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

PiperOrigin-RevId: 434731612
Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0

unity/Tests/Editor/Components/Joints/MjBaseJointTests.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;
+
+namespace Mujoco {
+
+[TestFixture]
+public class MjBaseJointTests {
+
+  public class FakeJoint : MjBaseJoint {
+    protected override void OnParseMjcf(XmlElement mjcf) {}
+
+    protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
+      return (XmlElement)doc.CreateElement("joint");
+    }
+  }
+
+  private FakeJoint _joint;
+  private MjBaseBody _parent;
+  private MjBaseBody _grandParent;
+
+  [Test]
+  public void RetrievingBodiesConnectedByTheJoint() {
+    _joint = new GameObject("joint").AddComponent<FakeJoint>();
+    _parent = new GameObject("parent").AddComponent<MjBody>();
+    _grandParent = new GameObject("grandParent").AddComponent<MjBody>();
+
+    _joint.transform.parent = _parent.transform;
+    _parent.transform.parent = _grandParent.transform;
+
+    MjBaseBody grandParent, parent;
+    _joint.GetConnectedBodies(out grandParent, out parent);
+    Assert.That(grandParent, Is.EqualTo(_grandParent));
+    Assert.That(parent, Is.EqualTo(_parent));
+
+    GameObject.DestroyImmediate(_joint.gameObject);
+    GameObject.DestroyImmediate(_parent.gameObject);
+    GameObject.DestroyImmediate(_grandParent.gameObject);
+    GameObject.DestroyImmediate(MjScene.Instance);
+  }
+
+  [Test]
+  public void RetrievingBodiesConnectedToTheWorld() {
+    _joint = new GameObject("joint").AddComponent<FakeJoint>();
+    _parent = new GameObject("parent").AddComponent<MjBody>();
+
+    _joint.transform.parent = _parent.transform;
+
+    MjBaseBody grandParent, parent;
+    _joint.GetConnectedBodies(out grandParent, out parent);
+    Assert.That(grandParent, Is.Null);
+    Assert.That(parent, Is.EqualTo(_parent));
+
+    GameObject.DestroyImmediate(_joint.gameObject);
+    GameObject.DestroyImmediate(_parent.gameObject);
+    GameObject.DestroyImmediate(MjScene.Instance);
+  }
+}
+}