Initial release of the Unity plugin.

PiperOrigin-RevId: 425947505
2022-02-02 20:17:13 +00:00
parent 8ec3dd97a4
commit 6de9eafa13
298 changed files with 20617 additions and 2 deletions
@@ -0,0 +1,69 @@
+// 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 MjJointConstraintTests {
+    private MjHingeJoint _joint1;
+    private MjHingeJoint _joint2;
+    private MjJointConstraint _constraint;
+    private XmlDocument _doc;
+
+    [SetUp]
+    public void SetUp() {
+      _joint1 = new GameObject("joint1").AddComponent<MjHingeJoint>();
+      _joint2 = new GameObject("joint2").AddComponent<MjHingeJoint>();
+      _constraint = new GameObject("joint").AddComponent<MjJointConstraint>();
+      _doc = new XmlDocument();
+    }
+
+    [TearDown]
+    public void TearDown() {
+      UnityEngine.Object.DestroyImmediate(_constraint.gameObject);
+      UnityEngine.Object.DestroyImmediate(_joint1.gameObject);
+      UnityEngine.Object.DestroyImmediate(_joint2.gameObject);
+    }
+
+    [Test]
+    public void ErrorThrownWhenJoint1Empty() {
+      // This is an illegal MJCF, but the purpose of this test is to verify that if
+      // the user didn't assign the joint in the editor, an error will be thrown when play is hit.
+      _doc.LoadXml("<joint/>");
+      _constraint.ParseMjcf(_doc.GetElementsByTagName("joint")[0] as XmlElement);
+      Assert.That(() => { _constraint.GenerateMjcf("name", _doc); }, Throws.Exception);
+    }
+
+    [Test]
+    public void Joint2Empty() {
+      _doc.LoadXml("<joint joint1='joint1'/>");
+      _constraint.ParseMjcf(_doc.GetElementsByTagName("joint")[0] as XmlElement);
+      _constraint.GenerateMjcf("name", _doc);
+    }
+
+    [Test]
+    public void ParseAllSettings() {
+      _doc.LoadXml("<joint joint1='joint1' joint2='joint2'/>");
+      _constraint.ParseMjcf(_doc.GetElementsByTagName("joint")[0] as XmlElement);
+      Assert.That(_constraint.Joint1, Is.EqualTo(_joint1));
+      Assert.That(_constraint.Joint2, Is.EqualTo(_joint2));
+    }
+  }
+}