Yuval Tassa
273ced428a
PiperOrigin-RevId: 709334033 Change-Id: I69adc1d3ad0565f3684346749a372894d12ce99a
82 lines
2.2 KiB
C++
82 lines
2.2 KiB
C++
// Copyright 2024 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <cstring>
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#include <string>
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <mujoco/mjvisualize.h>
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#include <mujoco/mujoco.h>
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#include "test/fixture.h"
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namespace mujoco {
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namespace {
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using ::testing::NotNull;
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using MjvSceneTest = MujocoTest;
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constexpr int kMaxGeom = 10000;
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static const char* const kModelPath = "testdata/model.xml";
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TEST_F(MjvSceneTest, UpdateScene) {
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for (const char* path : {kModelPath}) {
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const std::string xml_path = GetTestDataFilePath(path);
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mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
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ASSERT_THAT(model, NotNull()) << "Failed to load model from " << path;
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mjData* data = mj_makeData(model);
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while (data->time < .2) {
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mj_step(model, data);
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}
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mjvScene scn;
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mjv_defaultScene(&scn);
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mjv_makeScene(model, &scn, kMaxGeom);
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mjvOption opt;
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mjv_defaultOption(&opt);
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mjvPerturb pert;
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mjv_defaultPerturb(&pert);
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mjvCamera cam;
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mjv_defaultFreeCamera(model, &cam);
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// Enable all flags to exercise all code paths
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for (int i = 0; i < mjNVISFLAG; ++i) {
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opt.flags[i] = 1;
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}
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mjv_updateScene(model, data, &opt, &pert, &cam, mjCAT_ALL, &scn);
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EXPECT_GT(scn.ngeom, 0);
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if (model->nskin) EXPECT_GT(scn.nskin, 0);
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EXPECT_GT(scn.nlight, 0);
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mjv_updateScene(model, data, &opt, &pert, &cam, mjCAT_ALL, &scn);
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// call mj_copyData to expose any memory leaks mjv_updateScene.
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mjData* data_copy = mj_copyData(nullptr, model, data);
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mjv_freeScene(&scn);
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mj_deleteData(data_copy);
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mj_deleteData(data);
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mj_deleteModel(model);
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}
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}
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} // namespace
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} // namespace mujoco
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