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Add metallic and roughness scalar attributes to materials.

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Rename `light_radius` -> `light_bulbradius`, make the default value 0.02.

PiperOrigin-RevId: 627032170
Change-Id: I1e01e2eca028c0aefc2e7dc384e8b34abac184aa
This commit is contained in:
Yuval Tassa
2024-04-22 07:37:52 -07:00
committed by Copybara-Service
parent c2d0c5dd1b
commit caf215e342
18 changed files with 170 additions and 45 deletions
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test/xml/xml_native_reader_test.cc
+5 -5
View File
@@ -1873,22 +1873,22 @@ TEST_F(XMLReaderTest, LightRadius) {
<mujoco>
<default>
<default class="r1">
<light radius="1"/>
<light bulbradius="1"/>
</default>
</default>
<worldbody>
<light/>
<light class="r1"/>
<light class="r1" radius="2"/>
<light class="r1" bulbradius="2"/>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_EQ(model->light_radius[0], 0);
EXPECT_EQ(model->light_radius[1], 1);
EXPECT_EQ(model->light_radius[2], 2);
EXPECT_FLOAT_EQ(model->light_bulbradius[0], 0.02);
EXPECT_FLOAT_EQ(model->light_bulbradius[1], 1);
EXPECT_FLOAT_EQ(model->light_bulbradius[2], 2);
mj_deleteModel(model);
}
test/xml/xml_native_writer_test.cc
+35 -5
View File
@@ -943,13 +943,13 @@ TEST_F(XMLWriterTest, WritesLight) {
<mujoco>
<default>
<default class="r1">
<light radius="1"/>
<light bulbradius="1"/>
</default>
</default>
<worldbody>
<light/>
<light class="r1"/>
<light class="r1" radius="2"/>
<light class="r1" bulbradius="2"/>
</worldbody>
</mujoco>
)";
@@ -959,9 +959,39 @@ TEST_F(XMLWriterTest, WritesLight) {
// save and read, compare data
mjModel* mtemp = LoadModelFromString(SaveAndReadXml(model));
EXPECT_EQ(mtemp->nlight, 3);
EXPECT_EQ(mtemp->light_radius[0], 0);
EXPECT_EQ(mtemp->light_radius[1], 1);
EXPECT_EQ(mtemp->light_radius[2], 2);
EXPECT_FLOAT_EQ(mtemp->light_bulbradius[0], 0.02);
EXPECT_FLOAT_EQ(mtemp->light_bulbradius[1], 1);
EXPECT_FLOAT_EQ(mtemp->light_bulbradius[2], 2);
mj_deleteModel(mtemp);
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, WritesMaterial) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<default class="mat">
<material metallic="2" roughness="3"/>
</default>
</default>
<asset>
<material name="0" class="mat"/>
<material name="1" class="mat" metallic="4" roughness="5"/>
</asset>
</mujoco>
)";
std::array<char, 1000> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
// save and read, compare data
mjModel* mtemp = LoadModelFromString(SaveAndReadXml(model));
EXPECT_EQ(mtemp->nmat, 2);
EXPECT_EQ(mtemp->mat_metallic[0], 2);
EXPECT_EQ(mtemp->mat_metallic[1], 4);
EXPECT_EQ(mtemp->mat_roughness[0], 3);
EXPECT_EQ(mtemp->mat_roughness[1], 5);
mj_deleteModel(mtemp);
mj_deleteModel(model);