Nimrod Gileadi
7cb7c87f70
1. Create an arena for the mjData instance used by the passive viewer visualization. When using the passive viewer, stuff gets copied from the real mjData into a minimal struct. That struct didn't have a stack, and now visualization for Flex does stack allocs. 2. Add missing a missing field in scene state for flex visualization. 3. Fix a memory leak where mjvScene wasn't released on exit in the passive viewer. 4. Add some locks in places where the render thread and Simulate::Sync collide. This fixes #1280. PiperOrigin-RevId: 591891676 Change-Id: I592f286cab9719c8d9af84e42f9756ea1f9f1971
124 lines
4.1 KiB
C++
124 lines
4.1 KiB
C++
// Copyright 2023 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 MjvSceneStateTest = MujocoTest;
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constexpr int kMaxGeom = 10000;
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static const char* const kHammockPath =
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"engine/testdata/hammock/hammock.xml";
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static const char* const kTendonPath =
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"engine/testdata/island/tendon_wrap.xml";
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static const char* const kFrustumPath =
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"engine/testdata/vis_visualize/frustum.xml";
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static const char* const kFlex = "testdata/flex.xml";
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static const char* const kModelPath = "testdata/model.xml";
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#define EXPECT_ZERO(exp) EXPECT_EQ(0, exp);
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TEST_F(MjvSceneStateTest, CanUpdateFromState) {
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for (const char* path :
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{kHammockPath, kTendonPath, kModelPath, kFrustumPath, kFlex}) {
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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 scn1;
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mjv_defaultScene(&scn1);
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mjv_makeScene(model, &scn1, 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, &scn1);
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EXPECT_GT(scn1.ngeom, 0);
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if (model->nskin) EXPECT_GT(scn1.nskin, 0);
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EXPECT_GT(scn1.nlight, 0);
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mjvSceneState scnstate;
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mjv_defaultSceneState(&scnstate);
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mjv_makeSceneState(model, data, &scnstate, kMaxGeom);
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mjv_updateSceneState(model, data, &opt, &scnstate);
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mjvScene scn2;
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mjv_defaultScene(&scn2);
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mjv_makeScene(model, &scn2, kMaxGeom);
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mjv_updateSceneFromState(&scnstate, &opt, &pert, &cam, mjCAT_ALL, &scn2);
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EXPECT_EQ(scn1.ngeom, scn2.ngeom);
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for (int i = 0; i < scn1.ngeom; ++i) {
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EXPECT_ZERO(std::memcmp(&scn1.geoms[i], &scn2.geoms[i], sizeof(mjvGeom)));
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}
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// NB: scn->geomorder is a scratch space for use by mjr_render, so we don't
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// need to compare them here.
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EXPECT_LE(scn1.nskin, scn2.nskin);
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EXPECT_ZERO(std::memcmp(scn1.skinfacenum, scn2.skinfacenum,
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sizeof(*scn2.skinfacenum) * scn2.nskin));
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EXPECT_ZERO(std::memcmp(scn1.skinvertadr, scn2.skinvertadr,
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sizeof(*scn2.skinvertadr) * scn2.nskin));
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EXPECT_ZERO(std::memcmp(scn1.skinvertnum, scn2.skinvertnum,
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sizeof(*scn2.skinvertnum) * scn2.nskin));
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EXPECT_ZERO(std::memcmp(scn1.skinvert, scn2.skinvert,
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sizeof(*scn2.skinvert) * scn2.nskin));
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EXPECT_ZERO(std::memcmp(scn1.skinnormal, scn2.skinnormal,
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sizeof(*scn2.skinnormal) * scn2.nskin));
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auto scn1_cmp_begin = reinterpret_cast<char*>(&scn1.nlight);
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auto scn2_cmp_begin = reinterpret_cast<char*>(&scn2.nlight);
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auto cmp_bytes =
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sizeof(mjvScene) - (scn2_cmp_begin - reinterpret_cast<char*>(&scn2));
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EXPECT_ZERO(std::memcmp(scn1_cmp_begin, scn2_cmp_begin, cmp_bytes));
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mjv_freeScene(&scn1);
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mjv_freeScene(&scn2);
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mjv_freeSceneState(&scnstate);
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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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