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Add Signed Distance Field to collision geometries.

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PiperOrigin-RevId: 557507088
Change-Id: I358a642407aee1ba8dfc9d405eb9a4f609435fe9
This commit is contained in:
Alessio Quaglino
2023-08-16 09:14:29 -07:00
committed by Copybara-Service
parent 6245edae28
commit fdb041580c
57 changed files with 3229 additions and 81 deletions
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test/engine/engine_plugin_test.cc
+12 -8
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@@ -32,9 +32,9 @@ namespace {
using ::testing::HasSubstr;
using ::testing::NotNull;
constexpr int kNumTruePlugins = 8;
constexpr int kNumFakePlugins = 30;
constexpr int kNumTestPlugins = 3;
const int kNumTruePlugins = mjp_pluginCount();
class BaseTestPlugin {
public:
@@ -319,10 +319,10 @@ int RegisterPassivePlugin() {
return mjp_registerPlugin(&plugin);
}
class PluginTest : public MujocoTest {
class EnginePluginTest : public PluginTest {
public:
// register all plugins
PluginTest() : MujocoTest() {
EnginePluginTest() : PluginTest() {
RegisterSensorPlugin();
for (int i = 1; i <= kNumFakePlugins; ++i) {
@@ -388,7 +388,11 @@ constexpr char xml[] = R"(
</mujoco>
)";
TEST_F(PluginTest, MultiplePluginTableBlocks) {
TEST_F(PluginTest, FirstPartyPlugins) {
EXPECT_THAT(mjp_pluginCount(), kNumTruePlugins);
}
TEST_F(EnginePluginTest, MultiplePluginTableBlocks) {
EXPECT_EQ(mjp_pluginCount(), kNumTruePlugins + kNumFakePlugins + kNumTestPlugins);
const mjpPlugin* last_plugin = nullptr;
@@ -412,14 +416,14 @@ TEST_F(PluginTest, MultiplePluginTableBlocks) {
EXPECT_LT(table_count, kNumFakePlugins);
}
TEST_F(PluginTest, RegisterIdenticalPlugin) {
TEST_F(EnginePluginTest, RegisterIdenticalPlugin) {
EXPECT_EQ(RegisterSensorPlugin(), kNumTruePlugins);
EXPECT_EQ(RegisterActuatorPlugin(), kNumTruePlugins + kNumFakePlugins + 1);
EXPECT_EQ(RegisterPassivePlugin(), kNumTruePlugins + kNumFakePlugins + 2);
EXPECT_EQ(mjp_pluginCount(), kNumTruePlugins + kNumFakePlugins + kNumTestPlugins);
}
TEST_F(PluginTest, SaveXml) {
TEST_F(EnginePluginTest, SaveXml) {
char error[1024] = {0};
mjModel* m = LoadModelFromString(xml, error, sizeof(error));
@@ -471,7 +475,7 @@ TEST_F(PluginTest, SaveXml) {
mj_deleteModel(m2);
}
TEST_F(PluginTest, SensorPlugin) {
TEST_F(EnginePluginTest, SensorPlugin) {
int expected_init_count = TestSensor::InitCount();
int expected_destroy_count = TestSensor::DestroyCount();
EXPECT_EQ(expected_init_count, expected_destroy_count);
@@ -529,7 +533,7 @@ TEST_F(PluginTest, SensorPlugin) {
EXPECT_EQ(TestSensor::DestroyCount(), expected_destroy_count);
}
TEST_F(PluginTest, ActuatorPlugin) {
TEST_F(EnginePluginTest, ActuatorPlugin) {
int expected_init_count = TestActuator::InitCount();
int expected_destroy_count = TestActuator::DestroyCount();
EXPECT_EQ(expected_init_count, expected_destroy_count);