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// Copyright 2022 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 ray casting.
#include <array>
#include <cstddef>
#include <cstring>
#include <string>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <mujoco/mjdata.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mujoco.h>
#include "test/fixture.h"
namespace mujoco {
namespace {
static constexpr char kRayCastingModel[] = R"(
<mujoco>
<worldbody>
<geom name="static_group1" type="sphere" size=".1" pos="1 0 0"
group="1"/>
<body pos="0 0 0">
<body pos="0 0 0">
<geom name="group0" type="sphere" size=".1" pos="3 0 0"/>
</body>
<geom name="group2" type="sphere" size=".1" pos="5 0 0" group="2"/>
</body>
</worldbody>
</mujoco>
)";
using ::testing::NotNull;
using RayTest = MujocoTest;
TEST_F(RayTest, NoExclusions) {
mjModel* model = LoadModelFromString(kRayCastingModel);
ASSERT_THAT(model, NotNull());
mjData* data = mj_makeData(model);
ASSERT_THAT(data, NotNull());
mjtNum pnt[] = {0.0, 0.0, 0.0};
mjtNum vec[] = {1.0, 0.0, 0.0};
mjtByte* geomgroup = nullptr;
mjtByte flg_static = 1; // Include static geoms
int bodyexclude = -1;
int geomid = -1;
mj_kinematics(model, data);
mjtNum distance = mj_ray(model, data, pnt, vec, geomgroup, flg_static,
bodyexclude, &geomid);
EXPECT_STREQ(mj_id2name(model, mjOBJ_GEOM, geomid), "static_group1");
EXPECT_FLOAT_EQ(distance, 0.9);
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(RayTest, Exclusions) {
mjModel* model = LoadModelFromString(kRayCastingModel);
ASSERT_THAT(model, NotNull());
mjData* data = mj_makeData(model);
ASSERT_THAT(data, NotNull());
mjtNum pnt[] = {0.0, 0.0, 0.0};
mjtNum vec[] = {1.0, 0.0, 0.0};
mjtByte geomgroup[] = {1, 1, 1};
mjtByte flg_static = 1;
int bodyexclude = -1;
int geomid = -1;
mj_kinematics(model, data);
mjtNum distance = mj_ray(model, data, pnt, vec, geomgroup, flg_static,
bodyexclude, &geomid);
EXPECT_STREQ(mj_id2name(model, mjOBJ_GEOM, geomid), "static_group1");
EXPECT_FLOAT_EQ(distance, 0.9);
// Exclude nearest geom
geomgroup[1] = 0;
distance = mj_ray(model, data, pnt, vec, geomgroup, flg_static, bodyexclude,
&geomid);
EXPECT_STREQ(mj_id2name(model, mjOBJ_GEOM, geomid), "group0");
EXPECT_FLOAT_EQ(distance, 2.9);
geomgroup[0] = 0;
distance = mj_ray(model, data, pnt, vec, geomgroup, flg_static, bodyexclude,
&geomid);
EXPECT_STREQ(mj_id2name(model, mjOBJ_GEOM, geomid), "group2");
EXPECT_FLOAT_EQ(distance, 4.9);
geomgroup[2] = 0;
distance = mj_ray(model, data, pnt, vec, geomgroup, flg_static, bodyexclude,
&geomid);
EXPECT_EQ(geomid, -1);
EXPECT_FLOAT_EQ(distance, -1);
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(RayTest, ExcludeStatic) {
mjModel* model = LoadModelFromString(kRayCastingModel);
ASSERT_THAT(model, NotNull());
mjData* data = mj_makeData(model);
ASSERT_THAT(data, NotNull());
mjtNum pnt[] = {0.0, 0.0, 0.0};
mjtNum vec[] = {1.0, 0.0, 0.0};
mjtByte geomgroup[] = {1, 1, 1};
mjtByte flg_static = 0; // Exclude static geoms
int bodyexclude = -1;
int geomid = -1;
mj_kinematics(model, data);
mjtNum distance = mj_ray(model, data, pnt, vec, geomgroup, flg_static,
bodyexclude, &geomid);
EXPECT_STREQ(mj_id2name(model, mjOBJ_GEOM, geomid), "group0");
EXPECT_FLOAT_EQ(distance, 2.9);
mj_deleteData(data);
mj_deleteModel(model);
}
} // namespace
} // namespace mujoco
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