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Fix multiple bugs related to mjvSceneState.

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PiperOrigin-RevId: 557864131
Change-Id: I47d9692930c54b1304a5cc161f99bbd81d992a7c
This commit is contained in:
Yuval Tassa
2023-08-17 10:24:44 -07:00
committed by Copybara-Service
parent cf310079e2
commit b1ecc943bb
11 changed files with 302 additions and 147 deletions
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test/engine/engine_vis_state_test.cc
+81 -78
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@@ -29,87 +29,90 @@ using MjvSceneStateTest = MujocoTest;
constexpr int kMaxGeom = 10000;
static const char* const kHammockPath =
"engine/testdata/hammock/hammock.xml";
static const char* const kTendonPath =
"engine/testdata/island/tendon_wrap.xml";
static const char* const kModelPath = "testdata/model.xml";
#define EXPECT_ZERO(exp) EXPECT_EQ(0, exp);
TEST_F(MjvSceneStateTest, CanUpdateFromState) {
constexpr char path[] = "engine/testdata/hammock/hammock.xml";
const std::string xml_path = GetTestDataFilePath(path);
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
ASSERT_THAT(model, NotNull());
mjData* data = mj_makeData(model);
for (const char* path : {kHammockPath, kTendonPath, kModelPath}) {
const std::string xml_path = GetTestDataFilePath(path);
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
ASSERT_THAT(model, NotNull());
mjData* data = mj_makeData(model);
while (data->time < 2) {
mj_step(model, data);
while (data->time < 2) {
mj_step(model, data);
}
mjvScene scn1;
mjv_defaultScene(&scn1);
mjv_makeScene(model, &scn1, kMaxGeom);
mjvOption opt;
mjv_defaultOption(&opt);
mjvPerturb pert;
mjv_defaultPerturb(&pert);
mjvCamera cam;
mjv_defaultFreeCamera(model, &cam);
// Enable all flags to exercise all code paths
for (int i = 0; i < mjNVISFLAG; ++i) {
opt.flags[i] = 1;
}
mjv_updateScene(model, data, &opt, &pert, &cam, mjCAT_ALL, &scn1);
EXPECT_GT(scn1.ngeom, 0);
if (model->nskin) EXPECT_GT(scn1.nskin, 0);
EXPECT_GT(scn1.nlight, 0);
mjvSceneState scnstate;
mjv_defaultSceneState(&scnstate);
mjv_makeSceneState(model, data, &scnstate, kMaxGeom);
mjv_updateSceneState(model, data, &opt, &scnstate);
mjvScene scn2;
mjv_defaultScene(&scn2);
mjv_makeScene(model, &scn2, kMaxGeom);
mjv_updateSceneFromState(&scnstate, &opt, &pert, &cam, mjCAT_ALL, &scn2);
EXPECT_EQ(scn1.ngeom, scn2.ngeom);
for (int i = 0; i < scn1.ngeom; ++i) {
EXPECT_ZERO(std::memcmp(&scn1.geoms[i], &scn2.geoms[i], sizeof(mjvGeom)));
}
// NB: scn->geomorder is a scratch space for use by mjr_render, so we don't
// need to compare them here.
EXPECT_LE(scn1.nskin, scn2.nskin);
EXPECT_ZERO(std::memcmp(scn1.skinfacenum, scn2.skinfacenum,
sizeof(*scn2.skinfacenum) * scn2.nskin));
EXPECT_ZERO(std::memcmp(scn1.skinvertadr, scn2.skinvertadr,
sizeof(*scn2.skinvertadr) * scn2.nskin));
EXPECT_ZERO(std::memcmp(scn1.skinvertnum, scn2.skinvertnum,
sizeof(*scn2.skinvertnum) * scn2.nskin));
EXPECT_ZERO(std::memcmp(scn1.skinvert, scn2.skinvert,
sizeof(*scn2.skinvert) * scn2.nskin));
EXPECT_ZERO(std::memcmp(scn1.skinnormal, scn2.skinnormal,
sizeof(*scn2.skinnormal) * scn2.nskin));
auto scn1_cmp_begin = reinterpret_cast<char*>(&scn1.nlight);
auto scn2_cmp_begin = reinterpret_cast<char*>(&scn2.nlight);
auto cmp_bytes =
sizeof(mjvScene) - (scn2_cmp_begin - reinterpret_cast<char*>(&scn2));
EXPECT_ZERO(std::memcmp(scn1_cmp_begin, scn2_cmp_begin, cmp_bytes));
mjv_freeScene(&scn1);
mjv_freeScene(&scn2);
mjv_freeSceneState(&scnstate);
mj_deleteData(data);
mj_deleteModel(model);
}
ASSERT_GT(data->ncon, 10);
mjvScene scn1;
mjv_defaultScene(&scn1);
mjv_makeScene(model, &scn1, kMaxGeom);
mjvOption opt;
mjv_defaultOption(&opt);
mjvPerturb pert;
mjv_defaultPerturb(&pert);
mjvCamera cam;
mjv_defaultFreeCamera(model, &cam);
// Enable all flags to exercise all code paths
for (int i = 0; i < mjNVISFLAG; ++i) {
opt.flags[i] = 1;
}
mjv_updateScene(model, data, &opt, &pert, &cam, mjCAT_ALL, &scn1);
EXPECT_GT(scn1.ngeom, 0);
EXPECT_GT(scn1.nskin, 0);
EXPECT_GT(scn1.nlight, 0);
mjvSceneState scnstate;
mjv_defaultSceneState(&scnstate);
mjv_makeSceneState(model, data, &scnstate, kMaxGeom);
mjv_updateSceneState(model, data, &opt, &scnstate);
mjvScene scn2;
mjv_defaultScene(&scn2);
mjv_makeScene(model, &scn2, kMaxGeom);
mjv_updateSceneFromState(&scnstate, &opt, &pert, &cam, mjCAT_ALL, &scn2);
EXPECT_EQ(scn1.ngeom, scn2.ngeom);
for (int i = 0; i < scn1.ngeom; ++i) {
EXPECT_EQ(std::memcmp(&scn1.geoms[i], &scn2.geoms[i], sizeof(mjvGeom)), 0);
}
// NB: scn->geomorder is a scratch space for use by mjr_render, so we don't
// need to compare them here.
EXPECT_LE(scn1.nskin, scn2.nskin);
EXPECT_EQ(std::memcmp(scn1.skinfacenum, scn2.skinfacenum,
sizeof(*scn2.skinfacenum) * scn2.nskin),
0);
EXPECT_EQ(std::memcmp(scn1.skinvertadr, scn2.skinvertadr,
sizeof(*scn2.skinvertadr) * scn2.nskin),
0);
EXPECT_EQ(std::memcmp(scn1.skinvertnum, scn2.skinvertnum,
sizeof(*scn2.skinvertnum) * scn2.nskin),
0);
EXPECT_EQ(std::memcmp(scn1.skinvert, scn2.skinvert,
sizeof(*scn2.skinvert) * scn2.nskin),
0);
EXPECT_EQ(std::memcmp(scn1.skinnormal, scn2.skinnormal,
sizeof(*scn2.skinnormal) * scn2.nskin),
0);
auto scn1_cmp_begin = reinterpret_cast<char*>(&scn1.nlight);
auto scn2_cmp_begin = reinterpret_cast<char*>(&scn2.nlight);
auto cmp_bytes =
sizeof(mjvScene) - (scn2_cmp_begin - reinterpret_cast<char*>(&scn2));
EXPECT_EQ(std::memcmp(scn1_cmp_begin, scn2_cmp_begin, cmp_bytes), 0);
mjv_freeScene(&scn1);
mjv_freeScene(&scn2);
mjv_freeSceneState(&scnstate);
mj_deleteData(data);
mj_deleteModel(model);
}
} // namespace