Initial release of the Unity plugin.

PiperOrigin-RevId: 425947505

unity/Tests/Runtime/MjSitePlayTests.cs

@@ -0,0 +1,67 @@
+// 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