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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_collision_convex.c.
#include <cstddef>
#include <string>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mujoco.h>
#include "test/fixture.h"
namespace mujoco {
namespace {
using ::testing::NotNull;
static const char* const kFramelessContactPath =
"engine/testdata/collision_convex/frameless_contact.xml";
static const char* const kFramelessContactHfieldPath =
"engine/testdata/collision_convex/frameless_contact_hfield.xml";
static const char* const kCylinderBoxPath =
"engine/testdata/collision_convex/cylinder_box.xml";
using MjcConvexTest = MujocoTest;
TEST_F(MjcConvexTest, FramelessContact) {
const std::string xml_path = GetTestDataFilePath(kFramelessContactPath);
char error[1024];
const std::size_t error_sz = 1024;
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, error_sz);
// Loading used to fail with "engine error: xaxis of contact frame undefined".
EXPECT_THAT(model, NotNull()) << "Failed to load model: " << error;
mj_deleteModel(model);
}
TEST_F(MjcConvexTest, FramelessContactHfield) {
const std::string xml_path = GetTestDataFilePath(kFramelessContactHfieldPath);
char error[1024];
const std::size_t error_sz = 1024;
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, error_sz);
// Loading used to fail with "engine error: xaxis of contact frame undefined".
EXPECT_THAT(model, NotNull()) << "Failed to load model: " << error;
mj_deleteModel(model);
}
TEST_F(MjcConvexTest, CylinderBox) {
const std::string xml_path = GetTestDataFilePath(kCylinderBoxPath);
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
ASSERT_THAT(model, NotNull());
mjData* data = mj_makeData(model);
// with multiCCD enabled, should find 5 contacts
mj_forward(model, data);
ASSERT_EQ(data->ncon, 5);
// with multiCCD disabled, should find 1 contact
model->opt.enableflags &= ~mjENBL_MULTICCD;
mj_forward(model, data);
ASSERT_EQ(data->ncon, 1);
mj_deleteData(data);
mj_deleteModel(model);
}
} // namespace
} // namespace mujoco
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