Saran Tunyasuvunakool
1913a02b40
PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
113 lines
3.5 KiB
C++
113 lines
3.5 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_driver.c.
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#include <cstddef>
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#include <string>
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#include <vector>
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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 MjCollisionTest = MujocoTest;
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using GeomPair = std::pair<std::string, std::string>;
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using ::testing::IsEmpty;
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using ::testing::ElementsAre;
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// Returns a sorted list of pairs of colliding geom names, where each pair of
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// geom names is sorted.
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static std::vector<GeomPair> colliding_pairs(
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const mjModel* model, const mjData* data) {
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std::vector<GeomPair> result;
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for (int i = 0; i < data->ncon; i++) {
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std::string geom1 = mj_id2name(model, mjOBJ_GEOM, data->contact[i].geom1);
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std::string geom2 = mj_id2name(model, mjOBJ_GEOM, data->contact[i].geom2);
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result.push_back(GeomPair(std::min(geom1, geom2), std::max(geom1, geom2)));
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}
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std::sort(result.begin(), result.end());
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return result;
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}
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TEST_F(MjCollisionTest, PredefinedPairsOnly) {
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static const char* const kModelFilePath =
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"engine/testdata/collisions.xml";
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const std::string xml_path = GetTestDataFilePath(kModelFilePath);
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mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
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model->opt.collision = mjCOL_PAIR;
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mjData* data = mj_makeData(model);
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mj_fwdPosition(model, data);
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EXPECT_THAT(colliding_pairs(model, data), ElementsAre(
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GeomPair("box", "sphere_predefined")));
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mj_deleteData(data);
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mj_deleteModel(model);
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}
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TEST_F(MjCollisionTest, AllCollisions) {
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static const char* const kModelFilePath =
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"engine/testdata/collisions.xml";
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const std::string xml_path = GetTestDataFilePath(kModelFilePath);
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mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
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mjData* data = mj_makeData(model);
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// mjCOL_ALL is the default
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mj_fwdPosition(model, data);
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EXPECT_THAT(colliding_pairs(model, data), ElementsAre(
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GeomPair("box", "sphere_collides"),
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GeomPair("box", "sphere_predefined")
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));
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mj_deleteData(data);
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mj_deleteModel(model);
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}
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TEST_F(MjCollisionTest, EmptyModel) {
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mjModel* model = LoadModelFromString("<mujoco/>");
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mjData* data = mj_makeData(model);
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mj_fwdPosition(model, data);
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EXPECT_THAT(colliding_pairs(model, data), IsEmpty());
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mj_deleteData(data);
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mj_deleteModel(model);
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}
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TEST_F(MjCollisionTest, ZeroedHessian) {
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static const char* const kModelFilePath =
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"engine/testdata/collisions.xml";
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const std::string xml_path = GetTestDataFilePath(kModelFilePath);
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mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
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mjData* data = mj_makeData(model);
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mj_fwdPosition(model, data);
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for (int i = 0; i < data->ncon; i++) {
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for (int j = 0; j < 36; j++) {
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EXPECT_FALSE(isnan(data->contact[i].H[j]))
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<< "NaN in contact[" << i << "].H[" << j << "]";
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}
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}
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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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