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

PiperOrigin-RevId: 434731612 Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
2022-03-15 14:04:44 +00:00
parent 175d25cd9f
commit 3577e2cf8b
304 changed files with 23906 additions and 1013 deletions
@@ -0,0 +1,104 @@
+// 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 MjBoxShapeTests {
+    private GameObject _owner;
+    private MjShapeComponent _shape;
+    private XmlDocument _doc;
+
+    [SetUp]
+    public void SetUp() {
+      _owner = new GameObject("owner");
+      _shape = _owner.AddComponent<MjSite>();
+      _shape.ShapeType = MjShapeComponent.ShapeTypes.Box;
+      _shape.Box.Extents = Vector3.one;
+      _doc = new XmlDocument();
+    }
+
+    [TearDown]
+    public void TearDown() {
+      UnityEngine.Object.DestroyImmediate(_owner);
+    }
+
+    [TestCase(1, 2, 3, "1 3 2")]
+    public void BoxSize(float x, float y, float z, string expectedResult) {
+      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
+      _shape.Box.Extents = new Vector3(x, y, z);
+      _shape.ShapeToMjcf(mjcf, _owner.transform);
+      Assert.That(_doc.OuterXml, Does.Contain("size=\"" + expectedResult + "\""));
+    }
+
+    [TestCase(0.5f, "0.5 0.5 0.5")]
+    [TestCase(2.0f, "2 2 2")]
+    public void EffectOfUniformScaling(float uniformScale, string expectedResult) {
+      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
+      _owner.transform.localScale = Vector3.one * uniformScale;
+      _shape.ShapeToMjcf(mjcf, _owner.transform);
+      Assert.That(_doc.OuterXml, Does.Contain("size=\"" + expectedResult + "\""));
+    }
+
+    [TestCase(2, 3, 4, "2 4 3")]
+    public void EffectOfNonUniformScaling(float x, float y, float z, string expectedResult) {
+      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
+      _owner.transform.localScale = new Vector3(x, y, z);
+      _shape.ShapeToMjcf(mjcf, _owner.transform);
+      Assert.That(_doc.OuterXml, Does.Contain("size=\"" + expectedResult + "\""));
+    }
+
+    [Test]
+    public void ParsingSettings() {
+      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
+      mjcf.SetAttribute("type", "box");
+      mjcf.SetAttribute("size", "0.1 0.2 0.3");
+      _shape.ShapeFromMjcf(mjcf);
+      Assert.That(_shape.ShapeType, Is.EqualTo(MjShapeComponent.ShapeTypes.Box));
+      Assert.That(_shape.Box.Extents, Is.EqualTo(new Vector3(0.1f, 0.3f, 0.2f)));
+    }
+
+    [TestCase("0 0 0 0 0 1", 0.5f, 0.5f, 0.5f)]
+    [TestCase("0 0 0 0 1 0", 0.5f, 0.5f, 0.5f)]
+    [TestCase("0 0 0 1 0 0", 0.5f, 0.5f, 0.5f)]
+    [TestCase("0 0 -1 0 0 1", 1, 1, 1)]
+    [TestCase("0 -1 0 0 1 0", 1, 1, 1)]
+    [TestCase("-1 0 0 1 0 0", 1, 1, 1)]
+    public void FromToSizeSpecificationIsOrientationAgnostic(string fromToStr, float x, float y,
+                                                             float z) {
+      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
+      mjcf.SetAttribute("type", "box");
+      mjcf.SetAttribute("fromto", fromToStr);
+      _shape.ShapeFromMjcf(mjcf);
+      Assert.That(_shape.Box.Extents, Is.EqualTo(new Vector3(x, y, z)));
+    }
+
+    [Test]
+    public void FromToSizeSpecificationUsesMagnitudeOfVectorAsSizeBase() {
+      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
+      mjcf.SetAttribute("type", "box");
+      mjcf.SetAttribute("fromto", "-1 0 0 0 0 1");
+      _shape.ShapeFromMjcf(mjcf);
+      Assert.That((_shape.Box.Extents - new Vector3(0.707f, 0.707f, 0.707f)).magnitude,
+                  Is.EqualTo(0).Within(1e-3f));
+    }
+  }
+}