Saran Tunyasuvunakool
3577e2cf8b
PiperOrigin-RevId: 434731612 Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
58 lines
1.7 KiB
C#
58 lines
1.7 KiB
C#
// Copyright 2019 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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using System;
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using System.Collections;
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using System.Collections.Generic;
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using System.Xml;
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using NUnit.Framework;
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using UnityEngine;
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namespace Mujoco {
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[TestFixture]
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public class MjInertialTests {
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private MjInertial _inertial;
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private XmlDocument _doc;
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[SetUp]
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public void SetUp() {
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_inertial = new GameObject("inertial").AddComponent<MjInertial>();
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_doc = new XmlDocument();
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}
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[TearDown]
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public void TearDown() {
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UnityEngine.Object.DestroyImmediate(_inertial.gameObject);
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}
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[Test]
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public void ParseAllSettings() {
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_doc.LoadXml("<inertial mass='5' diaginertia='1 2 3'/>");
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_inertial.ParseMjcf(_doc.GetElementsByTagName("inertial")[0] as XmlElement);
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Assert.That(_inertial.Mass, Is.EqualTo(5.0f));
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Assert.That(_inertial.DiagInertia, Is.EqualTo(new Vector3(1, 3, 2)));
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}
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[Test]
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public void GenerateMjcf() {
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_inertial.Mass = 6.0f;
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_inertial.DiagInertia = new Vector3(7, 8, 9);
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var mjcf = _inertial.GenerateMjcf("inertial", _doc);
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Assert.That(mjcf.OuterXml, Does.Contain("mass=\"6\""));
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Assert.That(mjcf.OuterXml, Does.Contain("diaginertia=\"7 9 8\""));
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}
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}
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}
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