -08:00
committed by Copybara-Service
parent 3b89b0fd30
commit 9370039015
1 changed files with 15 additions and 10 deletions
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test/user/user_mesh_test.cc
+15 -10
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@@ -247,12 +247,17 @@ TEST_F(MjCMeshTest, FlippedFaceFails) {
}
void CheckTetrahedronWasRescaled(mjModel* model) {
// the rotated and rescaled positions of the standard tetrahedron
mjtNum vert[] = {
-mju_sqrt(3)/4, 0., 0, mju_sqrt(3)/12, 0, mju_sqrt(6)/3, mju_sqrt(3)/12,
-mju_sqrt(2)/2, -mju_sqrt(6)/6, mju_sqrt(3)/12, mju_sqrt(2)/2, -mju_sqrt(6)/6};
for (int i=0; i<12; ++i) {
EXPECT_NEAR(model->mesh_vert[i], vert[i], std::numeric_limits<float>::epsilon());
// The rotated and rescaled positions of the tetrahedron
// with vertices (0, 0, 0), (1, 0, 0), (0, 2, 0), (0, 0, 3)
// after mesh preprocessing is performed
std::vector<mjtNum> vert = {
-0.51610732078552246, -0.57402724027633667, -0.5283237099647522,
0.42337465286254883, -0.90627568960189819, -0.61189728975296021,
0.065528042614459991, 1.2306677103042603, -1.1645441055297852,
0.027204651385545731, 0.24963514506816864, 2.3047652244567871};
mjtNum tolerance = std::numeric_limits<float>::epsilon();
for (int i=0; i < 12; ++i) {
EXPECT_NEAR(model->mesh_vert[i], vert[i], tolerance);
}
}
@@ -261,7 +266,7 @@ TEST_F(MjCMeshTest, FlippedFaceAllowedWorld) {
<mujoco>
<asset>
<mesh name="example_mesh"
vertex="0 0 0 1 0 0 0 1 0 0 0 1"
vertex="0 0 0 1 0 0 0 2 0 0 0 3"
face="2 0 3 0 1 3 1 2 3 0 1 2" />
</asset>
<worldbody>
@@ -281,7 +286,7 @@ TEST_F(MjCMeshTest, FlippedFaceAllowedNoMass) {
<mujoco>
<asset>
<mesh name="example_mesh"
vertex="0 0 0 1 0 0 0 1 0 0 0 1"
vertex="0 0 0 1 0 0 0 2 0 0 0 3"
face="2 0 3 0 1 3 1 2 3 0 1 2" />
</asset>
<worldbody>
@@ -303,7 +308,7 @@ TEST_F(MjCMeshTest, FlippedFaceAllowedInertial) {
<mujoco>
<asset>
<mesh name="example_mesh"
vertex="0 0 0 1 0 0 0 1 0 0 0 1"
vertex="0 0 0 1 0 0 0 2 0 0 0 3"
face="2 0 3 0 1 3 1 2 3 0 1 2" />
</asset>
<worldbody>
@@ -326,7 +331,7 @@ TEST_F(MjCMeshTest, FlippedFaceAllowedNegligibleArea) {
<mujoco>
<asset>
<mesh name="example_mesh"
vertex="0 0 0 1 0 0 0 1 0 0 0 1 0 0 1"
vertex="0 0 0 1 0 0 0 2 0 0 0 3 0 0 3"
face="2 0 3 0 1 3 1 2 3 0 2 1 0 3 4" />
</asset>
<worldbody>