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

PiperOrigin-RevId: 434731612
Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0

unity/Tests/Editor/Components/MjcfGenerationContextTests.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;
+
+namespace Mujoco {
+
+[TestFixture]
+public class MjcfGenerationContextTests {
+
+  [Test]
+  public void ComponentAssignedMujocoName() {
+    var mjcf = _scene.CreateScene(skipCompile:true);
+    Assert.That(mjcf.OuterXml, Does.Contain(
+        @"name=""component_0"""));
+  }
+
+  [Test]
+  public void TwoComponentsWithSameNameReceiveDistinctMujocoNames() {
+    var mjcf = _scene.CreateScene(skipCompile:true);
+    Assert.That(mjcf.OuterXml, Does.Contain(
+        @"name=""component_0"""));
+    Assert.That(mjcf.OuterXml, Does.Contain(
+        @"name=""component_1"""));
+  }
+
+  [Test]
+  public void GravityVectorIsConvertedToMjWorldReferenceFrame() {
+    Physics.gravity = new Vector3(1, 2, 3);
+    var mjcf = _scene.CreateScene(skipCompile:true);
+    Assert.That(mjcf.OuterXml, Does.Contain("gravity=\"1 3 2\""));
+  }
+
+  [Test]
+  public void ConfigurationMjcfSpecifiesTimeout() {
+    var mjcf = _scene.CreateScene(skipCompile:true);
+    Assert.That(mjcf.OuterXml, Does.Contain($"timestep=\"{Time.fixedDeltaTime}\""));
+  }
+
+  [Test]
+  public void ConfigurationMjcfSpecifiesCoordinateSystemAsLocal() {
+    var mjcf = _scene.CreateScene(skipCompile:true);
+    Assert.That(mjcf.OuterXml, Does.Contain("coordinate=\"local\""));
+  }
+
+  [Test]
+  public void ConfigurationMjcIncludesOptions() {
+    var mjcf = _scene.CreateScene(skipCompile:true);
+    Assert.That(mjcf.OuterXml, Does.Contain("impratio"));
+    Assert.That(mjcf.OuterXml, Does.Contain("magnetic"));
+    Assert.That(mjcf.OuterXml, Does.Contain("wind"));
+    Assert.That(mjcf.OuterXml, Does.Contain("density"));
+    Assert.That(mjcf.OuterXml, Does.Contain("viscosity"));
+    Assert.That(mjcf.OuterXml, Does.Contain("o_margin"));
+    Assert.That(mjcf.OuterXml, Does.Contain("o_solref"));
+    Assert.That(mjcf.OuterXml, Does.Contain("o_solimp"));
+    Assert.That(mjcf.OuterXml, Does.Contain("iterations"));
+    Assert.That(mjcf.OuterXml, Does.Contain("tolerance"));
+    Assert.That(mjcf.OuterXml, Does.Contain("noslip_iterations"));
+    Assert.That(mjcf.OuterXml, Does.Contain("noslip_tolerance"));
+    Assert.That(mjcf.OuterXml, Does.Contain("mpr_iterations"));
+    Assert.That(mjcf.OuterXml, Does.Contain("mpr_tolerance"));
+  }
+
+  [Test]
+  public void AssigningGeneratedMeshAssetsUniqueNames() {
+    var context = new MjcfGenerationContext();
+    var uniqueAssetName = context.AddMeshAsset(mesh: new Mesh());
+    var element = new XmlDocument().CreateElement("test");
+    context.GenerateMjcf(element);
+    var assetNodes = element.SelectNodes($"asset/mesh[@name='{uniqueAssetName}']");
+    Assert.That(assetNodes, Has.Count.EqualTo(1));
+  }
+
+  [Test]
+  public void MeshMjcfIgnoresTriangleConnectivityAndStoredOnlyTheVertexCloud() {
+    var mesh = new Mesh();
+    mesh.vertices = new Vector3[] {
+        new Vector3(1, 0, 0), new Vector3(0, 1, 0), new Vector3(0, 0, 1) };
+    mesh.triangles = new int[] { 0, 1, 2, 2, 1, 0, 1, 0, 2 };
+    var context = new MjcfGenerationContext();
+    context.AddMeshAsset(mesh);
+    var element = new XmlDocument().CreateElement("test");
+    context.GenerateMjcf(element);
+    Assert.That(element.OuterXml, Does.Contain("vertex=\"1 0 0 0 0 1 0 1 0 \""));
+  }
+
+  [Test]
+  public void SettingNUserSensorValuesKeepsTheHigherValue() {
+    var context = new MjcfGenerationContext();
+    context.NUserSensor = 5;
+    context.NUserSensor = 6;
+    context.NUserSensor = 1;
+    Assert.That(context.NUserSensor, Is.EqualTo(6));
+    var element = new XmlDocument().CreateElement("test");
+    context.GenerateMjcf(element);
+    Assert.That(element.OuterXml, Does.Contain("nuser_sensor=\"6\""));
+  }
+
+  #region Test setup.
+
+  private MjBody _componentA;
+  private MjBody _componentB;
+  private Vector3 _originalGravity;
+  private MjScene _scene;
+  private MjGlobalSettings _settings;
+
+  [SetUp]
+  public void SetUp() {
+    _componentA = new GameObject("component").AddComponent<MjBody>();
+    _componentB = new GameObject("component").AddComponent<MjBody>();
+    _scene = MjScene.Instance;
+    _originalGravity = Physics.gravity;
+    _settings = new GameObject("settings").AddComponent<MjGlobalSettings>();
+  }
+
+  [TearDown]
+  public void TearDown() {
+    Physics.gravity = _originalGravity;
+    UnityEngine.Object.DestroyImmediate(_componentA.gameObject);
+    UnityEngine.Object.DestroyImmediate(_componentB.gameObject);
+    UnityEngine.Object.DestroyImmediate(_settings.gameObject);
+    UnityEngine.Object.DestroyImmediate(_scene.gameObject);
+  }
+
+  #endregion
+}
+}