Add xmacros for MjSpec.
PiperOrigin-RevId: 922169069 Change-Id: I01426596e49196996dfa324d5ab3849a90de2e3a
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Google DeepMind
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Copybara-Service
Copybara-Service
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@@ -108,6 +108,8 @@ mujoco_test(fixture_test)
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mujoco_test(header_test)
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mujoco_test(mjspecmacro_test)
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mujoco_test(pipeline_test)
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add_subdirectory(benchmark)
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@@ -0,0 +1,145 @@
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// Copyright 2026 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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// Tests for X macros in mjspecmacro.h.
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#include <cstddef>
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#include <type_traits>
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#include <gtest/gtest.h>
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#include <mujoco/mjspec.h>
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#include <mujoco/mjspecmacro.h>
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namespace mujoco {
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namespace {
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namespace expected {
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#define X(type, name, dim) type name;
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#define XVEC(type, name, dim) type name[dim];
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struct mjsElement { MJSELEMENT_FIELDS };
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struct mjsCompiler { MJSCOMPILER_FIELDS };
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struct mjSpec { MJSPEC_FIELDS };
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struct mjsOrientation { MJSORIENTATION_FIELDS };
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struct mjsPlugin { MJSPLUGIN_FIELDS };
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struct mjsBody { MJSBODY_FIELDS };
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struct mjsFrame { MJSFRAME_FIELDS };
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struct mjsJoint { MJSJOINT_FIELDS };
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struct mjsGeom { MJSGEOM_FIELDS };
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struct mjsSite { MJSSITE_FIELDS };
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struct mjsCamera { MJSCAMERA_FIELDS };
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struct mjsLight { MJSLIGHT_FIELDS };
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struct mjsFlex { MJSFLEX_FIELDS };
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struct mjsMesh { MJSMESH_FIELDS };
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struct mjsHField { MJSHFIELD_FIELDS };
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struct mjsSkin { MJSSKIN_FIELDS };
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struct mjsTexture { MJSTEXTURE_FIELDS };
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struct mjsMaterial { MJSMATERIAL_FIELDS };
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struct mjsPair { MJSPAIR_FIELDS };
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struct mjsExclude { MJSEXCLUDE_FIELDS };
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struct mjsEquality { MJSEQUALITY_FIELDS };
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struct mjsTendon { MJSTENDON_FIELDS };
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struct mjsWrap { MJSWRAP_FIELDS };
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struct mjsActuator { MJSACTUATOR_FIELDS };
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struct mjsSensor { MJSSENSOR_FIELDS };
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struct mjsNumeric { MJSNUMERIC_FIELDS };
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struct mjsText { MJSTEXT_FIELDS };
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struct mjsTuple { MJSTUPLE_FIELDS };
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struct mjsKey { MJSKEY_FIELDS };
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struct mjsDefault { MJSDEFAULT_FIELDS };
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#undef XVEC
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#undef X
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} // namespace expected
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template <typename T, size_t N>
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struct ArrayOrScalar {
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using type = T[N];
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};
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template <typename T>
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struct ArrayOrScalar<T, 1> {
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using type = T;
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};
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template <typename T, size_t N>
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using ArrayOrScalarT = typename ArrayOrScalar<T, N>::type;
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#define XIMPL(type, name, dim) \
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static_assert( \
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std::is_same_v<decltype(RealStruct::name), ArrayOrScalarT<type, dim>>, \
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"Type mismatch for " #name); \
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static_assert(offsetof(RealStruct, name) == offsetof(ExpectedStruct, name), \
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"Offset mismatch for " #name);
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#define X(type, name, dim) \
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static_assert(dim == 1, "use XVEC for non-scalar fields"); \
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XIMPL(type, name, dim)
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#define XVEC(type, name, dim) \
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static_assert(dim > 1, "use X for scalar fields"); \
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XIMPL(type, name, dim)
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#define CHECK_STRUCT(Name, Macro) \
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struct Check##Name { \
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using RealStruct = Name; \
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using ExpectedStruct = expected::Name; \
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static_assert(sizeof(RealStruct) == sizeof(ExpectedStruct), \
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"sizeof mismatch for " #Name); \
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static_assert(alignof(RealStruct) == alignof(ExpectedStruct), \
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"alignof mismatch for " #Name); \
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Macro \
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};
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CHECK_STRUCT(mjsElement, MJSELEMENT_FIELDS)
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CHECK_STRUCT(mjsCompiler, MJSCOMPILER_FIELDS)
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CHECK_STRUCT(mjSpec, MJSPEC_FIELDS)
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CHECK_STRUCT(mjsOrientation, MJSORIENTATION_FIELDS)
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CHECK_STRUCT(mjsPlugin, MJSPLUGIN_FIELDS)
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CHECK_STRUCT(mjsBody, MJSBODY_FIELDS)
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CHECK_STRUCT(mjsFrame, MJSFRAME_FIELDS)
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CHECK_STRUCT(mjsJoint, MJSJOINT_FIELDS)
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CHECK_STRUCT(mjsGeom, MJSGEOM_FIELDS)
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CHECK_STRUCT(mjsSite, MJSSITE_FIELDS)
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CHECK_STRUCT(mjsCamera, MJSCAMERA_FIELDS)
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CHECK_STRUCT(mjsLight, MJSLIGHT_FIELDS)
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CHECK_STRUCT(mjsFlex, MJSFLEX_FIELDS)
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CHECK_STRUCT(mjsMesh, MJSMESH_FIELDS)
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CHECK_STRUCT(mjsHField, MJSHFIELD_FIELDS)
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CHECK_STRUCT(mjsSkin, MJSSKIN_FIELDS)
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CHECK_STRUCT(mjsTexture, MJSTEXTURE_FIELDS)
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CHECK_STRUCT(mjsMaterial, MJSMATERIAL_FIELDS)
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CHECK_STRUCT(mjsPair, MJSPAIR_FIELDS)
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CHECK_STRUCT(mjsExclude, MJSEXCLUDE_FIELDS)
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CHECK_STRUCT(mjsEquality, MJSEQUALITY_FIELDS)
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CHECK_STRUCT(mjsTendon, MJSTENDON_FIELDS)
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CHECK_STRUCT(mjsWrap, MJSWRAP_FIELDS)
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CHECK_STRUCT(mjsActuator, MJSACTUATOR_FIELDS)
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CHECK_STRUCT(mjsSensor, MJSSENSOR_FIELDS)
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CHECK_STRUCT(mjsNumeric, MJSNUMERIC_FIELDS)
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CHECK_STRUCT(mjsText, MJSTEXT_FIELDS)
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CHECK_STRUCT(mjsTuple, MJSTUPLE_FIELDS)
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CHECK_STRUCT(mjsKey, MJSKEY_FIELDS)
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CHECK_STRUCT(mjsDefault, MJSDEFAULT_FIELDS)
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#undef CHECK_STRUCT
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#undef XVEC
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#undef X
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#undef XIMPL
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TEST(MjspecmacroTest, CompileTimeChecks) {
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// Verifies that the test binary compiled successfully and all static_asserts passed.
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EXPECT_TRUE(true);
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}
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} // namespace
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} // namespace mujoco
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