Initial release of the Unity plugin.

PiperOrigin-RevId: 425947505

unity/Tests/Runtime/MjJointTests.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.
+
+#if UNITY_EDITOR
+
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Xml;
+using NUnit.Framework;
+using UnityEngine;
+using UnityEngine.TestTools;
+
+namespace Mujoco {
+
+[TestFixture]
+public class MjJointStateTests {
+  private MjBody _body;
+  private MjHingeJoint _joint;
+  private MjInertial _inertial;
+  private MjScene _scene;
+
+  [SetUp]
+  public void SetUp() {
+    _scene = MjScene.Instance;
+    _body = new GameObject("body").AddComponent<MjBody>();
+    _joint = new GameObject("joint").AddComponent<MjHingeJoint>();
+    _joint.transform.parent = _body.transform;
+    _inertial = new GameObject("inertial").AddComponent<MjInertial>();
+    _inertial.transform.parent = _body.transform;
+  }
+
+  [TearDown]
+  public void TearDown() {
+    GameObject.DestroyImmediate(_joint.gameObject);
+    GameObject.DestroyImmediate(_inertial.gameObject);
+    GameObject.DestroyImmediate(_body.gameObject);
+    GameObject.DestroyImmediate(MjScene.Instance);
+  }
+
+  [UnityTest]
+  public IEnumerator JointVelocityChangesTheConfiguration() {
+    _joint.Velocity = 10;
+    _scene.CreateScene();
+    yield return new WaitForFixedUpdate();
+    Assert.That(_joint.Configuration, Is.Not.EqualTo(0));
+  }
+
+  [UnityTest]
+  public IEnumerator JointConfigurationIsUsed() {
+    _joint.Configuration = 10;
+    _scene.CreateScene();
+    yield return new WaitForFixedUpdate();
+    Assert.That(_joint.Configuration, Is.Not.EqualTo(0));
+  }
+
+  [UnityTest]
+  public IEnumerator JointConfigurationIsReadOnly() {
+    _scene.CreateScene();
+    _joint.Configuration = 10;
+    yield return new WaitForFixedUpdate();
+    Assert.That(_joint.Configuration, Is.EqualTo(0));
+  }
+}
+}
+
+#endif

unity/Tests/Runtime/MjJointTests.cs.meta

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unity/Tests/Runtime/MjMeshFilterTests.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.Linq;
+using System.Xml;
+using NUnit.Framework;
+using UnityEngine;
+using UnityEngine.TestTools;
+
+namespace Mujoco {
+
+[TestFixture]
+public class MjMeshFilterTests {
+
+  private MjGeom _geom;
+  private MeshFilter _meshFilter;
+
+  [SetUp]
+  public void SetUp() {
+    var gameObject = new GameObject(
+        "object", typeof(MjGeom), typeof(MeshFilter), typeof(MjMeshFilter));
+    _geom = gameObject.GetComponent<MjGeom>();
+    _meshFilter = gameObject.GetComponent<MeshFilter>();
+  }
+
+  [TearDown]
+  public void TearDown() {
+    UnityEngine.Object.DestroyImmediate(_geom.gameObject);
+    GameObject.DestroyImmediate(MjScene.Instance);
+  }
+
+  [UnityTest]
+  public IEnumerator NotMakingUnnecesaryMeshChanges() {
+    yield return null;
+    var firstMesh = _meshFilter.mesh;
+    yield return null;
+    var secondMesh = _meshFilter.mesh;
+    Assert.That(firstMesh, Is.EqualTo(secondMesh));
+  }
+
+  [UnityTest]
+  public IEnumerator DetectingChangesOfGeomShape() {
+    yield return null;
+    var firstMesh = _meshFilter.mesh;
+    _geom.ShapeType = MjShapeComponent.ShapeTypes.Box;
+    yield return null;
+    var secondMesh = _meshFilter.mesh;
+    Assert.That(firstMesh, Is.Not.EqualTo(secondMesh));
+  }
+}
+}

unity/Tests/Runtime/MjMeshFilterTests.cs.meta

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unity/Tests/Runtime/MjScenePlayTests.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.
+
+#if UNITY_EDITOR
+
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Xml;
+using NUnit.Framework;
+using UnityEngine;
+using UnityEngine.TestTools;
+
+namespace Mujoco {
+
+[TestFixture]
+public class MjScenePlayTests {
+  private MjScene _scene;
+  private MjBody _body;
+  private MjInertial _inertia;
+  private MjHingeJoint _joint;
+
+  [SetUp]
+  public void SetUp() {
+    _scene = MjScene.Instance;
+    _body = new GameObject("body").AddComponent<MjBody>();
+    _inertia = new GameObject("inertia").AddComponent<MjInertial>();
+    _inertia.transform.parent = _body.transform;
+    _joint = new GameObject("joint").AddComponent<MjHingeJoint>();
+    _joint.transform.parent = _body.transform;
+  }
+
+  [TearDown]
+  public void TearDown() {
+    GameObject.DestroyImmediate(_joint.gameObject);
+    GameObject.DestroyImmediate(_inertia.gameObject);
+    GameObject.DestroyImmediate(_body.gameObject);
+    GameObject.DestroyImmediate(_scene.gameObject);
+  }
+
+  [UnityTest]
+  public IEnumerator RecreatedScenePreservesPosition() {
+    _joint.Velocity = .1f;
+    _scene.CreateScene();
+    yield return null; // qpos moves, xpos stays at zero
+    yield return null; // now xpos changed
+    var tickedRotation = _body.transform.rotation;
+    _scene.RecreateScene();
+    // xpos is one step behind qpos, so it's not a perfect no-op, hence the high tolerance
+    Assert.That(tickedRotation.x, Is.EqualTo(_body.transform.rotation.x).Within(1e-3f));
+    Assert.That(tickedRotation.y, Is.EqualTo(_body.transform.rotation.y).Within(1e-3f));
+    Assert.That(tickedRotation.z, Is.EqualTo(_body.transform.rotation.z).Within(1e-3f));
+    Assert.That(tickedRotation.w, Is.EqualTo(_body.transform.rotation.w).Within(1e-3f));
+    // Assert.That(tickedRotation, Is.EqualTo(_body.transform.rotation).Using(_quaternionComparer));
+  }
+
+  [UnityTest]
+  public IEnumerator SceneRecreatedWithAddition() {
+    _joint.Velocity = 1;
+    _scene.CreateScene();
+    Assert.That(_scene.SceneRecreationAtLateUpdateRequested, Is.False);
+    var body = new GameObject("body").AddComponent<MjBody>();
+    var inertia = new GameObject("inertia").AddComponent<MjInertial>();
+    inertia.transform.parent = body.transform;
+    var joint = new GameObject("joint").AddComponent<MjHingeJoint>();
+    joint.transform.parent = body.transform;
+    yield return null; // call "start"
+    Assert.That(_scene.SceneRecreationAtLateUpdateRequested, Is.True);
+    yield return null; // call "lateUpdate"
+    Assert.That(_scene.SceneRecreationAtLateUpdateRequested, Is.False);
+    UnityEngine.Object.DestroyImmediate(inertia.gameObject);
+    UnityEngine.Object.DestroyImmediate(joint.gameObject);
+    UnityEngine.Object.DestroyImmediate(body.gameObject);
+  }
+
+  [UnityTest]
+  public IEnumerator SceneRecreatedAfterDeletion() {
+    var body = new GameObject("body").AddComponent<MjBody>();
+    var inertia = new GameObject("inertia").AddComponent<MjInertial>();
+    inertia.transform.parent = body.transform;
+    var joint = new GameObject("joint").AddComponent<MjHingeJoint>();
+    joint.transform.parent = body.transform;
+    yield return null;
+    yield return null;
+    Assert.That(_scene.SceneRecreationAtLateUpdateRequested, Is.False);
+    UnityEngine.Object.DestroyImmediate(inertia.gameObject);
+    UnityEngine.Object.DestroyImmediate(joint.gameObject);
+    UnityEngine.Object.DestroyImmediate(body.gameObject);
+    Assert.That(_scene.SceneRecreationAtLateUpdateRequested, Is.True);
+    yield return null; // should result in a new scene
+    Assert.That(_scene.SceneRecreationAtLateUpdateRequested, Is.False);
+  }
+}
+}
+#endif

unity/Tests/Runtime/MjScenePlayTests.cs.meta

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unity/Tests/Runtime/MjSitePlayTests.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.
+
+#if UNITY_EDITOR
+
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Xml;
+using NUnit.Framework;
+using UnityEngine;
+using UnityEngine.TestTools;
+
+namespace Mujoco {
+
+[TestFixture]
+public class MjSiteStateSyncTests {
+  private MjBody _body;
+  private MjSite _site;
+  private MjScene _scene;
+
+  [SetUp]
+  public void SetUp() {
+    _scene = MjScene.Instance;
+    _body = new GameObject("body").AddComponent<MjBody>();
+    _site = new GameObject("site").AddComponent<MjSite>();
+    _site.transform.parent = _body.transform;
+  }
+
+  [TearDown]
+  public void TearDown() {
+    GameObject.DestroyImmediate(_site.gameObject);
+    GameObject.DestroyImmediate(_body.gameObject);
+    GameObject.DestroyImmediate(_scene.gameObject);
+    GameObject.DestroyImmediate(MjScene.Instance);
+  }
+
+  [UnityTest]
+  public IEnumerator InitialTransform() {
+    _site.transform.position = new Vector3(1, 2, 3);
+    _scene.CreateScene(); // compilation happens here
+    yield return new WaitForFixedUpdate(); // updating the transform
+    Assert.That(_site.transform.position, Is.EqualTo(new Vector3(1, 2, 3)));
+  }
+
+  [UnityTest]
+  public IEnumerator ChangedTransformIsOverwrittenByItsMjCounterpart() {
+    _scene.CreateScene(); // compilation happens here
+    _site.transform.position = new Vector3(1, 2, 3);
+    yield return new WaitForFixedUpdate(); // updating the transform
+    Assert.That(_site.transform.position, Is.EqualTo(Vector3.zero));
+  }
+}
+}
+
+#endif

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unity/Tests/Runtime/Mujoco.Tests.asmdef

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+    "name": "Tests.Runtime",
+    "rootNamespace": "",
+    "references": [
+        "UnityEngine.TestRunner",
+        "Mujoco"
+    ],
+    "includePlatforms": [],
+    "excludePlatforms": [],
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+    "overrideReferences": true,
+    "precompiledReferences": [
+        "nunit.framework.dll"
+    ],
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+    "defineConstraints": [
+        "UNITY_INCLUDE_TESTS"
+    ],
+    "versionDefines": [],
+    "noEngineReferences": false
+}

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