Version 2.1.2: Python bindings, OBJ assets support, bugfixes.

PiperOrigin-RevId: 434731612
Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0

unity/Tests/Editor/Components/Bodies/MjBodyTests.cs

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+// 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.
+
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Xml;
+using NUnit.Framework;
+using UnityEngine;
+using UnityEngine.TestTools.Utils;
+
+namespace Mujoco {
+
+[TestFixture]
+public class MjBodyTransformTests {
+
+  private GameObject _parent;
+  private MjBody _body;
+  private XmlDocument _doc;
+
+  [SetUp]
+  public void SetUp() {
+    _parent = new GameObject("parent");
+    _body = new GameObject("body", typeof(MjBody)).GetComponent<MjBody>();
+    _body.transform.parent = _parent.transform;
+    _doc = new XmlDocument();
+  }
+
+  [TearDown]
+  public void TearDown() {
+    GameObject.DestroyImmediate(_body.gameObject);
+    GameObject.DestroyImmediate(_parent);
+  }
+
+  [Test]
+  public void RelativePositionUsedInMjcf() {
+    _parent.transform.position = new Vector3(1, 2, 3);
+    _parent.transform.rotation = Quaternion.AngleAxis(45.0f, (new Vector3(1, 2, 3)).normalized);
+    var element = _doc.AppendChild(_body.GenerateMjcf("name", _doc)) as XmlElement;
+    Assert.That(_doc.OuterXml, Does.Contain(@"pos=""1 3 2"""));
+    Assert.That(
+        element.GetQuaternionAttribute("quat", Quaternion.identity),
+        Is.EqualTo(new Quaternion(w:-0.9238795f, x:0.1022765f, y:0.3068294f, z:0.2045529f))
+        .Using(new Vector4EqualityComparer(1e-4f)));
+  }
+
+  [Test]
+  public void LocalPositionParsing() {
+    var bodyElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("body"));
+    bodyElement.SetAttribute("pos", "1 2 3");
+    _body.ParseMjcf(bodyElement);
+    Assert.That(_body.transform.localPosition, Is.EqualTo(new Vector3(1, 3, 2)));
+  }
+
+  [TestCase(0.866f, 0.5f, 0, 0, 0.5f, 0, 0, -0.866f)]
+  [TestCase(0.866f, 0, 0.5f, 0, 0, 0, 0.5f, -0.866f)]
+  [TestCase(0.866f, 0, 0, 0.5f, 0, 0.5f, 0, -0.866f)]
+  [TestCase(0, 0.866f, 0.5f, 0, 0.866f, 0, 0.5f, 0)]
+  [TestCase(0, 0.866f, 0, 0.5f, 0.866f, 0.5f, 0, 0)]
+  [TestCase(0, 0, 0.866f, 0.5f, 0, 0.5f, 0.866f, 0)]
+  public void BodyLocalRotationParsing(
+      float ix, float iy, float iz, float iw, float ex, float ey, float ez, float ew) {
+    var bodyElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("body"));
+    bodyElement.SetAttribute("quat", $"{ix} {iy} {iz} {iw}");
+    _body.ParseMjcf(bodyElement);
+    var angle = Quaternion.Angle(_body.transform.localRotation, new Quaternion(ex, ey, ez, ew));
+    Assert.That(angle, Is.EqualTo(0).Within(3));
+  }
+
+  [Test]
+  public void ParsingDefaultRotation() {
+    var bodyElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("body"));
+    _body.ParseMjcf(bodyElement);
+    Assert.That(_body.transform.localRotation, Is.EqualTo(Quaternion.identity));
+  }
+}
+}

unity/Tests/Editor/Components/Bodies/MjBodyTests.cs.meta

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