Saran Tunyasuvunakool
1913a02b40
PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
121 lines
3.9 KiB
C++
121 lines
3.9 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 user/user_objects.cc.
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#include <array>
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#include <cstddef>
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#include <ostream>
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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/mjtnum.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 MjCMeshTest = MujocoTest;
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// yuval: why do we want these anyway? why not string literals in the tests?
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// this does not improve readabillity IMO.
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static const char* const kDuplicateVerticesPath =
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"user/testdata/duplicate_vertices.xml";
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static const char* const kCubePath =
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"user/testdata/cube.xml";
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static const char* const kTorusPath =
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"user/testdata/torus.xml";
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static const char* const kTorusQuadsPath =
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"user/testdata/torus_quads.xml";
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static const char* const kTexturedTorusPath =
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"user/testdata/textured_torus.xml";
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static const char* const kDuplicateOBJPath =
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"user/testdata/duplicate.xml";
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// ------------- test vertex de-duplication (STL) ------------------------------
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TEST_F(MjCMeshTest, DeDuplicateSTLVertices) {
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const std::string xml_path = GetTestDataFilePath(kDuplicateVerticesPath);
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char error[1024];
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size_t error_sz = 1024;
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mjModel* model = mj_loadXML(xml_path.c_str(), 0, error, error_sz);
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ASSERT_EQ(model->nmeshvert, 4);
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mj_deleteModel(model);
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}
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// ------------- test OBJ loading ----------------------------------------------
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using MjCMeshTest = MujocoTest;
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TEST_F(MjCMeshTest, LoadCube) {
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const std::string xml_path = GetTestDataFilePath(kCubePath);
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mjModel* model = mj_loadXML(xml_path.c_str(), 0, nullptr, 0);
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ASSERT_GT(model->ngeom, 0);
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ASSERT_EQ(model->nmeshvert, 8);
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mj_deleteModel(model);
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}
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TEST_F(MjCMeshTest, LoadTorus) {
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const std::string xml_path = GetTestDataFilePath(kTorusPath);
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std::array<char, 1024> error;
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mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
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ASSERT_GT(model->ngeom, 0);
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ASSERT_GT(model->nmeshvert, 0);
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mj_deleteModel(model);
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}
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TEST_F(MjCMeshTest, LoadTorusQuads) {
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const std::string xml_path = GetTestDataFilePath(kTorusQuadsPath);
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std::array<char, 1024> error;
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mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
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ASSERT_GT(model->ngeom, 0);
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ASSERT_GT(model->nmeshvert, 0);
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mj_deleteModel(model);
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}
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TEST_F(MjCMeshTest, LoadTexturedTorus) {
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const std::string xml_path = GetTestDataFilePath(kTexturedTorusPath);
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std::array<char, 1024> error;
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mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
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ASSERT_GT(model->ngeom, 0);
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ASSERT_GT(model->nmeshvert, 0);
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ASSERT_GT(model->ntex, 0);
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ASSERT_GT(model->ntexdata, 0);
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mj_deleteModel(model);
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}
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TEST_F(MjCMeshTest, KeepDuplicateOBJVertices) {
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const std::string xml_path = GetTestDataFilePath(kDuplicateOBJPath);
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char error[1024];
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size_t error_sz = 1024;
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mjModel* model = mj_loadXML(xml_path.c_str(), 0, error, error_sz);
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ASSERT_EQ(model->nmeshvert, 12);
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mj_deleteModel(model);
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}
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TEST_F(MjCMeshTest, SaveMeshOnce) {
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const std::string xml_path = GetTestDataFilePath(kCubePath);
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std::array<char, 1024> error;
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mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
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std::string saved_xml = SaveAndReadXml(model);
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EXPECT_THAT(saved_xml, Not(testing::HasSubstr("vertex")));
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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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