Do not copy the spec during attach.
Use a reference count for managing the memory. PiperOrigin-RevId: 716169486 Change-Id: Id270c4858c17b9250115e9544d5ea143584e2d5f
This commit is contained in:
Alessio Quaglino
committed by
Copybara-Service
Copybara-Service
parent
6436055c6c
commit
c2138c3fb0
+121
-38
@@ -262,35 +262,48 @@ TEST_F(PluginTest, AttachPlugin) {
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</mujoco>)";
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std::array<char, 1000> err;
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mjSpec* spec_1 = mj_parseXMLString(xml_1, 0, err.data(), err.size());
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mjSpec* parent = mj_parseXMLString(xml_1, 0, err.data(), err.size());
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ASSERT_THAT(parent, NotNull()) << err.data();
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mjSpec* spec_1 = mj_parseXMLString(xml_2, 0, err.data(), err.size());
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ASSERT_THAT(spec_1, NotNull()) << err.data();
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mjSpec* spec_2 = mj_parseXMLString(xml_2, 0, err.data(), err.size());
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ASSERT_THAT(spec_2, NotNull()) << err.data();
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mjsBody* body_1 = mjs_findBody(spec_1, "body");
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// do a copy before attaching
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mjSpec* spec_2 = mj_copySpec(spec_1);
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mjs_setString(spec_2->modelname, "first_copy");
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mjSpec* spec_3 = mj_copySpec(spec_1);
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mjs_setString(spec_3->modelname, "second_copy");
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ASSERT_THAT(spec_3, NotNull()) << err.data();
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// attach a body referencing the plugin to the frame and compile
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mjsBody* body_1 = mjs_findBody(parent, "body");
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EXPECT_THAT(body_1, NotNull());
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mjsFrame* attachment_frame = mjs_addFrame(body_1, 0);
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EXPECT_THAT(attachment_frame, NotNull());
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mjs_attachBody(attachment_frame, mjs_findBody(spec_2, "body"), "child-", "");
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mjModel* model_1 = mj_compile(spec_1, nullptr);
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mjs_attachBody(attachment_frame, mjs_findBody(spec_1, "body"), "child-", "");
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mjModel* model_1 = mj_compile(parent, nullptr);
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EXPECT_THAT(model_1, NotNull());
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EXPECT_THAT(model_1->nbody, 3);
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// attach it a second time to test namespacing
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// attach it a second time to test namespacing and compile
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ASSERT_THAT(spec_2, NotNull()) << err.data();
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mjs_attachBody(attachment_frame, mjs_findBody(spec_2, "body"), "copy-", "");
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mjModel* model_2 = mj_compile(spec_1, nullptr);
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mjModel* model_2 = mj_compile(parent, nullptr);
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EXPECT_THAT(model_2, NotNull());
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EXPECT_THAT(model_2->nbody, 4);
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// attach a body not referencing the plugin
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mjs_attachBody(attachment_frame, mjs_findBody(spec_2, "empty"), "empty-", "");
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mjModel* model_3 = mj_compile(spec_1, nullptr);
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// attach a body not referencing the plugin and compile
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mjs_attachBody(attachment_frame, mjs_findBody(spec_3, "empty"), "empty-", "");
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mjModel* model_3 = mj_compile(parent, nullptr);
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EXPECT_THAT(model_3, NotNull());
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EXPECT_THAT(model_3->nbody, 5);
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mj_deleteModel(model_1);
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mj_deleteModel(model_2);
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mj_deleteModel(model_3);
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mj_deleteSpec(parent);
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mj_deleteSpec(spec_1);
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mj_deleteSpec(spec_2);
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mj_deleteSpec(spec_3);
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}
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TEST_F(PluginTest, AttachExplicitPlugin) {
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@@ -858,6 +871,7 @@ TEST_F(MujocoTest, AttachSame) {
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// create parent
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mjSpec* parent = mj_parseXMLString(xml_child, 0, er.data(), er.size());
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EXPECT_THAT(parent, NotNull()) << er.data();
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mjs_setDeepCopy(parent, true); // needed for self-attach
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// get frame
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mjsFrame* frame = mjs_findFrame(parent, "frame");
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@@ -903,7 +917,7 @@ TEST_F(MujocoTest, AttachDifferent) {
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std::string field = "";
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static constexpr char xml_parent[] = R"(
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<mujoco>
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<mujoco model="parent">
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<default>
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<default class="geom_size">
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<geom size="0.1"/>
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@@ -924,7 +938,7 @@ TEST_F(MujocoTest, AttachDifferent) {
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</mujoco>)";
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static constexpr char xml_result[] = R"(
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<mujoco>
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<mujoco model="parent">
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<default>
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<default class="geom_size">
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<geom size="0.1"/>
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@@ -1048,7 +1062,7 @@ TEST_F(MujocoTest, AttachFrame) {
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std::string field = "";
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static constexpr char xml_parent[] = R"(
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<mujoco>
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<mujoco model="parent">
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<worldbody>
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<body name="sphere">
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<freejoint/>
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@@ -1063,7 +1077,7 @@ TEST_F(MujocoTest, AttachFrame) {
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</mujoco>)";
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static constexpr char xml_result[] = R"(
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<mujoco>
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<mujoco model="parent">
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<default>
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<default class="attached-cylinder-1">
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<geom type="cylinder" size=".1 1 0"/>
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@@ -1371,13 +1385,15 @@ TEST_F(MujocoTest, AttachWorld) {
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mjSpec* parent = mj_parseXMLString(xml_parent, 0, er.data(), er.size());
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EXPECT_THAT(parent, NotNull()) << er.data();
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mjSpec* child = mj_parseXMLString(xml_child, 0, er.data(), er.size());
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EXPECT_THAT(child, NotNull()) << er.data();
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mjSpec* child1 = mj_parseXMLString(xml_child, 0, er.data(), er.size());
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EXPECT_THAT(child1, NotNull()) << er.data();
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mjSpec* child2 = mj_parseXMLString(xml_child, 0, er.data(), er.size());
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EXPECT_THAT(child2, NotNull()) << er.data();
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// attach a body to the frame
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mjsFrame* frame = mjs_findFrame(parent, "frame");
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EXPECT_THAT(frame, NotNull());
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mjsBody* body = mjs_findBody(child, "sphere");
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mjsBody* body = mjs_findBody(child1, "sphere");
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EXPECT_THAT(body, NotNull());
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mjsBody* attached = mjs_attachBody(frame, body, "attached-", "-1");
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EXPECT_THAT(attached, NotNull());
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@@ -1385,7 +1401,7 @@ TEST_F(MujocoTest, AttachWorld) {
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EXPECT_THAT(model1, NotNull());
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// attach the world to the same frame and convert it to a frame
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mjsBody* world = mjs_findBody(child, "world");
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mjsBody* world = mjs_findBody(child2, "world");
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EXPECT_THAT(world, NotNull());
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mjsBody* child_world = mjs_attachBody(frame, world, "attached-", "-2");
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EXPECT_THAT(child_world, NotNull());
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@@ -1403,7 +1419,8 @@ TEST_F(MujocoTest, AttachWorld) {
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<< "Different field: " << field << '\n';
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mj_deleteSpec(parent);
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mj_deleteSpec(child);
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mj_deleteSpec(child1);
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mj_deleteSpec(child2);
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mj_deleteModel(model1);
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mj_deleteModel(model2);
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mj_deleteModel(expected);
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@@ -1577,11 +1594,13 @@ TEST_F(MujocoTest, RecompileAttach) {
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mjSpec* parent = mj_makeSpec();
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EXPECT_THAT(parent, NotNull());
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mjSpec* child = mj_parseXMLString(xml, 0, er.data(), er.size());
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EXPECT_THAT(child, NotNull());
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mjSpec* child1 = mj_parseXMLString(xml, 0, er.data(), er.size());
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EXPECT_THAT(child1, NotNull());
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mjSpec* child2 = mj_parseXMLString(xml, 0, er.data(), er.size());
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EXPECT_THAT(child2, NotNull());
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mjsFrame* frame1 = mjs_addFrame(mjs_findBody(parent, "world"), 0);
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mjs_attachBody(frame1, mjs_findBody(child, "body"), "child-", "-1");
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mjs_attachBody(frame1, mjs_findBody(child1, "body"), "child-", "-1");
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mjModel* model = mj_compile(parent, 0);
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EXPECT_THAT(model, NotNull());
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@@ -1594,7 +1613,7 @@ TEST_F(MujocoTest, RecompileAttach) {
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}
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mjsFrame* frame2 = mjs_addFrame(mjs_findBody(parent, "world"), 0);
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mjs_attachBody(frame2, mjs_findBody(child, "body"), "child-", "-2");
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mjs_attachBody(frame2, mjs_findBody(child2, "body"), "child-", "-2");
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EXPECT_EQ(mj_recompile(parent, 0, model, data), 0);
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EXPECT_THAT(model, NotNull());
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@@ -1604,7 +1623,8 @@ TEST_F(MujocoTest, RecompileAttach) {
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mj_deleteData(data);
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mj_deleteModel(model);
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mj_deleteSpec(child);
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mj_deleteSpec(child1);
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mj_deleteSpec(child2);
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mj_deleteSpec(parent);
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}
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@@ -1637,6 +1657,7 @@ TEST_F(MujocoTest, AttachMocap) {
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mjSpec* spec = mj_parseXMLString(xml, 0, er.data(), er.size());
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EXPECT_THAT(spec, NotNull()) << er.data();
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mjs_setDeepCopy(spec, true); // needed for self-attach
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mjsBody* body = mjs_findBody(spec, "mocap");
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EXPECT_THAT(body, NotNull());
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@@ -1732,8 +1753,8 @@ TEST_F(MujocoTest, AttachUnnamedAssets) {
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EXPECT_STREQ(mj_id2name(model, mjOBJ_MESH, 0), "_cube");
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mj_deleteVFS(vfs.get());
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mj_deleteSpec(child);
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mj_deleteSpec(spec);
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mj_deleteSpec(child);
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mj_deleteModel(model);
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}
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@@ -1866,6 +1887,9 @@ void AttachNestedKeyframe(bool compile) {
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mjSpec* gchild = mj_parseXMLString(gchild_xml, 0, er.data(), er.size());
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EXPECT_THAT(gchild, NotNull()) << er.data();
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mjs_setDeepCopy(parent, true);
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mjs_setDeepCopy(child, true);
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// attach gchild to child
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mjs_attachBody(mjs_findFrame(child, "frame"),
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mjs_findBody(gchild, "body"), "gchild-", "");
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@@ -1937,18 +1961,18 @@ TEST_F(MujocoTest, RepeatedAttachKeyframe) {
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</mujoco>)";
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std::array<char, 1000> er;
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mjSpec* spec_1 = mj_parseXMLString(xml_1, 0, er.data(), er.size());
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EXPECT_THAT(spec_1, NotNull()) << er.data();
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mjSpec* spec_2 = mj_parseXMLString(xml_2, 0, er.data(), er.size());
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EXPECT_THAT(spec_2, NotNull()) << er.data();
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mjSpec* parent = mj_parseXMLString(xml_1, 0, er.data(), er.size());
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EXPECT_THAT(parent, NotNull()) << er.data();
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mjSpec* child = mj_parseXMLString(xml_2, 0, er.data(), er.size());
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EXPECT_THAT(child, NotNull()) << er.data();
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mjsBody* body_1 = mjs_findBody(spec_1, "body");
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mjsBody* body_1 = mjs_findBody(parent, "body");
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mjsFrame* attachment_frame = mjs_addFrame(body_1, 0);
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mjs_attachBody(attachment_frame, mjs_findBody(spec_2, "b1"), "b1-", "");
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mjModel* model_1 = mj_compile(spec_1, 0);
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mjs_attachBody(attachment_frame, mjs_findBody(child, "b1"), "b1-", "");
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mjModel* model_1 = mj_compile(parent, 0);
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EXPECT_THAT(model_1, NotNull());
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mjs_attachBody(attachment_frame, mjs_findBody(spec_2, "b2"), "b2-", "");
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mjModel* model_2 = mj_compile(spec_1, 0);
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mjs_attachBody(attachment_frame, mjs_findBody(child, "b2"), "b2-", "");
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mjModel* model_2 = mj_compile(parent, 0);
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EXPECT_THAT(model_2, NotNull());
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EXPECT_EQ(model_1->nkey, 1);
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@@ -1956,8 +1980,8 @@ TEST_F(MujocoTest, RepeatedAttachKeyframe) {
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EXPECT_STREQ(mj_id2name(model_2, mjOBJ_KEY, 0), "b1-home");
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EXPECT_STREQ(mj_id2name(model_2, mjOBJ_KEY, 1), "b2-home");
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mj_deleteSpec(spec_1);
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mj_deleteSpec(spec_2);
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mj_deleteSpec(parent);
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mj_deleteSpec(child);
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mj_deleteModel(model_1);
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mj_deleteModel(model_2);
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}
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@@ -2177,5 +2201,64 @@ TEST_F(MujocoTest, CopyAttachedSpec) {
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mj_deleteVFS(vfs.get());
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}
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TEST_F(MujocoTest, ApplyNameSpaceToDefaults) {
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static constexpr char xml_c[] = R"(
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<mujoco>
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<default>
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<default class="mesh">
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<mesh scale="0.001 0.001 0.001"/>
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</default>
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</default>
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<asset>
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<mesh file="cube.obj" class="mesh"/>
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</asset>
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<worldbody>
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<body name="body">
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<geom type="mesh" mesh="cube"/>
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</body>
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</worldbody>
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</mujoco>)";
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static constexpr char xml_p[] = R"(
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<mujoco>
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<worldbody>
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<frame name="parent"/>
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</worldbody>
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</mujoco>
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)";
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static constexpr char cube[] = R"(
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v -0.500000 -0.500000 0.500000
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v 0.500000 -0.500000 0.500000
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v -0.500000 0.500000 0.500000
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v 0.500000 0.500000 0.500000
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v -0.500000 0.500000 -0.500000
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v 0.500000 0.500000 -0.500000
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v -0.500000 -0.500000 -0.500000
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v 0.500000 -0.500000 -0.500000)";
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auto vfs = std::make_unique<mjVFS>();
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mj_defaultVFS(vfs.get());
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mj_addBufferVFS(vfs.get(), "cube.obj", cube, sizeof(cube));
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std::array<char, 1024> err;
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mjSpec* child = mj_parseXMLString(xml_c, vfs.get(), err.data(), err.size());
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EXPECT_THAT(child, NotNull()) << err.data();
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mjSpec* parent = mj_parseXMLString(xml_p, 0, err.data(), err.size());
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EXPECT_THAT(parent, NotNull()) << err.data();
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mjsBody* attached = mjs_attachBody(mjs_findFrame(parent, "parent"),
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mjs_findBody(child, "body"), "child-", "");
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EXPECT_THAT(attached, NotNull());
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mjModel* model = mj_compile(parent, vfs.get());
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EXPECT_THAT(model, NotNull());
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mj_deleteSpec(child);
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mj_deleteSpec(parent);
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mj_deleteModel(model);
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mj_deleteVFS(vfs.get());
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}
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} // namespace
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} // namespace mujoco
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