Saran Tunyasuvunakool
3577e2cf8b
PiperOrigin-RevId: 434731612 Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
78 lines
2.5 KiB
C#
78 lines
2.5 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;
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namespace Mujoco {
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[TestFixture]
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public class MjBaseJointTests {
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public class FakeJoint : MjBaseJoint {
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protected override void OnParseMjcf(XmlElement mjcf) {}
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protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
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return (XmlElement)doc.CreateElement("joint");
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}
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}
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private FakeJoint _joint;
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private MjBaseBody _parent;
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private MjBaseBody _grandParent;
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[Test]
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public void RetrievingBodiesConnectedByTheJoint() {
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_joint = new GameObject("joint").AddComponent<FakeJoint>();
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_parent = new GameObject("parent").AddComponent<MjBody>();
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_grandParent = new GameObject("grandParent").AddComponent<MjBody>();
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_joint.transform.parent = _parent.transform;
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_parent.transform.parent = _grandParent.transform;
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MjBaseBody grandParent, parent;
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_joint.GetConnectedBodies(out grandParent, out parent);
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Assert.That(grandParent, Is.EqualTo(_grandParent));
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Assert.That(parent, Is.EqualTo(_parent));
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GameObject.DestroyImmediate(_joint.gameObject);
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GameObject.DestroyImmediate(_parent.gameObject);
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GameObject.DestroyImmediate(_grandParent.gameObject);
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GameObject.DestroyImmediate(MjScene.Instance);
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}
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[Test]
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public void RetrievingBodiesConnectedToTheWorld() {
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_joint = new GameObject("joint").AddComponent<FakeJoint>();
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_parent = new GameObject("parent").AddComponent<MjBody>();
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_joint.transform.parent = _parent.transform;
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MjBaseBody grandParent, parent;
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_joint.GetConnectedBodies(out grandParent, out parent);
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Assert.That(grandParent, Is.Null);
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Assert.That(parent, Is.EqualTo(_parent));
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GameObject.DestroyImmediate(_joint.gameObject);
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GameObject.DestroyImmediate(_parent.gameObject);
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GameObject.DestroyImmediate(MjScene.Instance);
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}
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}
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}
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