Saran Tunyasuvunakool
3577e2cf8b
PiperOrigin-RevId: 434731612 Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
105 lines
4.0 KiB
C#
105 lines
4.0 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 MjEllipsoidShapeTests {
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private GameObject _owner;
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private MjShapeComponent _shape;
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private XmlDocument _doc;
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[SetUp]
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public void SetUp() {
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_owner = new GameObject("owner");
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_shape = _owner.AddComponent<MjSite>();
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_shape.ShapeType = MjShapeComponent.ShapeTypes.Ellipsoid;
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_shape.Ellipsoid.Radiuses = Vector3.one;
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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(_owner);
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}
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[TestCase(1, 2, 3, "1 3 2")]
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public void EllipsoidSize(float x, float y, float z, string expectedResult) {
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var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
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_shape.Ellipsoid.Radiuses = new Vector3(x, y, z);
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_shape.ShapeToMjcf(mjcf, _owner.transform);
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Assert.That(_doc.OuterXml, Does.Contain("size=\"" + expectedResult + "\""));
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}
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[TestCase(0.5f, "0.5 0.5 0.5")]
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[TestCase(2.0f, "2 2 2")]
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public void EffectOfUniformScaling(float uniformScale, string expectedResult) {
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var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
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_owner.transform.localScale = Vector3.one * uniformScale;
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_shape.ShapeToMjcf(mjcf, _owner.transform);
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Assert.That(_doc.OuterXml, Does.Contain("size=\"" + expectedResult + "\""));
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}
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[TestCase(2, 3, 4, "2 4 3")]
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public void EffectOfNonUniformScaling(float x, float y, float z, string expectedResult) {
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var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
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_owner.transform.localScale = new Vector3(x, y, z);
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_shape.ShapeToMjcf(mjcf, _owner.transform);
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Assert.That(_doc.OuterXml, Does.Contain("size=\"" + expectedResult + "\""));
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}
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[Test]
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public void ParsingSettings() {
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var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
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mjcf.SetAttribute("type", "ellipsoid");
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mjcf.SetAttribute("size", "0.1 0.2 0.3");
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_shape.ShapeFromMjcf(mjcf);
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Assert.That(_shape.ShapeType, Is.EqualTo(MjShapeComponent.ShapeTypes.Ellipsoid));
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Assert.That(_shape.Ellipsoid.Radiuses, Is.EqualTo(new Vector3(0.1f, 0.3f, 0.2f)));
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}
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[TestCase("0 0 0 0 0 1", 0.5f, 0.5f, 0.5f)]
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[TestCase("0 0 0 0 1 0", 0.5f, 0.5f, 0.5f)]
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[TestCase("0 0 0 1 0 0", 0.5f, 0.5f, 0.5f)]
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[TestCase("0 0 -1 0 0 1", 1, 1, 1)]
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[TestCase("0 -1 0 0 1 0", 1, 1, 1)]
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[TestCase("-1 0 0 1 0 0", 1, 1, 1)]
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public void FromToSizeSpecificationIsOrientationAgnostic(string fromToStr, float x, float y,
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float z) {
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var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
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mjcf.SetAttribute("type", "ellipsoid");
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mjcf.SetAttribute("fromto", fromToStr);
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_shape.ShapeFromMjcf(mjcf);
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Assert.That(_shape.Ellipsoid.Radiuses, Is.EqualTo(new Vector3(x, y, z)));
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}
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[Test]
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public void FromToSizeSpecificationUsesMagnitudeOfVectorAsSizeBase() {
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var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
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mjcf.SetAttribute("type", "ellipsoid");
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mjcf.SetAttribute("fromto", "-1 0 0 0 0 1");
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_shape.ShapeFromMjcf(mjcf);
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Assert.That((_shape.Ellipsoid.Radiuses - new Vector3(0.707f, 0.707f, 0.707f)).magnitude,
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Is.EqualTo(0).Within(1e-3f));
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}
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}
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}
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