Sam Haves
8051f40817
This enables decoders to leverage their own file resolution systems. For example: USD can compose a stage (scene) from memory, via a file on disk, or via custom asset resolver. Passing it through to the decoder reduces the need for custom resource providers that wrap these other resolution systems. This will also enable a fun, but likely niche usecase where the decoder does procedural generation and does not have to be backed by a resource. See the tests for an example of this. PiperOrigin-RevId: 828939899 Change-Id: Ic319a685332d91198a4ae926867c834bf7f7f724
123 lines
3.6 KiB
C++
123 lines
3.6 KiB
C++
// Copyright 2025 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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// Tests for decoder plugins.
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#include <string.h>
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjplugin.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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// A simple mjSpec with one body and one geom.
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static mjSpec* MakeSimpleSpec() {
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mjSpec* s = mj_makeSpec();
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mjsBody* world = mjs_findBody(s, "world");
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mjsBody* body = mjs_addBody(world, nullptr);
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mjsGeom* geom = mjs_addGeom(body, nullptr);
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geom->size[0] = 1.0;
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geom->size[1] = 1.0;
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geom->size[2] = 1.0;
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return s;
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}
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// Always returns a simple mjSpec, ignoring the resource.
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mjSpec* FakeDecode(const mjResource* resource) { return MakeSimpleSpec(); }
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// Can decode any resource that has a .fakeformat extension.
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int FakeCanDecode(const mjResource* resource) {
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const char* ext = strrchr(resource->name, '.');
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if (ext) {
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return strcmp(ext, ".fakeformat") == 0 ||
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strcmp(ext, ".alsoFakeFormat") == 0;
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}
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return 0;
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}
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mjpDecoder FakeDecoder() {
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mjpDecoder decoder;
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mjp_defaultDecoder(&decoder);
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decoder.content_type = "model/fakeformat";
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decoder.extension = ".fakeformat|.alsoFakeFormat";
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decoder.can_decode = FakeCanDecode;
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decoder.decode = FakeDecode;
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return decoder;
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}
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using DecoderPluginTest = MujocoTest;
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TEST_F(DecoderPluginTest, CanDecode) {
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mjpDecoder decoder = FakeDecoder();
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mjp_registerDecoder(&decoder);
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static constexpr char xml[] = R"(
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<mujoco>
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<asset>
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<model name="fakeformat" file="dummy.fakeformat"/>
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<model name="also_fakeformat" file="dummy.alsoFakeFormat"/>
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</asset>
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<worldbody>
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<attach model="fakeformat" prefix="test"/>
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</worldbody>
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</mujoco>
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)";
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// Check referencing a resource via XML invokes the decoder.
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char error[1024];
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mjSpec* spec =
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mj_parseXMLString(xml, nullptr, error, sizeof(error));
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mjModel* model = mj_compile(spec, nullptr);
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ASSERT_THAT(model, testing::NotNull()) << error;
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EXPECT_EQ(model->nbody, 2); // world + included body
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EXPECT_EQ(model->ngeom, 1);
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mj_deleteModel(model);
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mj_deleteSpec(spec);
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// Check mj_parse with extension .fakeformat
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spec =
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mj_parse("dummy.fakeformat", nullptr, nullptr, error, sizeof(error));
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model = mj_compile(spec, nullptr);
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EXPECT_EQ(model->nbody, 2); // world + included body
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EXPECT_EQ(model->ngeom, 1);
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mj_deleteModel(model);
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mj_deleteSpec(spec);
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// Check mj_parse with extension .alsoFakeFormat
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spec =
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mj_parse("dummy.alsoFakeFormat", nullptr, nullptr, error, sizeof(error));
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model = mj_compile(spec, nullptr);
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EXPECT_EQ(model->nbody, 2); // world + included body
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EXPECT_EQ(model->ngeom, 1);
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mj_deleteModel(model);
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mj_deleteSpec(spec);
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// Check mj_parse with content_type
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spec = mj_parse("dummy.fakeformat", "model/fakeformat", nullptr, error,
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sizeof(error));
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model = mj_compile(spec, nullptr);
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EXPECT_EQ(model->nbody, 2); // world + included body
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EXPECT_EQ(model->ngeom, 1);
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mj_deleteModel(model);
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mj_deleteSpec(spec);
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}
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} // namespace
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} // namespace mujoco
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