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Mujoco_WASM/test/engine/engine_util_misc_test.cc
T
Yuval Tassa d680b3d234 Rename "delay" buffer functions to "history" buffers. 
The functions and associated tests related to managing time-stamped data buffers have been renamed from `mju_delay*` to `mju_history*` to better reflect their general purpose beyond just handling delays.

PiperOrigin-RevId: 866978339
Change-Id: I8655e91bce783287ad2adc412d13a1c39aa2c322
2026-02-07 14:10:16 -08:00

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// Copyright 2021 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// Tests for engine/engine_util_solve.c.
#include <array>
#include <vector>
#include <cmath>
#include <cstddef>
#include <cstdint>
#include <cstring>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <gtest/gtest-spi.h>
#include <mujoco/mjdata.h>
#include <mujoco/mujoco.h>
#include "src/engine/engine_util_misc.h"
#include "test/fixture.h"
namespace mujoco {
namespace {
using ::testing::DoubleNear;
using ::testing::ElementsAre;
using ::testing::ElementsAreArray;
using ::testing::HasSubstr;
using ::testing::NotNull;
using ::testing::Pointwise;
using ::testing::StrEq;
using UtilMiscTest = MujocoTest;
TEST_F(UtilMiscTest, PrintsMemoryWarning) {
EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 10)),
HasSubstr("1K bytes"));
EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 20)),
HasSubstr("1M bytes"));
EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 30)),
HasSubstr("1G bytes"));
EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 40)),
HasSubstr("1T bytes"));
EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 50)),
HasSubstr("1P bytes"));
EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 60)),
HasSubstr("1E bytes"));
EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 30) + 1),
HasSubstr("1073741825 bytes"));
}
TEST_F(UtilMiscTest, Sigmoid) {
// function values
EXPECT_EQ(mju_sigmoid(-1), 0);
EXPECT_EQ(mju_sigmoid(0), 0);
EXPECT_EQ(mju_sigmoid(0.5), 0.5);
EXPECT_EQ(mju_sigmoid(1), 1);
EXPECT_EQ(mju_sigmoid(2), 1);
// epsilon for finite-differencing
const mjtNum dx = 1e-7;
// derivative at 0
mjtNum dy_dx_0 = (mju_sigmoid(0 + dx) - mju_sigmoid(0)) / dx;
EXPECT_THAT(dy_dx_0, DoubleNear(0, dx));
// derivative at 1
mjtNum dy_dx_1 = (mju_sigmoid(1) - mju_sigmoid(1 - dx)) / dx;
EXPECT_THAT(dy_dx_1, DoubleNear(0, dx));
// derivative at 0.5
const mjtNum x = 0.5;
mjtNum dy_dx_0p5 = (mju_sigmoid(x + dx) - mju_sigmoid(x - dx)) / (2*dx);
mjtNum expected = 30*x*x*x*x - 60*x*x*x + 30*x*x;
EXPECT_THAT(dy_dx_0p5, DoubleNear(expected, dx));
}
TEST_F(UtilMiscTest, SphereWrap) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<site size=".015" rgba="1 0 0 1"/>
</default>
<worldbody>
<light pos="0 0 3"/>
<site name="fixed" pos="0 0 1"/>
<geom name="sphere" size=".1" pos="0 0 0.5"/>
<site name="sidesite" pos=".52 0 .5"/>
<body pos="0 0 .1">
<freejoint/>
<geom size=".05"/>
<site name="body" pos="0 0 .05"/>
</body>
</worldbody>
<tendon>
<spatial name="tendon" range="0 0.8">
<site site="fixed"/>
<geom geom="sphere" sidesite="sidesite"/>
<site site="body"/>
</spatial>
</tendon>
<sensor>
<tendonpos tendon="tendon"/>
</sensor>
<keyframe>
<key qpos="-0.00653537 -0.068031 0.301253 0.982186 -0.180204 -0.0273515 0.0457068"/>
<key qpos="-0.00653537 -0.069 0.301253 0.982186 -0.180204 -0.0273515 0.0457068"/>
</keyframe>
</mujoco>
)";
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
mjData* data = mj_makeData(model);
// measure tendon length for keyframe 0
mj_resetDataKeyframe(model, data, 0);
mj_forward(model, data);
mjtNum ten_length0 = data->sensordata[0];
// measure tendon length for keyframe 1
mj_resetDataKeyframe(model, data, 1);
mj_forward(model, data);
mjtNum ten_length1 = data->sensordata[0];
// difference should be small
mjtNum diff = ten_length1 - ten_length0;
EXPECT_LT(mju_abs(diff), 1e-3);
mj_deleteData(data);
mj_deleteModel(model);
}
// compute time constant as in Millard et al. (2013) https://doi.org/10.1115/1.4023390
mjtNum muscleDynamicsMillard(mjtNum ctrl, mjtNum act, const mjtNum prm[2]) {
// clamp control
mjtNum ctrlclamp = mju_clip(ctrl, 0, 1);
// clamp activation
mjtNum actclamp = mju_clip(act, 0, 1);
mjtNum tau;
if (ctrlclamp > act) {
tau = prm[0] * (0.5 + 1.5*actclamp);
} else {
tau = prm[1] / (0.5 + 1.5*actclamp);
}
// filter output
return (ctrlclamp-act) / mjMAX(mjMINVAL, tau);
}
TEST_F(UtilMiscTest, SmoothMuscleDynamics) {
mjtNum prm[3] = {0.01, 0.04, 0.0};
// exact equality if tau_smooth = 0
for (mjtNum ctrl : {-0.1, 0.0, 0.4, 0.5, 1.0, 1.1}) {
for (mjtNum act : {-0.1, 0.0, 0.4, 0.5, 1.0, 1.1}) {
mjtNum actdot_old = muscleDynamicsMillard(ctrl, act, prm);
mjtNum actdot_new = mju_muscleDynamics(ctrl, act, prm);
EXPECT_EQ(actdot_new, actdot_old);
}
}
// positive tau_smooth
mjtNum tau_smooth = 0.2;
prm[2] = tau_smooth;
mjtNum act = 0.5;
mjtNum eps = 1e-6;
mjtNum ctrl = 0.4 - eps; // smaller than act by just over 0.5*tau_smooth
EXPECT_EQ(muscleDynamicsMillard(ctrl, act, prm),
mju_muscleDynamics(ctrl, act, prm));
ctrl = 0.6 + eps; // larger than act by just over 0.5*tau_smooth
EXPECT_EQ(muscleDynamicsMillard(ctrl, act, prm),
mju_muscleDynamics(ctrl, act, prm));
// right in the middle should give average of time constants
mjtNum tau_act = 0.2;
mjtNum tau_deact = 0.3;
for (mjtNum dctrl : {0.0, 0.1, 0.2, 1.0, 1.1}) {
mjtNum lower = mju_muscleDynamicsTimescale(-dctrl,
tau_act, tau_deact, tau_smooth);
mjtNum upper = mju_muscleDynamicsTimescale(dctrl,
tau_act, tau_deact, tau_smooth);
EXPECT_EQ(0.5*(upper + lower), 0.5*(tau_act + tau_deact));
}
}
TEST_F(UtilMiscTest, MuscleGainLength) {
mjtNum lmin = 0.5;
mjtNum lmax = 1.5;
EXPECT_EQ(mju_muscleGainLength(0.0, lmin, lmax), 0);
EXPECT_EQ(mju_muscleGainLength(0.5, lmin, lmax), 0);
EXPECT_EQ(mju_muscleGainLength(0.75, lmin, lmax), 0.5);
EXPECT_EQ(mju_muscleGainLength(1.0, lmin, lmax), 1);
EXPECT_EQ(mju_muscleGainLength(1.25, lmin, lmax), 0.5);
EXPECT_EQ(mju_muscleGainLength(1.5, lmin, lmax), 0);
EXPECT_EQ(mju_muscleGainLength(2.0, lmin, lmax), 0);
}
TEST_F(UtilMiscTest, MjuSparseMap) {
// nr = 3
// src = [[1, 2, 0],
// [0, 3, 4],
// [5, 0, 6]]
constexpr int nr = 3;
const mjtNum mat_src[] = {1, 2, 3, 4, 5, 6};
const int rownnz_src[] = {2, 2, 2};
const int rowadr_src[] = {0, 2, 4};
const int colind_src[] = {0, 1, 1, 2, 0, 2};
// res = [[1, 0, 0],
// [0, 3, 0],
// [5, 0, 6]]
constexpr int nnz_res = 4;
const int rownnz_res[] = {1, 1, 2};
const int rowadr_res[] = {0, 1, 2};
const int colind_res[] = {0, 1, 0, 2};
int map[nnz_res];
mju_sparseMap(map, nr, rowadr_res, rownnz_res, colind_res, rowadr_src,
rownnz_src, colind_src);
// Expected map:
// res[0] (1 at 0,0) -> src[0] (1 at 0,0) => map[0] = 0
// res[1] (3 at 1,1) -> src[2] (3 at 1,1) => map[1] = 2
// res[2] (5 at 2,0) -> src[4] (5 at 2,0) => map[2] = 4
// res[3] (6 at 2,2) -> src[5] (6 at 2,2) => map[3] = 5
EXPECT_THAT(map, ElementsAre(0, 2, 4, 5));
// Verify the map by checking values
mjtNum mat_res_gathered[nnz_res];
mju_gather(mat_res_gathered, mat_src, map, nnz_res);
EXPECT_THAT(AsVector(mat_res_gathered, nnz_res),
ElementsAre(1, 3, 5, 6));
}
TEST_F(UtilMiscTest, MjuSparseLower2SymMap) {
// nr = 3
// src = [[1, 0, 0],
// [2, 3, 0],
// [4, 5, 6]]
constexpr int nr = 3;
const mjtNum mat_src[] = {1, 2, 3, 4, 5, 6};
const int rownnz_src[] = {1, 2, 3};
const int rowadr_src[] = {0, 1, 3};
const int colind_src[] = {0, 0, 1, 0, 1, 2};
// res = [[*, *, *],
// [*, *, *],
// [*, *, *]] (dense symmetric)
constexpr int res_nnz = 9;
const int rownnz_res[] = {3, 3, 3};
const int rowadr_res[] = {0, 3, 6};
const int colind_res[] = {0, 1, 2, 0, 1, 2, 0, 1, 2};
int map[res_nnz];
int cursor[nr];
mju_lower2SymMap(map, nr, rowadr_res, rownnz_res, colind_res,
rowadr_src, rownnz_src, colind_src, cursor);
// Expected map:
// res(0,0) -> src(0,0) (k=0) => map[0] = 0
// res(0,1) -> src(1,0) (k=1) => map[1] = 1
// res(0,2) -> src(2,0) (k=3) => map[2] = 3
// res(1,0) -> src(1,0) (k=1) => map[3] = 1
// res(1,1) -> src(1,1) (k=2) => map[4] = 2
// res(1,2) -> src(2,1) (k=4) => map[5] = 4
// res(2,0) -> src(2,0) (k=3) => map[6] = 3
// res(2,1) -> src(2,1) (k=4) => map[7] = 4
// res(2,2) -> src(2,2) (k=5) => map[8] = 5
EXPECT_THAT(map, ElementsAre(0, 1, 3, 1, 2, 4, 3, 4, 5));
// Verify the map by checking values
mjtNum mat_res[res_nnz];
mju_gatherMasked(mat_res, mat_src, map, res_nnz);
EXPECT_THAT(AsVector(mat_res, res_nnz),
ElementsAre(1, 2, 4, 2, 3, 5, 4, 5, 6));
}
TEST_F(UtilMiscTest, MjuSparseLower2SymMapPartial) {
// nr = 3
// src = [[1, 0, 0],
// [2, 3, 0],
// [0, 0, 6]]
constexpr int nr = 3;
const mjtNum mat_src[] = {1, 2, 3, 6};
const int rownnz_src[] = {1, 2, 1};
const int rowadr_src[] = {0, 1, 3};
const int colind_src[] = {0, 0, 1, 2};
// res with a sparse symmetric pattern
// res = [[*, *, *],
// [*, *, 0],
// [*, 0, *]]
constexpr int res_nnz = 7;
const int rownnz_res[] = {3, 2, 2};
const int rowadr_res[] = {0, 3, 5};
const int colind_res[] = {0, 1, 2, 0, 1, 0, 2};
int map[res_nnz];
int cursor[nr];
mju_lower2SymMap(map, nr, rowadr_res, rownnz_res, colind_res,
rowadr_src, rownnz_src, colind_src, cursor);
// Expected map for the non-zeros in res:
// res(0,0) -> src(0,0) (k=0) => map[0] = 0
// res(0,1) -> src(1,0) (k=1) => map[1] = 1
// res(0,2) -> Unmapped => map[2] = -1
// res(1,0) -> src(1,0) (k=1) => map[3] = 1
// res(1,1) -> src(1,1) (k=2) => map[4] = 2
// res(2,0) -> Unmapped => map[5] = -1
// res(2,2) -> src(2,2) (k=3) => map[6] = 3
EXPECT_THAT(map, ElementsAre(0, 1, -1, 1, 2, -1, 3));
// Verify the map by checking values
mjtNum mat_res[res_nnz];
mju_gatherMasked(mat_res, mat_src, map, res_nnz);
// Expected res values based on map:
// mat_res[0] = mat_src[0] = 1
// mat_res[1] = mat_src[1] = 2
// mat_res[2] = 0 (unmapped)
// mat_res[3] = mat_src[1] = 2
// mat_res[4] = mat_src[2] = 3
// mat_res[5] = 0 (unmapped)
// mat_res[6] = mat_src[3] = 6
EXPECT_THAT(AsVector(mat_res, res_nnz), ElementsAre(1, 2, 0, 2, 3, 0, 6));
}
TEST_F(UtilMiscTest, MjuIsZero) {
mjtNum vec[1] = {1};
EXPECT_EQ(mju_isZero(vec, 1), 0);
EXPECT_EQ(mju_isZero(vec, 0), 1);
vec[0] = 0;
EXPECT_EQ(mju_isZero(vec, 1), 1);
vec[0] = -0.0;
EXPECT_EQ(mju_isZero(vec, 1), 1);
EXPECT_EQ(mju_isZeroByte((const unsigned char*)vec, sizeof(mjtNum)), 0);
}
TEST_F(UtilMiscTest, MjuIsZeroByte) {
// Zero length array
EXPECT_TRUE(mju_isZeroByte(nullptr, 0));
// zero length array with non-null pointer
unsigned char vec0[1] = {0};
EXPECT_TRUE(mju_isZeroByte(vec0, sizeof(vec0)));
// one zero element array
unsigned char vec1[1] = {0};
EXPECT_TRUE(mju_isZeroByte(vec1, sizeof(vec1)));
// one non-zero element array
unsigned char vec2[2] = {1};
EXPECT_FALSE(mju_isZeroByte(vec2, sizeof(vec2)));
// Non-zero at start
unsigned char vec3[3] = {1, 0, 0};
EXPECT_FALSE(mju_isZeroByte(vec3, sizeof(vec3)));
// Non-zero at end
unsigned char vec4[3] = {0, 0, 1};
EXPECT_FALSE(mju_isZeroByte(vec4, sizeof(vec4)));
// Non-zero in middle
unsigned char vec5[3] = {0, 1, 0};
EXPECT_FALSE(mju_isZeroByte(vec5, sizeof(vec5)));
}
// --------------------------------- Interpolation -----------------------------
using InterpolationTest = MujocoTest;
TEST_F(InterpolationTest, mju_interpolate3D) {
// quadratic functions should be interpolated exactly if order = 2
auto quadratic_function_1 = [](mjtNum x, mjtNum y, mjtNum z) {
return x*x + y*y + z*z;
};
auto quadratic_function_2 = [](mjtNum x, mjtNum y, mjtNum z) {
return x*y*z + y*z*z + x*z*z;
};
auto quadratic_function_3 = [](mjtNum x, mjtNum y, mjtNum z) {
return x*y*z + y*z*z + x*z*z + y*y*z + x*x*z + x + y + z;
};
static constexpr int order = 2;
mjtNum coeff[3*(order+1)*(order+1)*(order+1)];
int index = 0;
for (int i = 0; i <= order; ++i) {
for (int j = 0; j <= order; ++j) {
for (int k = 0; k <= order; ++k) {
coeff[3*index+0] = quadratic_function_1(.5*i, .5*j, .5*k);
coeff[3*index+1] = quadratic_function_2(.5*i, .5*j, .5*k);
coeff[3*index+2] = quadratic_function_3(.5*i, .5*j, .5*k);
index++;
}
}
}
static constexpr int nsample = 5;
for (int i = 0; i < nsample; ++i) {
mjtNum sample[3];
mjtNum expected[3];
mjtNum res[3] = {0};
sample[0] = mju_Halton(i, 2);
sample[1] = mju_Halton(i, 3);
sample[2] = mju_Halton(i, 5);
expected[0] = quadratic_function_1(sample[0], sample[1], sample[2]);
expected[1] = quadratic_function_2(sample[0], sample[1], sample[2]);
expected[2] = quadratic_function_3(sample[0], sample[1], sample[2]);
mju_interpolate3D(res, sample, coeff, order);
EXPECT_NEAR(res[0], expected[0], 1e-10);
EXPECT_NEAR(res[1], expected[1], 1e-10);
EXPECT_NEAR(res[2], expected[2], 1e-10);
}
}
TEST_F(InterpolationTest, mju_defGradient) {
int order = 1;
mjtNum mat[9];
mjtNum p1[3] = {.5, .5, .5};
mjtNum p2[3] = {.25, .25, .25};
mjtNum dof0[24] = {0, 0, 0, 0, 0, 1, 0, 1, 0, 0, 1, 1,
1, 0, 0, 1, 0, 1, 1, 1, 0, 1, 1, 1};
// identity
mjtNum dof1[24];
for (int i = 0; i < 24; ++i) dof1[i] = dof0[i];
mju_defGradient(mat, p1, dof1, order);
EXPECT_THAT(mat, ElementsAreArray({1, 0, 0, 0, 1, 0, 0, 0, 1}));
// translation
mjtNum dof2[24];
for (int i = 0; i < 24; ++i) dof2[i] = 2 + dof0[i];
mju_defGradient(mat, p1, dof2, order);
EXPECT_THAT(mat, ElementsAreArray({1, 0, 0, 0, 1, 0, 0, 0, 1}));
mju_defGradient(mat, p2, dof2, order);
EXPECT_THAT(mat, ElementsAreArray({1, 0, 0, 0, 1, 0, 0, 0, 1}));
// constant stretch
mjtNum dof3[24];
for (int i = 0; i < 24; ++i) dof3[i] = 2*dof0[i];
mju_defGradient(mat, p1, dof3, order);
EXPECT_THAT(mat, ElementsAreArray({2, 0, 0, 0, 2, 0, 0, 0, 2}));
mju_defGradient(mat, p2, dof3, order);
EXPECT_THAT(mat, ElementsAreArray({2, 0, 0, 0, 2, 0, 0, 0, 2}));
// axial stretch
mjtNum dof4[24];
for (int i = 0; i < 24; ++i) dof4[i] = (i%3 == 1 ? 2 : 1)*dof0[i];
mju_defGradient(mat, p1, dof4, order);
EXPECT_THAT(mat, ElementsAreArray({1, 0, 0, 0, 2, 0, 0, 0, 1}));
mju_defGradient(mat, p2, dof4, order);
EXPECT_THAT(mat, ElementsAreArray({1, 0, 0, 0, 2, 0, 0, 0, 1}));
// z-axis 90 degree rotation
mjtNum dof5[24];
for (int i = 0; i < 8; ++i) {
mjtNum quat[4] = {0, 0, 0, 1};
mjtNum axis[3] = {0, 0, 1};
mju_axisAngle2Quat(quat, axis, mjPI/2);
mju_rotVecQuat(dof5 + 3*i, dof0 + 3*i, quat);
}
mju_defGradient(mat, p1, dof5, order);
EXPECT_THAT(mat, Pointwise(DoubleNear(1e-8), {0, -1, 0, 1, 0, 0, 0, 0, 1}));
mju_defGradient(mat, p2, dof5, order);
EXPECT_THAT(mat, Pointwise(DoubleNear(1e-8), {0, -1, 0, 1, 0, 0, 0, 0, 1}));
// z-axis 30 degree rotation
mjtNum dof6[24];
mjtNum rot6[9];
for (int i = 0; i < 8; ++i) {
mjtNum quat[4];
mjtNum axis[3] = {0, 0, 1};
mju_axisAngle2Quat(quat, axis, mjPI/6);
mju_rotVecQuat(dof6 + 3*i, dof0 + 3*i, quat);
mju_quat2Mat(rot6, quat);
}
mju_defGradient(mat, p1, dof6, order);
EXPECT_THAT(mat, Pointwise(DoubleNear(1e-8), rot6));
mju_defGradient(mat, p2, dof6, order);
EXPECT_THAT(mat, Pointwise(DoubleNear(1e-8), rot6));
// z-axis CoM rotation
mjtNum dof7[24];
mjtNum rot7[9];
for (int i = 0; i < 8; ++i) {
mjtNum quat[4];
mjtNum axis[3] = {0, 0, 1};
mjtNum offset[3] = {-.5, -.5, 0};
mju_axisAngle2Quat(quat, axis, mjPI/6);
mju_add3(dof7 + 3*i, dof0 + 3*i, offset);
mju_rotVecQuat(dof7 + 3*i, dof0 + 3*i, quat);
mju_quat2Mat(rot7, quat);
}
mju_defGradient(mat, p1, dof7, order);
EXPECT_THAT(mat, Pointwise(DoubleNear(1e-8), rot7));
mju_defGradient(mat, p2, dof7, order);
EXPECT_THAT(mat, Pointwise(DoubleNear(1e-8), rot7));
}
// --------------------------------- Base64 ------------------------------------
using Base64Test = MujocoTest;
TEST_F(Base64Test, mju_encodeBase64) {
std::array<char, 9> buffer;
std::array<std::uint8_t, 5> arr = {15, 134, 190, 255, 240};
std::size_t n = mju_encodeBase64(buffer.data(), arr.data(), arr.size());
EXPECT_THAT(buffer.data(), StrEq("D4a+//A="));
EXPECT_THAT(n, std::strlen(buffer.data()) + 1);
EXPECT_THAT(n, buffer.size());
}
TEST_F(Base64Test, mju_encodeBase64_align0) {
std::array<char, 5> buffer;
std::array<std::uint8_t, 3> arr = {'A', 'B', 'C'};
std::size_t n = mju_encodeBase64(buffer.data(), arr.data(), arr.size());
EXPECT_THAT(buffer.data(), StrEq("QUJD"));
EXPECT_THAT(n, std::strlen(buffer.data()) + 1);
EXPECT_THAT(n, buffer.size());
}
TEST_F(Base64Test, mju_encodeBase64_align1) {
std::array<char, 5> buffer;
std::array<std::uint8_t, 2> arr = {'A', 'B'};
std::size_t n = mju_encodeBase64(buffer.data(), arr.data(), arr.size());
EXPECT_THAT(buffer.data(), StrEq("QUI="));
EXPECT_THAT(n, std::strlen(buffer.data()) + 1);
EXPECT_THAT(n, buffer.size());
}
TEST_F(Base64Test, mju_encodeBase64_align2) {
std::array<char, 5> buffer;
std::array<std::uint8_t, 1> arr = {'A'};
std::size_t n = mju_encodeBase64(buffer.data(), arr.data(), arr.size());
EXPECT_THAT(buffer.data(), StrEq("QQ=="));
EXPECT_THAT(n, std::strlen(buffer.data()) + 1);
EXPECT_THAT(n, buffer.size());
}
TEST_F(Base64Test, mju_encodeBase64_null) {
std::array<char, 1> buffer;
std::size_t n = mju_encodeBase64(buffer.data(), NULL, 0);
EXPECT_THAT(n, 1);
EXPECT_THAT(buffer[0], '\0');
}
TEST_F(Base64Test, mju_encodeBase64_ones) {
std::array<char, 5> buffer;
std::array<std::uint8_t, 3> arr = {255, 255, 255};
std::size_t n = mju_encodeBase64(buffer.data(), arr.data(), arr.size());
EXPECT_THAT(buffer.data(), StrEq("////"));
EXPECT_THAT(n, std::strlen(buffer.data()) + 1);
EXPECT_THAT(n, buffer.size());
}
TEST_F(Base64Test, mju_isValidBase64_emptyStr) {
std::size_t n = mju_isValidBase64("");
EXPECT_THAT(n, 0);
}
TEST_F(Base64Test, mju_isValidBase64_invalid1) {
std::size_t n = mju_isValidBase64("A");
EXPECT_THAT(n, 0);
}
TEST_F(Base64Test, mju_isValidBase64_invalid2) {
std::size_t n = mju_isValidBase64("AAA");
EXPECT_THAT(n, 0);
}
TEST_F(Base64Test, mju_isValidBase64_invalid3) {
std::size_t n = mju_isValidBase64("A==A");
EXPECT_THAT(n, 0);
}
TEST_F(Base64Test, mju_isValidBase64_invalid5) {
std::size_t n = mju_isValidBase64("A===");
EXPECT_THAT(n, 0);
}
TEST_F(Base64Test, mju_isValidBase64_invalid6) {
std::size_t n = mju_isValidBase64("aaaa====");
EXPECT_THAT(n, 0);
}
TEST_F(Base64Test, mju_isValidBase64_invalid7) {
std::size_t n = mju_isValidBase64("A#AA");
EXPECT_THAT(n, 0);
}
TEST_F(Base64Test, mju_isValidBase64_valid1) {
std::size_t n = mju_isValidBase64("AB+/");
EXPECT_THAT(n, 3);
}
TEST_F(Base64Test, mju_isValidBase64_valid2) {
std::size_t n = mju_isValidBase64("ABC=");
EXPECT_THAT(n, 2);
}
TEST_F(Base64Test, mju_isValidBase64_valid3) {
std::size_t n = mju_isValidBase64("AB==");
EXPECT_THAT(n, 1);
}
TEST_F(Base64Test, mju_isValidBase64_valid4) {
std::size_t n = mju_isValidBase64("az09AZ+/11==");
EXPECT_THAT(n, 7);
}
TEST_F(Base64Test, mju_decodeBase64) {
std::array<std::uint8_t, 5> buffer;
const char *s = "D4a+//A=";
std::size_t n = mju_decodeBase64(buffer.data(), s);
EXPECT_THAT(buffer, ElementsAreArray({15, 134, 190, 255, 240}));
EXPECT_THAT(n, buffer.size());
}
TEST_F(Base64Test, mju_decodeBase6_align0) {
std::array<std::uint8_t, 3> buffer;
const char *s = "QUJD";
std::size_t n = mju_decodeBase64(buffer.data(), s);
EXPECT_THAT(buffer, ElementsAreArray({'A', 'B', 'C'}));
EXPECT_THAT(n, buffer.size());
}
TEST_F(Base64Test, mju_decodeBase64_align1) {
std::array<std::uint8_t, 2> buffer;
const char *s = "QUI=";
std::size_t n = mju_decodeBase64(buffer.data(), s);
EXPECT_THAT(buffer, ElementsAreArray({'A', 'B'}));
EXPECT_THAT(n, buffer.size());
}
TEST_F(Base64Test, mju_decodeBase64_align2) {
std::array<std::uint8_t, 1> buffer;
const char *s = "QQ==";
std::size_t n = mju_decodeBase64(buffer.data(), s);
EXPECT_THAT(buffer, ElementsAreArray({'A'}));
EXPECT_THAT(n, buffer.size());
}
TEST_F(Base64Test, mju_decodeBase64_null) {
const char *s = "";
std::size_t n = mju_decodeBase64(NULL, s);
EXPECT_THAT(n, 0);
}
TEST_F(Base64Test, mju_decodeBase64_ones) {
std::array<std::uint8_t, 3> buffer;
const char *s = "////";
std::size_t n = mju_decodeBase64(buffer.data(), s);
EXPECT_THAT(buffer, ElementsAreArray({255, 255, 255}));
EXPECT_THAT(n, buffer.size());
}
TEST_F(Base64Test, decodeAndEncode) {
std::array<std::uint8_t, 5> buffer1;
std::array<char, 9> buffer2;
const char *s = "D4a+/vA=";
mju_decodeBase64(buffer1.data(), s);
mju_encodeBase64(buffer2.data(), buffer1.data(), buffer1.size());
EXPECT_THAT(buffer2.data(), StrEq(s));
}
// --------------------------------- History Buffers ---------------------------
using HistoryTest = MujocoTest;
// buffer layout: [user(1), cursor(1), times(n), values(n*dim)]
// cursor points to newest element (logical index n-1)
// after init, cursor=n-1, so physical indices equal logical indices
TEST_F(HistoryTest, Init) {
constexpr int n = 4;
constexpr int dim = 1;
mjtNum buf[2 + n + n*dim];
std::vector<mjtNum> times = {4, 6, 8, 10};
std::vector<mjtNum> values = {99, 99, 99, 99};
mju_historyInit(buf, n, dim, times.data(), values.data(), 0.0);
// check header
EXPECT_EQ(buf[0], 0.0); // user
EXPECT_EQ(buf[1], static_cast<mjtNum>(n-1)); // cursor = n-1
// timestamps: [4, 6, 8, 10] (t=10 is newest)
// values: [99, 99, 99, 99]
// verify via read function (logical order)
mjtNum res;
EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 4.0, 0), 99.0);
EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 10.0, 0), 99.0);
}
TEST_F(HistoryTest, Init_Vector) {
constexpr int n = 3;
constexpr int dim = 2;
mjtNum buf[2 + n + n*dim];
std::vector<mjtNum> times = {-2, -1, 0};
std::vector<mjtNum> values = {1.0, 2.0, 1.0, 2.0, 1.0, 2.0};
mju_historyInit(buf, n, dim, times.data(), values.data(), 0.0);
EXPECT_EQ(buf[1], static_cast<mjtNum>(n-1)); // cursor = n-1
// verify via read function
mjtNum res[dim];
const mjtNum* ptr = mju_historyRead(buf, n, dim, res, -2.0, 0);
ASSERT_NE(ptr, nullptr);
EXPECT_EQ(ptr[0], 1.0);
EXPECT_EQ(ptr[1], 2.0);
}
TEST_F(HistoryTest, Append) {
constexpr int n = 4;
constexpr int dim = 1;
// Initialize buffer properly, then insert
mjtNum buf[2 + 2*n];
buf[0] = 0.0;
buf[1] = n - 1;
// timestamps: [4, 6, 8, 10]
mjtNum times[] = {4, 6, 8, 10};
mju_copy(buf + 2, times, n);
// values: [0, 0, 0, 0]
mju_zero(buf + 2 + n, n);
// overwrite with specific values
*mju_historyInsert(buf, n, dim, 4.0) = 1.0;
*mju_historyInsert(buf, n, dim, 6.0) = 2.0;
*mju_historyInsert(buf, n, dim, 8.0) = 3.0;
*mju_historyInsert(buf, n, dim, 10.0) = 4.0;
// now append at t=12
*mju_historyInsert(buf, n, dim, 12.0) = 99.0;
// verify logical order: [6, 8, 10, 12] -> [2, 3, 4, 99]
mjtNum res;
EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 6.0, 0), 2.0);
EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 8.0, 0), 3.0);
EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 10.0, 0), 4.0);
EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 12.0, 0), 99.0);
// oldest should now be t=6
EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 4.0, 0), 2.0);
}
TEST_F(HistoryTest, Append_Multiple) {
constexpr int n = 3;
constexpr int dim = 1;
mjtNum buf[2 + 2*n];
buf[0] = 0.0;
buf[1] = n - 1;
mjtNum times[] = {-2, -1, 0};
mju_copy(buf + 2, times, n);
mju_zero(buf + 2 + n, n);
for (int i = 1; i <= 4; i++) {
mjtNum i_real = static_cast<mjtNum>(i);
*mju_historyInsert(buf, n, dim, i_real) = i_real;
}
// Final: logical timestamps [2, 3, 4], values [2, 3, 4]
mjtNum res;
EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 2.0, 0), 2.0);
EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 3.0, 0), 3.0);
EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 4.0, 0), 4.0);
}
TEST_F(HistoryTest, ReadVector_ExactMatch) {
constexpr int n = 3;
constexpr int dim = 2;
mjtNum buf[2 + n + n*dim];
buf[0] = 0.0;
buf[1] = n - 1;
mjtNum times[] = {0, 1, 2};
mju_copy(buf + 2, times, n);
mju_zero(buf + 2 + n, n*dim);
// set values: t=0->(1,2), t=1->(3,4), t=2->(5,6)
mjtNum* slot0 = mju_historyInsert(buf, n, dim, 0.0);
slot0[0] = 1.0; slot0[1] = 2.0;
mjtNum* slot1 = mju_historyInsert(buf, n, dim, 1.0);
slot1[0] = 3.0; slot1[1] = 4.0;
mjtNum* slot2 = mju_historyInsert(buf, n, dim, 2.0);
slot2[0] = 5.0; slot2[1] = 6.0;
mjtNum res[dim];
const mjtNum* ptr = mju_historyRead(buf, n, dim, res, 1.0, 0);
ASSERT_NE(ptr, nullptr);
EXPECT_EQ(ptr[0], 3.0);
EXPECT_EQ(ptr[1], 4.0);
}
TEST_F(HistoryTest, ReadVector_ZOH) {
constexpr int n = 3;
constexpr int dim = 2;
mjtNum buf[2 + n + n*dim];
buf[0] = 0.0;
buf[1] = n - 1;
mjtNum times[] = {0, 1, 2};
mju_copy(buf + 2, times, n);
mju_zero(buf + 2 + n, n*dim);
mjtNum* slot0 = mju_historyInsert(buf, n, dim, 0.0);
slot0[0] = 1.0; slot0[1] = 2.0;
mjtNum* slot1 = mju_historyInsert(buf, n, dim, 1.0);
slot1[0] = 3.0; slot1[1] = 4.0;
mjtNum* slot2 = mju_historyInsert(buf, n, dim, 2.0);
slot2[0] = 5.0; slot2[1] = 6.0;
mjtNum res[dim];
const mjtNum* ptr = mju_historyRead(buf, n, dim, res, 0.5, 0);
ASSERT_NE(ptr, nullptr);
EXPECT_EQ(ptr[0], 1.0);
EXPECT_EQ(ptr[1], 2.0);
}
TEST_F(HistoryTest, ReadVector_Linear) {
constexpr int n = 3;
constexpr int dim = 2;
mjtNum buf[2 + n + n*dim];
buf[0] = 0.0;
buf[1] = n - 1;
mjtNum times[] = {0, 1, 2};
mju_copy(buf + 2, times, n);
mju_zero(buf + 2 + n, n*dim);
mjtNum* slot0 = mju_historyInsert(buf, n, dim, 0.0);
slot0[0] = 1.0; slot0[1] = 2.0;
mjtNum* slot1 = mju_historyInsert(buf, n, dim, 1.0);
slot1[0] = 3.0; slot1[1] = 4.0;
mjtNum* slot2 = mju_historyInsert(buf, n, dim, 2.0);
slot2[0] = 5.0; slot2[1] = 6.0;
mjtNum res[dim];
const mjtNum* ptr = mju_historyRead(buf, n, dim, res, 0.5, 1);
EXPECT_EQ(ptr, nullptr);
EXPECT_THAT(res[0], DoubleNear(2.0, 1e-10)); // (1+3)/2
EXPECT_THAT(res[1], DoubleNear(3.0, 1e-10)); // (2+4)/2
}
TEST_F(HistoryTest, InsertOutOfOrder) {
constexpr int n = 4;
constexpr int dim = 1;
mjtNum buf[2 + 2*n];
mjtNum res;
auto reset = [&]() {
buf[0] = 0.0;
buf[1] = n - 1;
mjtNum times[] = {4, 6, 8, 10};
mju_copy(buf + 2, times, n);
mju_zero(buf + 2 + n, n);
*mju_historyInsert(buf, n, dim, 4.0) = 1.0;
*mju_historyInsert(buf, n, dim, 6.0) = 2.0;
*mju_historyInsert(buf, n, dim, 8.0) = 3.0;
*mju_historyInsert(buf, n, dim, 10.0) = 4.0;
};
// insert in middle (between t=8 and t=10)
reset();
*mju_historyInsert(buf, n, dim, 9.0) = 99.0;
// logical: [6, 8, 9, 10] -> [2, 3, 99, 4]
EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 6.0, 0), 2.0);
EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 8.0, 0), 3.0);
EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 9.0, 0), 99.0);
EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 10.0, 0), 4.0);
// insert near start (between t=4 and t=6)
reset();
*mju_historyInsert(buf, n, dim, 5.0) = 99.0;
// logical: [5, 6, 8, 10] -> [99, 2, 3, 4]
EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 5.0, 0), 99.0);
EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 6.0, 0), 2.0);
EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 8.0, 0), 3.0);
EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 10.0, 0), 4.0);
// insert before oldest (t=3 < t=4): replaces oldest
reset();
*mju_historyInsert(buf, n, dim, 3.0) = 99.0;
// logical: [3, 6, 8, 10] -> [99, 2, 3, 4]
EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 3.0, 0), 99.0);
EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 6.0, 0), 2.0);
EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 8.0, 0), 3.0);
EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 10.0, 0), 4.0);
}
TEST_F(HistoryTest, InsertReplaceOnCollision) {
constexpr int n = 4;
constexpr int dim = 1;
mjtNum buf[2 + 2*n];
mjtNum res;
auto reset = [&]() {
// timestamps: [4, 6, 8, 10], values initialized to 0
buf[0] = 0.0;
buf[1] = n - 1;
mjtNum times[] = {4, 6, 8, 10};
mju_copy(buf + 2, times, n);
mju_zero(buf + 2 + n, n);
*mju_historyInsert(buf, n, dim, 4.0) = 1.0;
*mju_historyInsert(buf, n, dim, 6.0) = 2.0;
*mju_historyInsert(buf, n, dim, 8.0) = 3.0;
*mju_historyInsert(buf, n, dim, 10.0) = 4.0;
};
// collision in middle (t=8)
reset();
*mju_historyInsert(buf, n, dim, 8.0) = 99.0;
EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 4.0, 0), 1.0);
EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 6.0, 0), 2.0);
EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 8.0, 0), 99.0);
EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 10.0, 0), 4.0);
// collision at newest (t=10)
reset();
*mju_historyInsert(buf, n, dim, 10.0) = 99.0;
EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 4.0, 0), 1.0);
EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 6.0, 0), 2.0);
EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 8.0, 0), 3.0);
EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 10.0, 0), 99.0);
// collision at oldest (t=4)
reset();
*mju_historyInsert(buf, n, dim, 4.0) = 99.0;
EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 4.0, 0), 99.0);
EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 6.0, 0), 2.0);
EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 8.0, 0), 3.0);
EXPECT_EQ(*mju_historyRead(buf, n, dim, &res, 10.0, 0), 4.0);
}
void TriggerHistoryInitNonMonotonic() {
mjtNum buf[10];
mjtNum times[4] = {1, 2, 2, 4}; // not strictly increasing
mjtNum values[4] = {0};
mju_historyInit(buf, 4, 1, times, values, 0.0);
}
TEST_F(HistoryTest, Init_NonMonotonic) {
EXPECT_FATAL_FAILURE(TriggerHistoryInitNonMonotonic(),
"mju_historyInit: times must be strictly increasing");
}
TEST_F(HistoryTest, CubicInterpolation) {
int n = 2;
int dim = 2;
mjtNum buf[100]; // 2 + 2 + 2*2 = 8
buf[0] = 0.0;
buf[1] = n - 1;
mjtNum times[] = {-1, 0};
mju_copy(buf + 2, times, n);
mju_zero(buf + 2 + n, n*dim);
// Insert (0, 0, 1) and (1, 1, 0).
// Dim 0: 0 -> 1. Spline: p(x) = 3x^2 - 2x^3
// Dim 1: 1 -> 0. Spline: p(x) = 1 - 3x^2 + 2x^3
mjtNum* slot0 = mju_historyInsert(buf, n, dim, 0.0);
slot0[0] = 0.0; slot0[1] = 1.0;
mjtNum* slot1 = mju_historyInsert(buf, n, dim, 1.0);
slot1[0] = 1.0; slot1[1] = 0.0;
mjtNum res[2];
// Test midpoint x=0.5
// Dim 0: 0.5
// Dim 1: 1 - 0.5 = 0.5
mju_historyRead(buf, n, dim, res, 0.5, 2);
EXPECT_NEAR(res[0], 0.5, 1e-9);
EXPECT_NEAR(res[1], 0.5, 1e-9);
// Test x=0.25
// Dim 0: 3*0.25^2 - 2*0.25^3
// Dim 1: 1 - (3*0.25^2 - 2*0.25^3)
mju_historyRead(buf, n, dim, res, 0.25, 2);
mjtNum expected_0_25 = 3*0.25*0.25 - 2*0.25*0.25*0.25;
EXPECT_NEAR(res[0], expected_0_25, 1e-9);
EXPECT_NEAR(res[1], 1.0 - expected_0_25, 1e-9);
// Test x=0.8
// Dim 0: 3*0.8^2 - 2*0.8^3
// Dim 1: 1 - (3*0.8^2 - 2*0.8^3)
mju_historyRead(buf, n, dim, res, 0.8, 2);
mjtNum expected_0_8 = 3*0.8*0.8 - 2*0.8*0.8*0.8;
EXPECT_NEAR(res[0], expected_0_8, 1e-9);
EXPECT_NEAR(res[1], 1.0 - expected_0_8, 1e-9);
}
} // namespace
} // namespace mujoco
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