Saran Tunyasuvunakool
3577e2cf8b
PiperOrigin-RevId: 434731612 Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
70 lines
2.4 KiB
C#
70 lines
2.4 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 MjJointConstraintTests {
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private MjHingeJoint _joint1;
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private MjHingeJoint _joint2;
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private MjJointConstraint _constraint;
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private XmlDocument _doc;
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[SetUp]
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public void SetUp() {
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_joint1 = new GameObject("joint1").AddComponent<MjHingeJoint>();
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_joint2 = new GameObject("joint2").AddComponent<MjHingeJoint>();
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_constraint = new GameObject("joint").AddComponent<MjJointConstraint>();
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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(_constraint.gameObject);
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UnityEngine.Object.DestroyImmediate(_joint1.gameObject);
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UnityEngine.Object.DestroyImmediate(_joint2.gameObject);
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}
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[Test]
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public void ErrorThrownWhenJoint1Empty() {
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// This is an illegal MJCF, but the purpose of this test is to verify that if
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// the user didn't assign the joint in the editor, an error will be thrown when play is hit.
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_doc.LoadXml("<joint/>");
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_constraint.ParseMjcf(_doc.GetElementsByTagName("joint")[0] as XmlElement);
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Assert.That(() => { _constraint.GenerateMjcf("name", _doc); }, Throws.Exception);
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}
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[Test]
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public void Joint2Empty() {
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_doc.LoadXml("<joint joint1='joint1'/>");
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_constraint.ParseMjcf(_doc.GetElementsByTagName("joint")[0] as XmlElement);
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_constraint.GenerateMjcf("name", _doc);
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}
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[Test]
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public void ParseAllSettings() {
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_doc.LoadXml("<joint joint1='joint1' joint2='joint2'/>");
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_constraint.ParseMjcf(_doc.GetElementsByTagName("joint")[0] as XmlElement);
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Assert.That(_constraint.Joint1, Is.EqualTo(_joint1));
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Assert.That(_constraint.Joint2, Is.EqualTo(_joint2));
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}
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}
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}
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