Refactor: separate buffer indexing and swizzling.

This also fixes a sensor data reading bug: previously, _sensorIndex was multiplied by 3 by MjEngineTool.

PiperOrigin-RevId: 451699887
Change-Id: I864bcbf8159857764854b25311a26ec5672125d9

unity/Tests/Editor/Tools/MjEngineTests.cs

@@ -47,7 +47,8 @@ namespace Mujoco {
       var MjVec = MjEngineTool.MjVector3(vec);
       var MjVecAsArray = new double[] { 10, 11, 12, MjVec.x, MjVec.y, MjVec.z };
       fixed (double* MjArrPtr = MjVecAsArray) {
-        var recreatedVec = MjEngineTool.UnityVector3(MjArrPtr, 1);
+        var recreatedVec = MjEngineTool.UnityVector3(
+            MjEngineTool.MjVector3AtEntry(MjArrPtr, 1));
         Assert.That(recreatedVec, Is.EqualTo(vec));
       }
     }
@@ -64,23 +65,6 @@ namespace Mujoco {
       Assert.That(unityVec, Is.EqualTo(vec));
     }
 
-    [TestCase(0.1f, 0.2f, 0.3f, 0.4f)]
-    [TestCase(-0.1f, -0.2f, -0.3f, -0.4f)]
-    [TestCase(-0.1f, 0.2f, 0.3f, 0.4f)]
-    [TestCase(0.1f, -0.2f, 0.3f, 0.4f)]
-    [TestCase(0.1f, 0.2f, -0.3f, 0.4f)]
-    [TestCase(0.1f, 0.2f, 0.3f, -0.4f)]
-    public unsafe void RoundrobinConversionOfQuaternion(float x, float y, float z, float w) {
-      var quat = new Quaternion(x, y, z, w);
-      var MjQuat = MjEngineTool.MjQuaternion(quat);
-      var MjQuatAsArray =
-          new double[] { 10, 20, 30, 40, MjQuat.w, MjQuat.x, MjQuat.y, MjQuat.z };
-      var recreatedQuat = MjEngineTool.UnityQuaternion(MjQuatAsArray, 1);
-      var q1 = new Vector4(quat.x, quat.y, quat.z, quat.w);
-      var q2 = new Vector4(recreatedQuat.x, recreatedQuat.y, recreatedQuat.z, recreatedQuat.w);
-      Assert.That(q1, Is.EqualTo(q2));
-    }
-
     [TestCase(0.1f, 0.2f, 0.3f, 0.4f)]
     [TestCase(-0.1f, -0.2f, -0.3f, -0.4f)]
     [TestCase(-0.1f, 0.2f, 0.3f, 0.4f)]
@@ -94,7 +78,8 @@ namespace Mujoco {
       var MjQuatAsArray =
           new double[] { 10, 20, 30, 40, MjQuat.w, MjQuat.x, MjQuat.y, MjQuat.z };
       fixed (double* MjArrPtr = MjQuatAsArray) {
-        var recreatedQuat = MjEngineTool.UnityQuaternion(MjArrPtr, 1);
+        var recreatedQuat = MjEngineTool.UnityQuaternion(
+            MjEngineTool.MjQuaternionAtEntry(MjArrPtr, 1));
         var q1 = new Vector4(quat.x, quat.y, quat.z, quat.w);
         var q2 = new Vector4(recreatedQuat.x, recreatedQuat.y, recreatedQuat.z, recreatedQuat.w);
         Assert.That(q1, Is.EqualTo(q2));
@@ -138,8 +123,8 @@ namespace Mujoco {
       var result = Quaternion.identity;
       var buffer = new double[4];
       fixed (double* unsafeBuffer = buffer) {
-        MjEngineTool.SetMjQuaternion(unsafeBuffer, quat, entryIndex: 0);
-        result = MjEngineTool.UnityQuaternion(unsafeBuffer, entryIndex: 0);
+        MjEngineTool.SetMjQuaternion(unsafeBuffer, quat);
+        result = MjEngineTool.UnityQuaternion(unsafeBuffer);
       }
       Assert.That(quat, Is.EqualTo(result));
     }
@@ -154,8 +139,8 @@ namespace Mujoco {
       var result = Vector3.zero;
       double[] buffer = new double[3];
       fixed (double* unsafeBuffer = buffer) {
-        MjEngineTool.SetMjVector3(unsafeBuffer, vec, entryIndex: 0);
-        result = MjEngineTool.UnityVector3(unsafeBuffer, entryIndex: 0);
+        MjEngineTool.SetMjVector3(unsafeBuffer, vec);
+        result = MjEngineTool.UnityVector3(unsafeBuffer);
       }
       Assert.That(vec, Is.EqualTo(result));
     }

unity/Tests/Runtime/MjSensorPlayTests.cs

@@ -0,0 +1,123 @@
+// Copyright 2019 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.
+
+#if UNITY_EDITOR
+
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Xml;
+using NUnit.Framework;
+using UnityEngine;
+using UnityEngine.TestTools;
+using UnityEngine.TestTools.Utils;
+
+namespace Mujoco {
+
+[TestFixture]
+public class MjSensorPlayTests {
+  private MjBody _body;
+  private MjSite _site;
+  private MjGeom _geom;
+  private MjHingeJoint _joint;
+  private MjSiteQuaternionSensor _siteQuatSensor0;
+  private MjSiteQuaternionSensor _siteQuatSensor;
+  private MjSiteVectorSensor _siteVectorSensor;
+  private MjGeomQuaternionSensor _geomQuatSensor;
+  private MjGeomVectorSensor _geomVectorSensor;
+  private MjBodyQuaternionSensor _bodyQuatSensor;
+  private MjBodyVectorSensor _bodyVectorSensor;
+  private MjScene _scene;
+
+  [SetUp]
+  public void SetUp() {
+    _scene = MjScene.Instance;
+    _body = new GameObject("body").AddComponent<MjBody>();
+    _site = new GameObject("site").AddComponent<MjSite>();
+    _geom = new GameObject("geom").AddComponent<MjGeom>();
+    _siteQuatSensor0 = new GameObject("sq0").AddComponent<MjSiteQuaternionSensor>();
+    _siteQuatSensor0.Site = _site;
+    _siteQuatSensor = new GameObject("sq").AddComponent<MjSiteQuaternionSensor>();
+    _siteQuatSensor.Site = _site;
+    _siteVectorSensor = new GameObject("sv").AddComponent<MjSiteVectorSensor>();
+    _siteVectorSensor.Site = _site;
+    _siteVectorSensor.SensorType = MjSiteVectorSensor.AvailableSensors.FramePos;
+    _geomQuatSensor = new GameObject("gq").AddComponent<MjGeomQuaternionSensor>();
+    _geomQuatSensor.Geom = _geom;
+    _geomVectorSensor = new GameObject("gv").AddComponent<MjGeomVectorSensor>();
+    _geomVectorSensor.Geom = _geom;
+    _geomVectorSensor.SensorType = MjGeomVectorSensor.AvailableSensors.FramePos;
+    _bodyQuatSensor = new GameObject("bq").AddComponent<MjBodyQuaternionSensor>();
+    _bodyQuatSensor.Body = _body;
+    _bodyVectorSensor = new GameObject("bv").AddComponent<MjBodyVectorSensor>();
+    _bodyVectorSensor.Body = _body;
+    _bodyVectorSensor.SensorType = MjBodyVectorSensor.AvailableSensors.FramePos;
+    _site.transform.position = new Vector3(1, 2, 3);
+    _site.transform.rotation = new Quaternion(0, 1, 2, 3);
+    _geom.transform.position = new Vector3(4, 5, 6);
+    _geom.transform.rotation = new Quaternion(4, 5, 6, 7);
+    _body.transform.position = new Vector3(7, 8, 9);
+    _body.transform.rotation = new Quaternion(7, 8, 9, 9);
+    _scene.CreateScene(); // compilation happens here
+  }
+
+  [TearDown]
+  public void TearDown() {
+    GameObject.DestroyImmediate(_site.gameObject);
+    GameObject.DestroyImmediate(_body.gameObject);
+    GameObject.DestroyImmediate(_geom.gameObject);
+    GameObject.DestroyImmediate(_siteQuatSensor0.gameObject);
+    GameObject.DestroyImmediate(_siteQuatSensor.gameObject);
+    GameObject.DestroyImmediate(_siteVectorSensor.gameObject);
+    GameObject.DestroyImmediate(_geomQuatSensor.gameObject);
+    GameObject.DestroyImmediate(_geomVectorSensor.gameObject);
+    GameObject.DestroyImmediate(_bodyQuatSensor.gameObject);
+    GameObject.DestroyImmediate(_bodyVectorSensor.gameObject);
+    GameObject.DestroyImmediate(_scene.gameObject);
+    GameObject.DestroyImmediate(MjScene.Instance);
+  }
+
+  [UnityTest]
+  public IEnumerator CheckSensorData() {
+    yield return new WaitForFixedUpdate(); // updating the transform
+    yield return new WaitForFixedUpdate(); // updating the transform
+    var vecComparer = new Vector3EqualityComparer(1e-4f);
+    var quatComparer = new Vector4EqualityComparer(1e-4f);
+    Assert.That(
+        _siteVectorSensor.SensorReading,
+        Is.EqualTo(_site.transform.position).Using(vecComparer));
+    Assert.That(
+        _geomVectorSensor.SensorReading,
+        Is.EqualTo(_geom.transform.position).Using(vecComparer));
+    Assert.That(
+        _bodyVectorSensor.SensorReading,
+        Is.EqualTo(_body.transform.position).Using(vecComparer));
+
+    Assert.That(
+        _siteQuatSensor0.SensorReading,
+        Is.EqualTo(_site.transform.rotation.normalized).Using(quatComparer));
+    Assert.That(
+        _siteQuatSensor.SensorReading,
+        Is.EqualTo(_site.transform.rotation.normalized).Using(quatComparer));
+    Assert.That(
+        _geomQuatSensor.SensorReading,
+        Is.EqualTo(_geom.transform.rotation.normalized).Using(quatComparer));
+    Assert.That(
+        _bodyQuatSensor.SensorReading,
+        Is.EqualTo(_body.transform.rotation.normalized).Using(quatComparer));
+  }
+}
+}
+
+#endif

unity/Tests/Runtime/MjSensorPlayTests.cs.meta

@@ -0,0 +1,11 @@
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