Initial open sourcing of MuJoCo.

PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb

test/engine/engine_util_blas_test.cc

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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 engine/engine_util_blas.c
+
+#include "src/engine/engine_util_blas.h"
+
+#include <gmock/gmock.h>
+#include <gtest/gtest.h>
+#include <mujoco/mjtnum.h>
+#include "test/fixture.h"
+
+namespace mujoco {
+namespace {
+
+using EngineUtilBlasTest = MujocoTest;
+
+TEST_F(EngineUtilBlasTest, MjuDot) {
+  mjtNum a[] = {1, 2, 3, 4, 5, 6, 7};
+  mjtNum b[] = {7, 6, 5, 4, 3, 2, 1};
+
+  // test various vector lengths because mju_dot adds numbers in groups of four
+  EXPECT_EQ(mju_dot(a, b, 0), 0);
+  EXPECT_EQ(mju_dot(a, b, 1), 7);
+  EXPECT_EQ(mju_dot(a, b, 2), 7 + 2*6);
+  EXPECT_EQ(mju_dot(a, b, 3), 7 + 2*6 + 3*5);
+  EXPECT_EQ(mju_dot(a, b, 4), 7 + 2*6 + 3*5 + 4*4);
+  EXPECT_EQ(mju_dot(a, b, 5), 7 + 2*6 + 3*5 + 4*4 + 5*3);
+  EXPECT_EQ(mju_dot(a, b, 6), 7 + 2*6 + 3*5 + 4*4 + 5*3 + 6*2);
+  EXPECT_EQ(mju_dot(a, b, 7), 7 + 2*6 + 3*5 + 4*4 + 5*3 + 6*2 + 7);
+}
+
+}  // namespace
+}  // namespace mujoco