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Combine all mjs_attach functions into one.

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PiperOrigin-RevId: 742702092
Change-Id: I89e35c59ada017cd061e2031584eeea71776743d
This commit is contained in:
Alessio Quaglino
2025-04-01 08:04:58 -07:00
committed by Copybara-Service
parent 08d22baea1
commit a02a27d4a4
13 changed files with 202 additions and 319 deletions
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test/user/user_api_test.cc
+56 -43
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@@ -279,20 +279,23 @@ TEST_F(PluginTest, AttachPlugin) {
EXPECT_THAT(body_1, NotNull());
mjsFrame* attachment_frame = mjs_addFrame(body_1, 0);
EXPECT_THAT(attachment_frame, NotNull());
mjs_attachBody(attachment_frame, mjs_findBody(spec_1, "body"), "child-", "");
mjs_attach(attachment_frame->element, mjs_findBody(spec_1, "body")->element,
"child-", "");
mjModel* model_1 = mj_compile(parent, nullptr);
EXPECT_THAT(model_1, NotNull());
EXPECT_THAT(model_1->nbody, 3);
// attach it a second time to test namespacing and compile
ASSERT_THAT(spec_2, NotNull()) << err.data();
mjs_attachBody(attachment_frame, mjs_findBody(spec_2, "body"), "copy-", "");
mjs_attach(attachment_frame->element, mjs_findBody(spec_2, "body")->element,
"copy-", "");
mjModel* model_2 = mj_compile(parent, nullptr);
EXPECT_THAT(model_2, NotNull());
EXPECT_THAT(model_2->nbody, 4);
// attach a body not referencing the plugin and compile
mjs_attachBody(attachment_frame, mjs_findBody(spec_3, "empty"), "empty-", "");
mjs_attach(attachment_frame->element, mjs_findBody(spec_3, "empty")->element,
"empty-", "");
mjModel* model_3 = mj_compile(parent, nullptr);
EXPECT_THAT(model_3, NotNull());
EXPECT_THAT(model_3->nbody, 5);
@@ -314,9 +317,9 @@ TEST_F(PluginTest, DetachPlugin) {
ASSERT_THAT(child, NotNull()) << err.data();
// attach a body referencing the plugin to the frame
mjsFrame* frame = mjs_addFrame(mjs_findBody(parent, "world"), 0);
mjsBody* body = mjs_findBody(child, "body");
EXPECT_THAT(mjs_attachBody(frame, body, "child-", ""), NotNull());
mjsElement* frame = mjs_addFrame(mjs_findBody(parent, "world"), 0)->element;
mjsElement* body = mjs_findBody(child, "body")->element;
EXPECT_THAT(mjs_attach(frame, body, "child-", ""), NotNull());
// detach the body and compile
mjsBody* body_to_detach = mjs_findBody(parent, "child-body");
@@ -372,7 +375,8 @@ TEST_F(PluginTest, AttachExplicitPlugin) {
mjsFrame* attachment_frame = mjs_addFrame(body_parent, 0);
EXPECT_THAT(attachment_frame, NotNull());
mjs_attachBody(attachment_frame, mjs_findBody(child, "body"), "child-", "");
mjs_attach(attachment_frame->element, mjs_findBody(child, "body")->element,
"child-", "");
mjModel* model = mj_compile(parent, nullptr);
EXPECT_THAT(model, NotNull());
EXPECT_THAT(model->nplugin, 1);
@@ -937,7 +941,8 @@ TEST_F(MujocoTest, AttachSame) {
EXPECT_THAT(body, NotNull());
// attach child to parent frame
mjsBody* attached = mjs_attachBody(frame, body, "attached-", "-1");
mjsBody* attached =
mjs_asBody(mjs_attach(frame->element, body->element, "attached-", "-1"));
EXPECT_THAT(attached, mjs_findBody(parent, "attached-body-1"));
// check that the spec was not copied
@@ -1073,7 +1078,8 @@ TEST_F(MujocoTest, AttachDifferent) {
EXPECT_THAT(body, NotNull());
// attach child to parent frame
mjsBody* attached = mjs_attachBody(frame, body, "attached-", "-1");
mjsBody* attached =
mjs_asBody(mjs_attach(frame->element, body->element, "attached-", "-1"));
EXPECT_THAT(attached, mjs_findBody(parent, "attached-body-1"));
// check that the spec was copied
@@ -1212,7 +1218,8 @@ TEST_F(MujocoTest, AttachFrame) {
EXPECT_THAT(frame, NotNull());
// attach child frame to parent body
mjsFrame* attached = mjs_attachFrame(body, frame, "attached-", "-1");
mjsFrame* attached =
mjs_asFrame(mjs_attach(body->element, frame->element, "attached-", "-1"));
EXPECT_THAT(attached, mjs_findFrame(parent, "attached-pframe-1"));
// check that the spec was copied
@@ -1286,7 +1293,7 @@ TEST_F(MujocoTest, AttachCompiled) {
// attach child body to the frame
mjsBody* to_attach = mjs_findBody(child, "base");
EXPECT_THAT(to_attach, NotNull()) << mjs_getError(child);
mjs_attachBody(frame, to_attach, "", "");
mjs_attach(frame->element, to_attach->element, "", "");
// check that attached model can be compiled
mjModel* m_attached = mj_compile(parent, 0);
@@ -1433,7 +1440,8 @@ TEST_F(MujocoTest, AttachToSite) {
EXPECT_THAT(site, NotNull());
mjsBody* body = mjs_findBody(child, "sphere");
EXPECT_THAT(body, NotNull());
mjsBody* attached = mjs_attachToSite(site, body, "attached-", "-1");
mjsBody* attached =
mjs_asBody(mjs_attach(site->element, body->element, "attached-", "-1"));
EXPECT_THAT(attached, NotNull());
mjModel* model = mj_compile(parent, 0);
@@ -1498,7 +1506,8 @@ TEST_F(MujocoTest, AttachFrameToSite) {
EXPECT_THAT(site, NotNull());
mjsFrame* frame = mjs_findFrame(child, "frame");
EXPECT_THAT(frame, NotNull());
mjsFrame* attached = mjs_attachFrameToSite(site, frame, "attached-", "-1");
mjsFrame* attached =
mjs_asFrame(mjs_attach(site->element, frame->element, "attached-", "-1"));
EXPECT_THAT(attached, NotNull());
mjModel* model = mj_compile(parent, 0);
@@ -1573,7 +1582,8 @@ TEST_F(MujocoTest, BodyToFrame) {
EXPECT_THAT(frame, NotNull());
mjsBody* body = mjs_findBody(child1, "sphere");
EXPECT_THAT(body, NotNull());
mjsBody* attached = mjs_attachBody(frame, body, "attached-", "-1");
mjsBody* attached =
mjs_asBody(mjs_attach(frame->element, body->element, "attached-", "-1"));
EXPECT_THAT(attached, NotNull());
mjModel* model1 = mj_compile(parent, 0);
EXPECT_THAT(model1, NotNull());
@@ -1581,7 +1591,8 @@ TEST_F(MujocoTest, BodyToFrame) {
// attach the world to the same frame and convert it to a frame
mjsBody* world = mjs_findBody(child2, "world");
EXPECT_THAT(world, NotNull());
mjsBody* child_world = mjs_attachBody(frame, world, "attached-", "-2");
mjsBody* child_world =
mjs_asBody(mjs_attach(frame->element, world->element, "attached-", "-2"));
EXPECT_THAT(child_world, NotNull());
mjsFrame* frame_world = mjs_bodyToFrame(&child_world);
EXPECT_THAT(frame_world, NotNull());
@@ -1662,7 +1673,8 @@ TEST_F(MujocoTest, AttachSpecToSite) {
mjs_setFrame(mjs_firstChild(world, mjOBJ_CAMERA, 0), frame);
// attach the entire spec to the site
mjsFrame* worldframe = mjs_attachFrameToSite(site, frame, "attached-", "-1");
mjsFrame* worldframe =
mjs_asFrame(mjs_attach(site->element, frame->element, "attached-", "-1"));
EXPECT_THAT(worldframe, NotNull());
// compile and compare
@@ -1739,7 +1751,8 @@ TEST_F(MujocoTest, AttachSpecToBody) {
mjs_setFrame(mjs_firstChild(world, mjOBJ_CAMERA, 0), frame);
// attach the entire spec to the site
mjsFrame* worldframe = mjs_attachFrame(body, frame, "attached-", "-1");
mjsFrame* worldframe =
mjs_asFrame(mjs_attach(body->element, frame->element, "attached-", "-1"));
EXPECT_THAT(worldframe, NotNull());
worldframe->pos[0] = 1;
worldframe->pos[1] = 2;
@@ -1937,8 +1950,8 @@ TEST_F(MujocoTest, RecompileAttach) {
mjSpec* child2 = mj_parseXMLString(xml, 0, er.data(), er.size());
EXPECT_THAT(child2, NotNull());
mjsFrame* frame1 = mjs_addFrame(mjs_findBody(parent, "world"), 0);
mjs_attachBody(frame1, mjs_findBody(child1, "body"), "child-", "-1");
mjsElement* frame1 = mjs_addFrame(mjs_findBody(parent, "world"), 0)->element;
mjs_attach(frame1, mjs_findBody(child1, "body")->element, "child-", "-1");
mjModel* model = mj_compile(parent, 0);
EXPECT_THAT(model, NotNull());
@@ -1950,8 +1963,8 @@ TEST_F(MujocoTest, RecompileAttach) {
mj_step(model, data);
}
mjsFrame* frame2 = mjs_addFrame(mjs_findBody(parent, "world"), 0);
mjs_attachBody(frame2, mjs_findBody(child2, "body"), "child-", "-2");
mjsElement* frame2 = mjs_addFrame(mjs_findBody(parent, "world"), 0)->element;
mjs_attach(frame2, mjs_findBody(child2, "body")->element, "child-", "-2");
EXPECT_EQ(mj_recompile(parent, 0, model, data), 0);
EXPECT_THAT(model, NotNull());
@@ -2003,8 +2016,8 @@ TEST_F(MujocoTest, AttachMocap) {
mjsBody* world = mjs_findBody(spec, "world");
EXPECT_THAT(world, NotNull());
mjsFrame* frame = mjs_addFrame(world, NULL);
mjs_attachBody(frame, body, "attached-", "-1");
mjsElement* frame = mjs_addFrame(world, NULL)->element;
mjs_attach(frame, body->element, "attached-", "-1");
mjsBody* attached_body = mjs_findBody(spec, "attached-mocap-1");
EXPECT_THAT(attached_body, NotNull());
@@ -2083,7 +2096,7 @@ TEST_F(MujocoTest, AttachUnnamedAssets) {
geom->type = mjGEOM_MESH;
mjSpec* spec = mj_makeSpec();
mjs_attachFrame(mjs_findBody(spec, "world"), frame, "_", "");
mjs_attach(mjs_findBody(spec, "world")->element, frame->element, "_", "");
mjModel* model = mj_compile(spec, vfs.get());
EXPECT_THAT(model, NotNull());
@@ -2229,8 +2242,8 @@ void AttachNestedKeyframe(bool compile) {
mjs_setDeepCopy(child, true);
// attach gchild to child
mjs_attachBody(mjs_findFrame(child, "frame"),
mjs_findBody(gchild, "body"), "gchild-", "");
mjs_attach(mjs_findFrame(child, "frame")->element,
mjs_findBody(gchild, "body")->element, "gchild-", "");
// compile required before further attachment
mjModel* m_child = compile ? mj_compile(child, 0) : nullptr;
@@ -2243,8 +2256,8 @@ void AttachNestedKeyframe(bool compile) {
};
// attach child to parent
mjs_attachBody(mjs_findFrame(parent, "frame"),
mjs_findBody(child, "body"), "child-", "");
mjs_attach(mjs_findFrame(parent, "frame")->element,
mjs_findBody(child, "body")->element, "child-", "");
EXPECT_THAT(warning, HasSubstr(compile ? "" : "model has pending keyframes"));
@@ -2305,11 +2318,11 @@ TEST_F(MujocoTest, RepeatedAttachKeyframe) {
EXPECT_THAT(child, NotNull()) << er.data();
mjsBody* body_1 = mjs_findBody(parent, "body");
mjsFrame* attachment_frame = mjs_addFrame(body_1, 0);
mjs_attachBody(attachment_frame, mjs_findBody(child, "b1"), "b1-", "");
mjsElement* attachment_frame = mjs_addFrame(body_1, 0)->element;
mjs_attach(attachment_frame, mjs_findBody(child, "b1")->element, "b1-", "");
mjModel* model_1 = mj_compile(parent, 0);
EXPECT_THAT(model_1, NotNull());
mjs_attachBody(attachment_frame, mjs_findBody(child, "b2"), "b2-", "");
mjs_attach(attachment_frame, mjs_findBody(child, "b2")->element, "b2-", "");
mjModel* model_2 = mj_compile(parent, 0);
EXPECT_THAT(model_2, NotNull());
@@ -2374,8 +2387,8 @@ TEST_F(MujocoTest, ResizeParentKeyframe) {
mjSpec* child = mj_parseXMLString(xml_child, 0, er.data(), er.size());
EXPECT_THAT(child, NotNull()) << er.data();
mjs_attachBody(mjs_findFrame(parent, "frame"), mjs_findBody(child, "body"),
"child-", "");
mjs_attach(mjs_findFrame(parent, "frame")->element,
mjs_findBody(child, "body")->element, "child-", "");
mjModel* model = mj_compile(parent, 0);
EXPECT_THAT(model, NotNull());
@@ -2466,12 +2479,10 @@ TEST_F(MujocoTest, DifferentUnitsAllowed) {
mjSpec* child = mj_parseXMLString(child_xml, 0, error.data(), error.size());
mjSpec* spec = mj_parseXMLString(parent_xml, 0, error.data(), error.size());
ASSERT_THAT(spec, NotNull()) << error.data();
mjs_attachBody(mjs_findFrame(child, "frame"),
mjs_findBody(gchild, "gchild"),
"gchild_", "");
mjs_attachBody(mjs_findFrame(spec, "frame"),
mjs_findBody(child, "child"),
"child_", "");
mjs_attach(mjs_findFrame(child, "frame")->element,
mjs_findBody(gchild, "gchild")->element, "gchild_", "");
mjs_attach(mjs_findFrame(spec, "frame")->element,
mjs_findBody(child, "child")->element, "child_", "");
mjModel* model = mj_compile(spec, 0);
EXPECT_THAT(model, NotNull());
@@ -2544,7 +2555,8 @@ TEST_F(MujocoTest, DifferentOptionsInAttachedFrame) {
EXPECT_THAT(world, NotNull());
mjsFrame* child_frame = mjs_findFrame(child, "child");
EXPECT_THAT(child_frame, NotNull());
mjsFrame* attached_frame = mjs_attachFrame(world, child_frame, "child-", "");
mjsElement* attached_frame =
mjs_attach(world->element, child_frame->element, "child-", "");
EXPECT_THAT(attached_frame, NotNull());
// wrap the child frame in the parent frame and compile
@@ -2659,8 +2671,9 @@ TEST_F(MujocoTest, ApplyNameSpaceToDefaults) {
mjSpec* parent = mj_parseXMLString(xml_p, 0, err.data(), err.size());
EXPECT_THAT(parent, NotNull()) << err.data();
mjsBody* attached = mjs_attachBody(mjs_findFrame(parent, "parent"),
mjs_findBody(child, "body"), "child-", "");
mjsElement* attached =
mjs_attach(mjs_findFrame(parent, "parent")->element,
mjs_findBody(child, "body")->element, "child-", "");
EXPECT_THAT(attached, NotNull());
mjModel* model = mj_compile(parent, vfs.get());
@@ -2774,7 +2787,7 @@ TEST_F(MujocoTest, ErrorWhenCompilingOrphanedSpec) {
EXPECT_THAT(body, NotNull());
mjsFrame* frame = mjs_addFrame(mjs_findBody(parent, "world"), nullptr);
EXPECT_THAT(frame, NotNull());
mjs_attachBody(frame, body, "child-", "");
mjs_attach(frame->element, body->element, "child-", "");
mj_deleteSpec(parent);
mjModel* model = mj_compile(child, 0);
EXPECT_THAT(model, IsNull());