chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Rename mpr_tolerance and mpr_iterations to ccd_tolerance and ccd_iterations.

Browse Source 
PiperOrigin-RevId: 666438658
Change-Id: I23dbdf939b9ab581f0fca4445f95c5bb36f6b463
This commit is contained in:
Yuval Tassa
2024-08-22 12:01:04 -07:00
committed by Copybara-Service
parent abe57c234b
commit 088079eff0
17 changed files with 68 additions and 59 deletions
Download Patch File Download Diff File Expand all files Collapse all files
unity/Tests/Editor/Components/MjGlobalSettingsTests.cs
+8 -8
View File
@@ -56,8 +56,8 @@ public class MjGlobalSettingsGenerationTests {
_settings.GlobalOptions.Tolerance = 3.4f;
_settings.GlobalOptions.NoSlipIterations = 5;
_settings.GlobalOptions.NoSlipTolerance = 6.7f;
_settings.GlobalOptions.MprIterations = 8;
_settings.GlobalOptions.MprTolerance = 0.9f;
_settings.GlobalOptions.CcdIterations = 8;
_settings.GlobalOptions.CcdTolerance = 0.9f;
_settings.GlobalSizes.Memory = "1M";
_settings.GlobalsToMjcf(_root);
@@ -77,8 +77,8 @@ public class MjGlobalSettingsGenerationTests {
Assert.That(_doc.OuterXml, Does.Contain(@"tolerance=""3.4"""));
Assert.That(_doc.OuterXml, Does.Contain(@"noslip_iterations=""5"""));
Assert.That(_doc.OuterXml, Does.Contain(@"noslip_tolerance=""6.7"""));
Assert.That(_doc.OuterXml, Does.Contain(@"mpr_iterations=""8"""));
Assert.That(_doc.OuterXml, Does.Contain(@"mpr_tolerance=""0.9"""));
Assert.That(_doc.OuterXml, Does.Contain(@"ccd_iterations=""8"""));
Assert.That(_doc.OuterXml, Does.Contain(@"ccd_tolerance=""0.9"""));
Assert.That(_doc.OuterXml, Does.Contain(@"memory=""1M"""));
}
@@ -147,8 +147,8 @@ public class MjGlobalSettingsParsingTests {
_option.SetAttribute("tolerance", "3.4");
_option.SetAttribute("noslip_iterations", "5");
_option.SetAttribute("noslip_tolerance", "6.7");
_option.SetAttribute("mpr_iterations", "8");
_option.SetAttribute("mpr_tolerance", "0.9");
_option.SetAttribute("ccd_iterations", "8");
_option.SetAttribute("ccd_tolerance", "0.9");
_flag.SetAttribute("gravity", "disable");
@@ -172,8 +172,8 @@ public class MjGlobalSettingsParsingTests {
Assert.That(_settings.GlobalOptions.Tolerance, Is.EqualTo(3.4f));
Assert.That(_settings.GlobalOptions.NoSlipIterations, Is.EqualTo(5));
Assert.That(_settings.GlobalOptions.NoSlipTolerance, Is.EqualTo(6.7f));
Assert.That(_settings.GlobalOptions.MprIterations, Is.EqualTo(8));
Assert.That(_settings.GlobalOptions.MprTolerance, Is.EqualTo(0.9f));
Assert.That(_settings.GlobalOptions.CcdIterations, Is.EqualTo(8));
Assert.That(_settings.GlobalOptions.CcdTolerance, Is.EqualTo(0.9f));
Assert.That(_settings.GlobalOptions.Flag.Gravity, Is.EqualTo(EnableDisableFlag.disable));
unity/Tests/Editor/Components/MjcfGenerationContextTests.cs
+2 -2
View File
@@ -74,8 +74,8 @@ public class MjcfGenerationContextTests {
Assert.That(mjcf.OuterXml, Does.Contain("tolerance"));
Assert.That(mjcf.OuterXml, Does.Contain("noslip_iterations"));
Assert.That(mjcf.OuterXml, Does.Contain("noslip_tolerance"));
Assert.That(mjcf.OuterXml, Does.Contain("mpr_iterations"));
Assert.That(mjcf.OuterXml, Does.Contain("mpr_tolerance"));
Assert.That(mjcf.OuterXml, Does.Contain("ccd_iterations"));
Assert.That(mjcf.OuterXml, Does.Contain("ccd_tolerance"));
}
[Test]