Saran Tunyasuvunakool
3577e2cf8b
PiperOrigin-RevId: 434731612 Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
70 lines
2.5 KiB
C#
70 lines
2.5 KiB
C#
// 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.
|
|
|
|
using System;
|
|
using System.Collections;
|
|
using System.Collections.Generic;
|
|
using System.Xml;
|
|
using NUnit.Framework;
|
|
using UnityEngine;
|
|
|
|
namespace Mujoco {
|
|
[TestFixture]
|
|
public class MjTendonConstraintTests {
|
|
private MjFixedTendon _tendon1;
|
|
private MjFixedTendon _tendon2;
|
|
private MjTendonConstraint _constraint;
|
|
private XmlDocument _doc;
|
|
|
|
[SetUp]
|
|
public void SetUp() {
|
|
_tendon1 = new GameObject("tendon1").AddComponent<MjFixedTendon>();
|
|
_tendon2 = new GameObject("tendon2").AddComponent<MjFixedTendon>();
|
|
_constraint = new GameObject("tendon").AddComponent<MjTendonConstraint>();
|
|
_doc = new XmlDocument();
|
|
}
|
|
|
|
[TearDown]
|
|
public void TearDown() {
|
|
UnityEngine.Object.DestroyImmediate(_constraint.gameObject);
|
|
UnityEngine.Object.DestroyImmediate(_tendon1.gameObject);
|
|
UnityEngine.Object.DestroyImmediate(_tendon2.gameObject);
|
|
}
|
|
|
|
[Test]
|
|
public void ErrorThrownWhenTendon1Empty() {
|
|
// This is an illegal MJCF, but the purpose of this test is to verify that if
|
|
// the user didn't assign the tendon in the editor, an error will be thrown when play is hit.
|
|
_doc.LoadXml("<tendon/>");
|
|
_constraint.ParseMjcf(_doc.GetElementsByTagName("tendon")[0] as XmlElement);
|
|
Assert.That(() => { _constraint.GenerateMjcf("name", _doc); }, Throws.Exception);
|
|
}
|
|
|
|
[Test]
|
|
public void Tendon2Empty() {
|
|
_doc.LoadXml("<tendon tendon1='tendon1'/>");
|
|
_constraint.ParseMjcf(_doc.GetElementsByTagName("tendon")[0] as XmlElement);
|
|
_constraint.GenerateMjcf("name", _doc);
|
|
}
|
|
|
|
[Test]
|
|
public void ParseAllSettings() {
|
|
_doc.LoadXml("<tendon tendon1='tendon1' tendon2='tendon2'/>");
|
|
_constraint.ParseMjcf(_doc.GetElementsByTagName("tendon")[0] as XmlElement);
|
|
Assert.That(_constraint.Tendon1, Is.EqualTo(_tendon1));
|
|
Assert.That(_constraint.Tendon2, Is.EqualTo(_tendon2));
|
|
}
|
|
}
|
|
}
|