Haroon Qureshi
70d03adc71
PiperOrigin-RevId: 813119377 Change-Id: Iebff9e7796ca9809ea22902522982bfd96eeba06
113 lines
3.1 KiB
C++
113 lines
3.1 KiB
C++
// Copyright 2024 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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#include <string>
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <mujoco/mjvisualize.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 kModelPath = "testdata/model.xml";
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class MjvSceneTest : public MujocoTest {
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protected:
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static constexpr int kMaxGeom = 10000;
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void InitSceneObjects(mjModel* model, int maxgeom = kMaxGeom) {
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mjv_defaultScene(&scn_);
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mjv_makeScene(model, &scn_, maxgeom);
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mjv_defaultOption(&opt_);
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mjv_defaultPerturb(&pert_);
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mjv_defaultFreeCamera(model, &cam_);
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// enable flags to exercise additional code paths
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for (int i = 0; i < mjNVISFLAG; ++i) {
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opt_.flags[i] = 1;
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}
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}
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void FreeSceneObjects() {
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mjv_freeScene(&scn_);
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}
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mjvScene scn_;
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mjvOption opt_;
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mjvPerturb pert_;
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mjvCamera cam_;
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};
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TEST_F(MjvSceneTest, UpdateScene) {
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const std::string xml_path = GetTestDataFilePath(kModelPath);
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mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
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ASSERT_THAT(model, NotNull()) << "Failed to load model from " << kModelPath;
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InitSceneObjects(model);
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mjData* data = mj_makeData(model);
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while (data->time < .2) {
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mj_step(model, data);
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}
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mjv_updateScene(model, data, &opt_, &pert_, &cam_, mjCAT_ALL, &scn_);
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EXPECT_EQ(scn_.status, 0);
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EXPECT_GT(scn_.ngeom, 0);
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EXPECT_GT(scn_.nlight, 0);
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if (model->nskin) EXPECT_GT(scn_.nskin, 0);
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if (model->nflex) EXPECT_GT(scn_.nflex, 0);
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mjv_updateScene(model, data, &opt_, &pert_, &cam_, mjCAT_ALL, &scn_);
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// call mj_copyData to expose any memory leaks in mjv_updateScene
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mjData* data_copy = mj_copyData(nullptr, model, data);
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mj_deleteData(data_copy);
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mj_deleteData(data);
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FreeSceneObjects();
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mj_deleteModel(model);
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}
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TEST_F(MjvSceneTest, UpdateSceneGeomsExhausted) {
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const std::string xml_path = GetTestDataFilePath(kModelPath);
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mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
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ASSERT_THAT(model, NotNull()) << "Failed to load model from " << kModelPath;
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const int maxgeoms = 1;
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InitSceneObjects(model, maxgeoms);
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mjData* data = mj_makeData(model);
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mj_forward(model, data);
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// clear handlers to avoid test failure; we are explicitly expecting a warning
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mju_clearHandlers();
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mjv_updateScene(model, data, &opt_, &pert_, &cam_, mjCAT_ALL, &scn_);
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EXPECT_EQ(scn_.status, 1);
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EXPECT_EQ(scn_.ngeom, maxgeoms);
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EXPECT_EQ(data->warning[mjWARN_VGEOMFULL].number, 1);
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mj_deleteData(data);
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FreeSceneObjects();
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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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