Replace mjv_sceneState and related code with mjv_copy{Model,Data}

PiperOrigin-RevId: 760662776
Change-Id: I512bda9187fbc19ade6924b91d5cb2275078de42

test/engine/CMakeLists.txt

@@ -67,11 +67,4 @@ mujoco_test(engine_util_solve_test)
 
 mujoco_test(engine_util_spatial_test)
 
-mujoco_test(
-  engine_vis_state_test
-  PROPERTIES
-  ENVIRONMENT
-  "MUJOCO_PLUGIN_DIR=$<TARGET_FILE_DIR:elasticity>"
-)
-
 mujoco_test(engine_vis_visualize_test)

test/engine/engine_vis_state_test.cc

@@ -1,123 +0,0 @@
-// Copyright 2023 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <cstring>
-#include <string>
-
-#include <gmock/gmock.h>
-#include <gtest/gtest.h>
-#include <mujoco/mjvisualize.h>
-#include <mujoco/mujoco.h>
-#include "test/fixture.h"
-
-namespace mujoco {
-namespace {
-
-using ::testing::NotNull;
-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 kFrustumPath =
-    "engine/testdata/vis_visualize/frustum.xml";
-static const char* const kFlex = "testdata/flex.xml";
-static const char* const kModelPath = "testdata/model.xml";
-
-#define EXPECT_ZERO(exp) EXPECT_EQ(0, exp);
-
-TEST_F(MjvSceneStateTest, CanUpdateFromState) {
-  for (const char* path :
-       {kHammockPath, kTendonPath, kModelPath, kFrustumPath, kFlex}) {
-    const std::string xml_path = GetTestDataFilePath(path);
-    mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
-    ASSERT_THAT(model, NotNull()) << "Failed to load model from " << path;
-    mjData* data = mj_makeData(model);
-
-    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);
-  }
-}
-
-}  // namespace
-}  // namespace mujoco