Initial release of the Unity plugin.

PiperOrigin-RevId: 425947505

unity/Tests/Editor/components/MjSiteTests.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 MjSiteEditorTests {
+
+  private MjSite _site;
+  private XmlDocument _doc;
+
+  [SetUp]
+  public void SetUp() {
+    _site = new GameObject("site", typeof(MjSite)).GetComponent<MjSite>();
+    _doc = new XmlDocument();
+  }
+
+  [TearDown]
+  public void TearDown() {
+    GameObject.DestroyImmediate(_site.gameObject);
+  }
+
+  private XmlElement Parse(string mjcfString, string tag) {
+    _doc.LoadXml(mjcfString);
+    var elementList = _doc.GetElementsByTagName(tag);
+    return elementList[0] as XmlElement;
+  }
+
+  [Test]
+  public void GeneratingShapePropertiesMjcf() {
+    _site.ShapeType = MjShapeComponent.ShapeTypes.Box;
+    _site.Box.Extents = new Vector3(1, 2, 3);
+    _doc.AppendChild(_site.GenerateMjcf("name", _doc));
+    Assert.That(_doc.OuterXml, Does.Contain("type=\"box\""));
+    Assert.That(_doc.OuterXml, Does.Contain("size=\"1 3 2\""));
+  }
+
+  [Test]
+  public void ParsingShapePropertiesMjcf() {
+    var mjcfString = "<site type=\"box\" size=\"1 3 2\"/>";
+    var mjcfElement = Parse(mjcfString, "site");
+    _site.ParseMjcf(mjcfElement);
+    Assert.That(_site.ShapeType, Is.EqualTo(MjShapeComponent.ShapeTypes.Box));
+    Assert.That(_site.Box.Extents, Is.EqualTo(new Vector3(1, 2, 3)));
+  }
+}
+}