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