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Add flex arrays to CompareModel check.

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Due to a bug, all flex mjModel fields were previously ignored.

PiperOrigin-RevId: 912546202
Change-Id: Ica95ecfcbbe366fd81de6e8f7d83ed57a7d23033
This commit is contained in:
Alessio Quaglino
2026-05-08 08:47:10 -07:00
committed by Copybara-Service
parent 8cef5bb978
commit fa912dffa0
7 changed files with 158 additions and 117 deletions
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test/fixture.cc
+10 -3
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@@ -251,10 +251,17 @@ mjtNum CompareModel(const mjModel* m1, const mjModel* m2,
// compare arrays, apart from bvh-related ones (which includes flex_vert0), as
// those are sensitive to numerical differences when meshes are perfectly
// symmetric.
// symmetric. Also skip flex fields derived from node local positions and
// cell geometry that are not fully serialized to XML.
#define X(type, name, nr, nc) \
if (strncmp(#name, "bvh_", 4) && strncmp(#name, "flex_vert0", 4) && \
strncmp(#name, "mesh_poly", 4)) { \
if (strncmp(#name, "bvh_", 4) && \
strncmp(#name, "flex_vert", 9) && \
strncmp(#name, "mesh_poly", 9) && \
strcmp(#name, "flex_centered") && \
strcmp(#name, "flex_size") && \
strcmp(#name, "flexedge_length0") && \
strcmp(#name, "flexedge_invweight0") && \
strncmp(#name, "flex_node", 9)) { \
for (int r = 0; r < m1->nr; r++) { \
for (int c = 0; c < nc; c++) { \
dif = Compare(m1->name[r * nc + c], m2->name[r * nc + c]); \