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Reset nnzJ in resetData.

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PiperOrigin-RevId: 517976421
Change-Id: I329c0096d368062f150c6dbeec181f5b0eeefcbf
This commit is contained in:
Kyle Bayes
2023-03-20 08:32:45 -07:00
committed by Copybara-Service
parent e58d53e747
commit dfd463cdb5
2 changed files with 22 additions and 0 deletions
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test/engine/engine_io_test.cc
+21
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@@ -203,6 +203,27 @@ TEST_F(EngineIoTest, MakeDataReturnsNullOnFailure) {
mj_deleteModel(model);
}
TEST_F(EngineIoTest, ResetVariableSizes) {
constexpr char xml[] = "<mujoco/>";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
mjData* data = mj_makeData(model);
ASSERT_THAT(model, NotNull()) << "Failed to create mjData";
// don't call mj_forward, vars should be reset
EXPECT_EQ(data->ne, 0);
EXPECT_EQ(data->nf, 0);
EXPECT_EQ(data->nefc, 0);
EXPECT_EQ(data->nnzJ, 0);
EXPECT_EQ(data->ncon, 0);
mj_deleteData(data);
mj_deleteModel(model);
}
using ValidateReferencesTest = MujocoTest;
TEST_F(ValidateReferencesTest, BodyReferences) {