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