Saran Tunyasuvunakool
3577e2cf8b
PiperOrigin-RevId: 434731612 Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
89 lines
3.1 KiB
C#
89 lines
3.1 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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using UnityEngine.TestTools.Utils;
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namespace Mujoco {
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[TestFixture]
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public class MjBodyTransformTests {
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private GameObject _parent;
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private MjBody _body;
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private XmlDocument _doc;
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[SetUp]
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public void SetUp() {
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_parent = new GameObject("parent");
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_body = new GameObject("body", typeof(MjBody)).GetComponent<MjBody>();
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_body.transform.parent = _parent.transform;
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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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GameObject.DestroyImmediate(_body.gameObject);
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GameObject.DestroyImmediate(_parent);
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}
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[Test]
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public void RelativePositionUsedInMjcf() {
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_parent.transform.position = new Vector3(1, 2, 3);
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_parent.transform.rotation = Quaternion.AngleAxis(45.0f, (new Vector3(1, 2, 3)).normalized);
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var element = _doc.AppendChild(_body.GenerateMjcf("name", _doc)) as XmlElement;
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Assert.That(_doc.OuterXml, Does.Contain(@"pos=""1 3 2"""));
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Assert.That(
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element.GetQuaternionAttribute("quat", Quaternion.identity),
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Is.EqualTo(new Quaternion(w:-0.9238795f, x:0.1022765f, y:0.3068294f, z:0.2045529f))
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.Using(new Vector4EqualityComparer(1e-4f)));
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}
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[Test]
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public void LocalPositionParsing() {
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var bodyElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("body"));
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bodyElement.SetAttribute("pos", "1 2 3");
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_body.ParseMjcf(bodyElement);
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Assert.That(_body.transform.localPosition, Is.EqualTo(new Vector3(1, 3, 2)));
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}
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[TestCase(0.866f, 0.5f, 0, 0, 0.5f, 0, 0, -0.866f)]
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[TestCase(0.866f, 0, 0.5f, 0, 0, 0, 0.5f, -0.866f)]
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[TestCase(0.866f, 0, 0, 0.5f, 0, 0.5f, 0, -0.866f)]
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[TestCase(0, 0.866f, 0.5f, 0, 0.866f, 0, 0.5f, 0)]
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[TestCase(0, 0.866f, 0, 0.5f, 0.866f, 0.5f, 0, 0)]
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[TestCase(0, 0, 0.866f, 0.5f, 0, 0.5f, 0.866f, 0)]
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public void BodyLocalRotationParsing(
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float ix, float iy, float iz, float iw, float ex, float ey, float ez, float ew) {
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var bodyElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("body"));
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bodyElement.SetAttribute("quat", $"{ix} {iy} {iz} {iw}");
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_body.ParseMjcf(bodyElement);
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var angle = Quaternion.Angle(_body.transform.localRotation, new Quaternion(ex, ey, ez, ew));
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Assert.That(angle, Is.EqualTo(0).Within(3));
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}
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[Test]
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public void ParsingDefaultRotation() {
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var bodyElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("body"));
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_body.ParseMjcf(bodyElement);
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Assert.That(_body.transform.localRotation, Is.EqualTo(Quaternion.identity));
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}
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}
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}
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