Saran Tunyasuvunakool
3577e2cf8b
PiperOrigin-RevId: 434731612 Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
75 lines
2.2 KiB
C#
75 lines
2.2 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 MjBallJointTests {
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private GameObject _parent;
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private MjBallJoint _joint;
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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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_joint = new GameObject("joint").AddComponent<MjBallJoint>();
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_joint.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(_parent);
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}
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[Test]
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public void ComponentWorldPositionConvertedToMjCoordinates() {
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_joint.transform.position = new Vector3(1, 2, 3);
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_doc.AppendChild(_joint.GenerateMjcf("name", _doc));
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Assert.That(_doc.OuterXml, Does.Contain(@"pos=""1 3 2"""));
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}
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[Test]
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public void GenerateLimits() {
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_joint.RangeUpper = 10;
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_doc.AppendChild(_joint.GenerateMjcf("name", _doc));
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Assert.That(_doc.OuterXml, Does.Contain(@"range=""0 10"""));
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}
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[Test]
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public void ParsingPosition() {
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var jointElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("joint"));
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jointElement.SetAttribute("pos", "1 2 3");
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_joint.ParseMjcf(jointElement);
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Assert.That(_joint.transform.localPosition, Is.EqualTo(new Vector3(1, 3, 2)));
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}
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[Test]
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public void ParsingJointLimitRangeSettings() {
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var jointElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("joint"));
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jointElement.SetAttribute("range", "0 10");
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_joint.ParseMjcf(jointElement);
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Assert.That(_joint.RangeUpper, Is.EqualTo(10));
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}
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}
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}
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