Version 2.1.2: Python bindings, OBJ assets support, bugfixes.
PiperOrigin-RevId: 434731612 Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
This commit is contained in:
Saran Tunyasuvunakool
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// Copyright 2019 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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using System;
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using System.Collections;
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using System.Collections.Generic;
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using System.Linq;
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using System.Xml;
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using NUnit.Framework;
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using UnityEditor;
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using UnityEngine;
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using UnityEngine.TestTools;
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namespace Mujoco {
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[TestFixture]
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public class MjMaterialImportTests {
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private GameObject _sceneRoot;
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private bool _removeLocal = false;
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private bool _removeLocalMujoco = false;
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private MjImporterWithAssets _importer;
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[SetUp]
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public void SetUp() {
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_importer = new MjImporterWithAssets();
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LogAssert.ignoreFailingMessages = true;
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// these two directories may exist from previous imports
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string[] assetsRoot = {"Assets"};
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var guids = AssetDatabase.FindAssets("Local", assetsRoot);
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if (guids.Length == 0) {
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_removeLocal = true;
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AssetDatabase.CreateFolder("Assets", "Local");
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}
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string[] assetsLocal = {"Assets/Local"};
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guids = AssetDatabase.FindAssets("MjImports", assetsLocal);
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if (guids.Length == 0) {
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_removeLocalMujoco = true;
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}
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}
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[TearDown]
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public void TearDown() {
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LogAssert.ignoreFailingMessages = false;
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if (_sceneRoot != null) {
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UnityEngine.Object.DestroyImmediate(_sceneRoot);
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}
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// remove main resources folder:
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// string[] mainTestResources = {"Assets/Local/Mujoco/MjMaterialImportTests/Resources"};
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// foreach (var asset in AssetDatabase.FindAssets("", mainTestResources)) {
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// AssetDatabase.DeleteAsset(AssetDatabase.GUIDToAssetPath(asset));
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// }
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// // remove main resources folder:
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// AssetDatabase.DeleteAsset(mainTestResources[0]);
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// remove all test folders:
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string[] assetLocalMujoco = {"Assets/Local/MjImports"};
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foreach (var asset in AssetDatabase.FindAssets("MjMaterialImportTests", assetLocalMujoco)) {
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AssetDatabase.DeleteAsset(AssetDatabase.GUIDToAssetPath(asset));
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}
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if (_removeLocalMujoco) {
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AssetDatabase.DeleteAsset("Assets/Local/MjImports");
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}
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if (_removeLocal) {
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AssetDatabase.DeleteAsset("Assets/Local");
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}
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}
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[Test]
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public void ParsingMaterialProperties() {
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var mjcfString = @"<mujoco>
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<asset>
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<material name='test_material'
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rgba='.7 .5 .3 .1' specular='.5' shininess='.7' reflectance='.2'/>
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</asset>
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<worldbody>
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<body>
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<geom name='test_geom' material='test_material' size='1 1 1'/>
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</body>
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</worldbody>
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</mujoco>";
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_sceneRoot = _importer.ImportString(
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name: "MjMaterialImportTests", mjcfString: mjcfString);
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var geom = _sceneRoot.GetComponentInChildren<MjGeom>();
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Assert.That(geom, Is.Not.Null);
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var meshRenderer = geom.GetComponent<MeshRenderer>();
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Assert.That(meshRenderer, Is.Not.Null);
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Assert.That(meshRenderer.sharedMaterial, Is.Not.Null);
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Assert.That(meshRenderer.sharedMaterial.color, Is.EqualTo(new Color(0.7f, 0.5f, 0.3f, 0.1f)));
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Assert.That(meshRenderer.sharedMaterial.GetFloat("_Metallic"), Is.EqualTo(0.2f));
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Assert.That(meshRenderer.sharedMaterial.GetFloat("_Glossiness"), Is.GreaterThan(0.0f));
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}
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[Test]
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public void ParsingMaterialWithoutEmissivity() {
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var mjcfString = @"<mujoco>
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<asset>
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<material name='test_material' rgba='.7 .5 .3 .1'/>
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</asset>
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<worldbody>
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<body>
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<geom name='test_geom' material='test_material' size='1 1 1'/>
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</body>
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</worldbody>
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</mujoco>";
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_sceneRoot = _importer.ImportString(
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name: "MjMaterialImportTests", mjcfString: mjcfString);
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var geom = _sceneRoot.GetComponentInChildren<MjGeom>();
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Assert.That(geom, Is.Not.Null);
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var meshRenderer = geom.GetComponent<MeshRenderer>();
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Assert.That(meshRenderer, Is.Not.Null);
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Assert.That(meshRenderer.sharedMaterial, Is.Not.Null);
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Assert.That(meshRenderer.sharedMaterial.shaderKeywords, Has.No.Member("_EMISSION"));
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}
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[Test]
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public void ParsingMaterialWithEmissivity() {
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var mjcfString = @"<mujoco>
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<asset>
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<material name='test_material' rgba='.7 .5 .3 .1' emission='1'/>
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</asset>
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<worldbody>
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<body>
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<geom name='test_geom' material='test_material' size='1 1 1'/>
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</body>
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</worldbody>
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</mujoco>";
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_sceneRoot = _importer.ImportString(
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name: "MjMaterialImportTests", mjcfString: mjcfString);
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var geom = _sceneRoot.GetComponentInChildren<MjGeom>();
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Assert.That(geom, Is.Not.Null);
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var meshRenderer = geom.GetComponent<MeshRenderer>();
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Assert.That(meshRenderer, Is.Not.Null);
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Assert.That(meshRenderer.sharedMaterial, Is.Not.Null);
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Assert.That(meshRenderer.sharedMaterial.shaderKeywords, Has.Member("_EMISSION"));
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Assert.That(
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meshRenderer.sharedMaterial.GetColor("_EmissionColor"),
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Is.EqualTo(new Color(0.7f, 0.5f, 0.3f, 0.1f)));
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}
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[Test]
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public void ResettingColorDatabaseForEachImport() {
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var mjcfString1 = @"<mujoco>
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<asset>
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<material name='test_material' rgba='.2 .2 .2 .2'/>
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</asset>
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<worldbody>
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<body>
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<geom name='test_geom' material='test_material' size='1 1 1'/>
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</body>
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</worldbody>
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</mujoco>";
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var mjcfString2 = @"<mujoco>
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<asset>
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<material name='test_material' rgba='.5 .5 .5 .5'/>
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</asset>
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<worldbody>
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<body>
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<geom name='test_geom' material='test_material' size='1 1 1'/>
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</body>
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</worldbody>
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</mujoco>";
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_sceneRoot = new GameObject();
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var importedMesh1 = _importer.ImportString(
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name: "MjMaterialImportTests"+$"{UnityEngine.Random.Range(0,999)}", mjcfString: mjcfString1);
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importedMesh1.transform.parent = _sceneRoot.transform;
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var importedMesh2 = _importer.ImportString(
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name: "MjMaterialImportTests"+$"{UnityEngine.Random.Range(0,999)}", mjcfString: mjcfString2);
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importedMesh2.transform.parent = _sceneRoot.transform;
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var geom = importedMesh2.GetComponentInChildren<MjGeom>();
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var meshRenderer = geom.GetComponent<MeshRenderer>();
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Assert.That(meshRenderer.sharedMaterial.color, Is.EqualTo(new Color(0.5f, 0.5f, 0.5f, 0.5f)));
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}
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}
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}
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