Add tests for mesh ownership accessors

Author: jslee02

tests/unit/CMakeLists.txt

@@ -73,6 +73,7 @@ dart_add_test(
   "unit" UNIT_dynamics_BodyNodePotentialEnergy dynamics/test_BodyNodePotentialEnergy.cpp)
 dart_add_test("unit" UNIT_dynamics_ShapeNodeInertia dynamics/test_ShapeNodeInertia.cpp)
 dart_add_test("unit" UNIT_dynamics_SkeletonClone dynamics/test_SkeletonClone.cpp)
+dart_add_test("unit" UNIT_dynamics_SkeletonAccessors dynamics/test_SkeletonAccessors.cpp)
 dart_add_test("unit" UNIT_dynamics_Noexcept dynamics/test_Noexcept.cpp)
 dart_add_test(
   "unit" UNIT_dynamics_BodyNodeCollisionSignals dynamics/test_BodyNodeCollisionSignals.cpp)

tests/unit/dynamics/test_MeshShape.cpp

@@ -1,9 +1,11 @@
 #include "dart/common/LocalResourceRetriever.hpp"
 #include "dart/common/Uri.hpp"
 #include "dart/config.hpp"
+#include "dart/dynamics/ArrowShape.hpp"
 #include "dart/dynamics/AssimpInputResourceAdaptor.hpp"
 #include "dart/dynamics/MeshShape.hpp"
 
+#include <Eigen/Core>
 #include <assimp/cimport.h>
 #include <assimp/config.h>
 #include <assimp/postprocess.h>
@@ -54,6 +56,28 @@ class AliasUriResourceRetriever final : public common::ResourceRetriever
   common::LocalResourceRetrieverPtr mDelegate;
 };
 
+class RecordingRetriever final : public common::ResourceRetriever
+{
+public:
+  bool exists(const common::Uri&) override
+  {
+    return true;
+  }
+
+  common::ResourcePtr retrieve(const common::Uri&) override
+  {
+    return nullptr;
+  }
+
+  std::string getFilePath(const common::Uri& uri) override
+  {
+    lastUri = uri.toString();
+    return "/virtual/path/from/retriever";
+  }
+
+  std::string lastUri;
+};
+
 const aiScene* loadMeshWithOverrides(
     const std::string& uri,
     const common::ResourceRetrieverPtr& retriever,
@@ -246,3 +270,64 @@ TEST(MeshShapeTest, RespectsCustomMeshDeleter)
 
   EXPECT_EQ(deleted.load(), 1);
 }
+
+TEST(MeshShapeTest, TracksOwnershipAndUriMetadata)
+{
+  auto retriever = std::make_shared<RecordingRetriever>();
+  const common::Uri fileUri
+      = common::Uri::createFromStringOrPath("/tmp/manual-mesh.dae");
+
+  auto* manualScene = new aiScene;
+  dynamics::MeshShape shape(
+      Eigen::Vector3d::Ones(),
+      manualScene,
+      fileUri,
+      retriever,
+      dynamics::MeshShape::MeshOwnership::Manual);
+  EXPECT_EQ(shape.getMesh(), manualScene);
+  EXPECT_EQ(shape.getMeshPath(), fileUri.getFilesystemPath());
+  EXPECT_EQ(shape.getMeshUri(), fileUri.toString());
+
+  const common::Uri retrieverUri("package://example/mesh.dae");
+  auto* retrieverScene = new aiScene;
+  shape.setMesh(
+      retrieverScene,
+      dynamics::MeshShape::MeshOwnership::Manual,
+      retrieverUri,
+      retriever);
+  EXPECT_EQ(retriever->lastUri, retrieverUri.toString());
+  EXPECT_EQ(shape.getMeshPath(), "/virtual/path/from/retriever");
+  EXPECT_EQ(shape.getMesh(), retrieverScene);
+
+  // No-op when the mesh pointer and ownership are unchanged.
+  shape.setMesh(
+      shape.getMesh(),
+      dynamics::MeshShape::MeshOwnership::Manual,
+      retrieverUri,
+      retriever);
+
+  // Clearing the mesh resets related metadata.
+  shape.setMesh(
+      nullptr,
+      dynamics::MeshShape::MeshOwnership::Manual,
+      common::Uri(),
+      nullptr);
+  EXPECT_EQ(shape.getMesh(), nullptr);
+  EXPECT_TRUE(shape.getMeshPath().empty());
+  EXPECT_TRUE(shape.getMeshUri().empty());
+}
+
+TEST(ArrowShapeTest, CloneUsesMeshOwnershipSemantics)
+{
+  dynamics::ArrowShape arrow(
+      Eigen::Vector3d::Zero(),
+      Eigen::Vector3d::UnitX(),
+      dynamics::ArrowShape::Properties(),
+      Eigen::Vector4d::Ones(),
+      4);
+
+  auto cloned = std::dynamic_pointer_cast<dynamics::ArrowShape>(arrow.clone());
+  ASSERT_TRUE(cloned);
+  ASSERT_NE(cloned->getMesh(), nullptr);
+  EXPECT_NE(cloned->getMesh(), arrow.getMesh());
+}

tests/unit/dynamics/test_SkeletonAccessors.cpp

@@ -0,0 +1,71 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <dart/dynamics/FreeJoint.hpp>
+#include <dart/dynamics/Group.hpp>
+#include <dart/dynamics/Skeleton.hpp>
+
+#include <dart/common/Deprecated.hpp>
+
+#include <gtest/gtest.h>
+
+using namespace dart::dynamics;
+
+//==============================================================================
+TEST(SkeletonAccessors, ReturnsMutableBodyNodeVector)
+{
+  auto skeleton = Skeleton::create("skeleton");
+  auto pair = skeleton->createJointAndBodyNodePair<FreeJoint>();
+  auto* body = pair.second;
+
+  DART_SUPPRESS_DEPRECATED_BEGIN
+  auto& nodes = skeleton->getBodyNodes();
+  DART_SUPPRESS_DEPRECATED_END
+  ASSERT_EQ(nodes.size(), 1u);
+  EXPECT_EQ(nodes.front(), body);
+}
+
+//==============================================================================
+TEST(ReferentialSkeletonAccessors, ReturnsMutableBodyNodeVector)
+{
+  auto skeleton = Skeleton::create("skeleton");
+  auto pair = skeleton->createJointAndBodyNodePair<FreeJoint>();
+
+  auto group = Group::create("group");
+  ASSERT_TRUE(group->addComponent(pair.second));
+
+  DART_SUPPRESS_DEPRECATED_BEGIN
+  auto& nodes = group->getBodyNodes();
+  DART_SUPPRESS_DEPRECATED_END
+  ASSERT_EQ(nodes.size(), 1u);
+  EXPECT_EQ(nodes.front(), pair.second);
+}