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Add built-in supertoroid mesh.

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PiperOrigin-RevId: 791180080
Change-Id: I3a70f50ff4a52a1bd4b88fc30334a574895145b4
This commit is contained in:
Yuval Tassa
2025-08-05 06:05:44 -07:00
committed by Copybara-Service
parent e543ba95c5
commit a5d4d1000e
13 changed files with 189 additions and 41 deletions
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test/user/testdata/makemesh.xml
Vendored
+2
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@@ -2,6 +2,7 @@
<asset>
<mesh name="sphere" builtin="sphere" params="2" scale=".8 .8 .8"/>
<mesh name="hemisphere" builtin="hemisphere" params="4" scale=".8 .8 .8"/>
<mesh name="toroid" builtin="supertorus" params="50 .5 .42 1.42" scale=".8 .8 .8"/>
<mesh name="wedge" builtin="wedge" params="10 10 60 60 0"/>
<mesh name="prism3" builtin="cone" params="3 1" scale=".3 .3 .3"/>
<mesh name="prism5" builtin="cone" params="5 1" scale=".3 .3 .1"/>
@@ -13,6 +14,7 @@
<light pos="0 0 10"/>
<geom mesh="sphere" type="mesh" pos="-3 0 0"/>
<geom mesh="hemisphere" type="mesh" pos="-1 0 0"/>
<geom mesh="toroid" type="mesh" pos="-1 0 2"/>
<geom mesh="wedge" type="mesh" euler="90 -90 0"/>
<geom mesh="prism5" type="mesh" pos="2 0 0" euler="90 0 0"/>
<geom mesh="prism3" type="mesh" pos="3 0 0"/>
test/xml/xml_native_reader_test.cc
-18
View File
@@ -2040,24 +2040,6 @@ TEST_F(XMLReaderTest, ReadWedgeMesh) {
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, UnsupportedMesh) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="torus" builtin="torus" params="25 25 180 90 0"/>
</asset>
<worldbody>
<geom type="mesh" mesh="torus"/>
</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>