File size: 2,256 Bytes
2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 | // Copyright 2024 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.
#include <cstring>
#include <string>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <mujoco/mjvisualize.h>
#include <mujoco/mujoco.h>
#include "test/fixture.h"
namespace mujoco {
namespace {
using ::testing::NotNull;
using MjvSceneTest = MujocoTest;
constexpr int kMaxGeom = 10000;
static const char* const kModelPath = "testdata/model.xml";
TEST_F(MjvSceneTest, UpdateScene) {
for (const char* path : {kModelPath}) {
const std::string xml_path = GetTestDataFilePath(path);
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
ASSERT_THAT(model, NotNull()) << "Failed to load model from " << path;
mjData* data = mj_makeData(model);
while (data->time < .2) {
mj_step(model, data);
}
mjvScene scn;
mjv_defaultScene(&scn);
mjv_makeScene(model, &scn, kMaxGeom);
mjvOption opt;
mjv_defaultOption(&opt);
mjvPerturb pert;
mjv_defaultPerturb(&pert);
mjvCamera cam;
mjv_defaultFreeCamera(model, &cam);
// Enable all flags to exercise all code paths
for (int i = 0; i < mjNVISFLAG; ++i) {
opt.flags[i] = 1;
}
mjv_updateScene(model, data, &opt, &pert, &cam, mjCAT_ALL, &scn);
EXPECT_GT(scn.ngeom, 0);
if (model->nskin) EXPECT_GT(scn.nskin, 0);
EXPECT_GT(scn.nlight, 0);
mjv_updateScene(model, data, &opt, &pert, &cam, mjCAT_ALL, &scn);
// call mj_copyData to expose any memory leaks mjv_updateScene.
mjData* data_copy = mj_copyData(nullptr, model, data);
mjv_freeScene(&scn);
mj_deleteData(data_copy);
mj_deleteData(data);
mj_deleteModel(model);
}
}
} // namespace
} // namespace mujoco
|