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 +1,96 @@
+// 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 MjCapsuleShapeTests {
+    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.Capsule;
+      _doc = new XmlDocument();
+    }
+
+    [TearDown]
+    public void TearDown() {
+      UnityEngine.Object.DestroyImmediate(_owner);
+    }
+
+    [TestCase(0.5f, 0.5f, "0.5 0.5")]
+    [TestCase(1.5f, 1.5f, "1.5 1.5")]
+    public void CapsuleSize(float radius, float halfHeight, string expectedResult) {
+      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
+      _shape.Capsule.Radius = radius;
+      _shape.Capsule.HalfHeight = halfHeight;
+      _shape.ShapeToMjcf(mjcf, _owner.transform);
+      Assert.That(_doc.OuterXml, Does.Contain("size=\"" + expectedResult + "\""));
+    }
+
+    [TestCase(0.5f, "0.5 1")]
+    [TestCase(2.0f, "2 4")]
+    public void EffectOfUniformScaling(float uniformScale, string expectedResult) {
+      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
+      _shape.Capsule.Radius = 1.0f;
+      _shape.Capsule.HalfHeight = 2.0f;
+      _owner.transform.localScale = Vector3.one * uniformScale;
+      _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", "capsule");
+      mjcf.SetAttribute("size", "1.5 2.4");
+      _shape.ShapeFromMjcf(mjcf);
+      Assert.That(_shape.ShapeType, Is.EqualTo(MjShapeComponent.ShapeTypes.Capsule));
+      Assert.That(_shape.Capsule.Radius, Is.EqualTo(1.5f));
+      Assert.That(_shape.Capsule.HalfHeight, Is.EqualTo(2.4f));
+    }
+
+    [Test]
+    public void FromToSizeSpecificationOverridesHeightOnly() {
+      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
+      mjcf.SetAttribute("type", "capsule");
+      mjcf.SetAttribute("size", "5 1");
+      mjcf.SetAttribute("fromto", "0 0 0 0 0 3");
+      _shape.ShapeFromMjcf(mjcf);
+      Assert.That(_shape.Capsule.Radius, Is.EqualTo(5));
+      Assert.That(_shape.Capsule.HalfHeight, Is.EqualTo(1.5f));
+    }
+
+    [TestCase("0 0 -1 0 0 2", 1.5f)]
+    [TestCase("1 0 0 3 0 0", 1)]
+    public void FromToHeightMeasuredAsSegmentLength(string fromToStr, float expectedHeight) {
+      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
+      mjcf.SetAttribute("type", "capsule");
+      mjcf.SetAttribute("fromto", fromToStr);
+      _shape.ShapeFromMjcf(mjcf);
+      Assert.That(_shape.Capsule.HalfHeight, Is.EqualTo(expectedHeight));
+    }
+  }
+}