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Fix bug in cached meshes where convex hull was missing. Previously if a mesh was copied from the cache it would not have its convex hull if the original mesh that was cached didn't previously compute it.

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Fixes #2609

PiperOrigin-RevId: 756223337
Change-Id: I54705456636c270607a17340b249047e0df75d0b
This commit is contained in:
Kyle Bayes
2025-05-08 02:41:06 -07:00
committed by Copybara-Service
parent 6cfea71985
commit f4774a5449
6 changed files with 88 additions and 57 deletions
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test/user/user_cache_test.cc
+1
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@@ -65,6 +65,7 @@ GetCachedText(mjCCache& cache, const std::string& model,
bool inserted = cache.PopulateData(resource,
[&cached_text](const void* data) {
cached_text = *(static_cast<const std::string*>(data));
return true;
});
mju_closeResource(resource);
mj_deleteVFS(&vfs);
test/user/user_mesh_test.cc
+44 -2
View File
@@ -42,14 +42,14 @@ static const char* const kDuplicateVerticesPath =
"user/testdata/duplicate_vertices.xml";
static const char* const kCubePath =
"user/testdata/cube.xml";
static const char* const kCubeCompletePath =
"user/testdata/cube_complete.obj";
static const char* const kTorusPath =
"user/testdata/torus.xml";
static const char* const kTorusMaxhullVertPath =
"user/testdata/torus_maxhullvert.xml";
static const char* const kTorusDefaultMaxhullVertPath =
"user/testdata/torus_maxhullvert_default.xml";
static const char* const kTorusShellPath =
"user/testdata/torus_shell.xml";
static const char* const kCompareInertiaPath =
"user/testdata/inertia_compare.xml";
static const char* const kConvexInertiaPath =
@@ -1207,6 +1207,48 @@ TEST_F(MjCMeshTest, InvalidIndexInFace) {
mj_deleteModel(model);
}
TEST_F(MjCMeshTest, QhullCache) {
static constexpr char xml1[] = R"(
<mujoco>
<asset>
<mesh name="box" file="cube_complete.obj"/>
</asset>
<worldbody>
<geom type="mesh" pos="0 0 2" mesh="box" contype="0" conaffinity="0"/>
<geom type="mesh" pos="0 0 0" mesh="box" contype="0" conaffinity="0"/>
</worldbody>
</mujoco>)";
static constexpr char xml2[] = R"(
<mujoco>
<asset>
<mesh name="box" file="cube_complete.obj"/>
</asset>
<worldbody>
<geom type="mesh" pos="0 0 2" mesh="box"/>
<geom type="mesh" pos="0 0 0" mesh="box"/>
</worldbody>
</mujoco>)";
mjVFS vfs;
mj_defaultVFS(&vfs);
mj_addFileVFS(&vfs, "", GetTestDataFilePath(kCubeCompletePath).c_str());
std::array<char, 1000> error;
mjModel* model = LoadModelFromString(xml1, error.data(), error.size(), &vfs);
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
EXPECT_THAT(model->mesh_graphadr[0], -1);
mj_deleteModel(model);
model = LoadModelFromString(xml2, error.data(), error.size(), &vfs);
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
EXPECT_GT(model->mesh_graphadr[0], -1);
mj_deleteModel(model);
mj_deleteVFS(&vfs);
}
TEST_F(MjCMeshTest, LoadSkin) {
const std::string xml_path = GetTestDataFilePath(kCubeSkinPath);
std::array<char, 1024> error;