Kyle Bayes
6cb6e5a93f
PiperOrigin-RevId: 902752921 Change-Id: I8e2085ff17db0ac0db1641b8837415c458e5eca4
81 lines
2.7 KiB
C++
81 lines
2.7 KiB
C++
// Copyright 2021 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 engine/engine_collision_convex.c.
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#include <cstddef>
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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/mjmodel.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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static const char* const kFramelessContactPath =
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"engine/testdata/collision_convex/frameless_contact.xml";
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static const char* const kFramelessContactHfieldPath =
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"engine/testdata/collision_convex/frameless_contact_hfield.xml";
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static const char* const kCylinderBoxPath =
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"engine/testdata/collision_convex/cylinder_box.xml";
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using MjcConvexTest = MujocoTest;
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TEST_F(MjcConvexTest, FramelessContact) {
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const std::string xml_path = GetTestDataFilePath(kFramelessContactPath);
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char error[1024];
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const std::size_t error_sz = 1024;
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mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, error_sz);
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// Loading used to fail with "engine error: xaxis of contact frame undefined".
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EXPECT_THAT(model, NotNull()) << "Failed to load model: " << error;
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mj_deleteModel(model);
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}
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TEST_F(MjcConvexTest, FramelessContactHfield) {
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const std::string xml_path = GetTestDataFilePath(kFramelessContactHfieldPath);
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char error[1024];
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const std::size_t error_sz = 1024;
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mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, error_sz);
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// Loading used to fail with "engine error: xaxis of contact frame undefined".
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EXPECT_THAT(model, NotNull()) << "Failed to load model: " << error;
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mj_deleteModel(model);
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}
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TEST_F(MjcConvexTest, CylinderBox) {
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const std::string xml_path = GetTestDataFilePath(kCylinderBoxPath);
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mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
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ASSERT_THAT(model, NotNull());
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mjData* data = mj_makeData(model);
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// with multiCCD enabled, should find 5 contacts
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mj_forward(model, data);
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EXPECT_EQ(data->ncon, 5);
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// with multiCCD disabled, should find 1 contact
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model->opt.disableflags |= mjDSBL_MULTICCD;
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mj_forward(model, data);
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EXPECT_EQ(data->ncon, 1);
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mj_deleteData(data);
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mj_deleteModel(model);
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}
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} // namespace
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} // namespace mujoco
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