Saran Tunyasuvunakool
3577e2cf8b
PiperOrigin-RevId: 434731612 Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
103 lines
3.4 KiB
C#
103 lines
3.4 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;
|
|
using UnityEngine.TestTools.Utils;
|
|
|
|
namespace Mujoco {
|
|
|
|
[TestFixture]
|
|
public class MjSlideJointTests {
|
|
|
|
private GameObject _parent;
|
|
private MjSlideJoint _joint;
|
|
private XmlDocument _doc;
|
|
private Vector3EqualityComparer _comparer;
|
|
|
|
[SetUp]
|
|
public void SetUp() {
|
|
_parent = new GameObject("parent");
|
|
_joint = new GameObject("joint", typeof(MjSlideJoint)).GetComponent<MjSlideJoint>();
|
|
_joint.transform.parent = _parent.transform;
|
|
_doc = new XmlDocument();
|
|
_comparer = new Vector3EqualityComparer(1e-3f);
|
|
}
|
|
|
|
[TearDown]
|
|
public void TearDown() {
|
|
GameObject.DestroyImmediate(_parent);
|
|
}
|
|
|
|
[Test]
|
|
public void ComponentWorldPositionConvertedToMjCoordinates() {
|
|
_joint.transform.position = new Vector3(1, 2, 3);
|
|
_doc.AppendChild(_joint.GenerateMjcf("name", _doc));
|
|
Assert.That(_doc.OuterXml, Does.Contain(@"pos=""1 3 2"""));
|
|
}
|
|
|
|
[Test]
|
|
public void GenerateLimits() {
|
|
_joint.RangeLower = -20;
|
|
_joint.RangeUpper = 10;
|
|
_doc.AppendChild(_joint.GenerateMjcf("name", _doc));
|
|
Assert.That(_doc.OuterXml, Does.Contain(@"range=""-20 10"""));
|
|
}
|
|
|
|
[Test]
|
|
public void TestingAnOffsetAxis() {
|
|
_joint.transform.rotation =
|
|
Quaternion.AngleAxis(45.0f, Vector3.up);
|
|
var element = _joint.GenerateMjcf("name", _doc);
|
|
Assert.That(element.GetVector3Attribute("axis", Vector3.zero),
|
|
Is.EqualTo(new Vector3(0.7071068f, -0.7071069f, 0)).Using(_comparer));
|
|
}
|
|
|
|
[Test]
|
|
public void ParsingPosition() {
|
|
var jointElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("joint"));
|
|
jointElement.SetAttribute("pos", "1 2 3");
|
|
_joint.ParseMjcf(jointElement);
|
|
Assert.That(_joint.transform.localPosition, Is.EqualTo(new Vector3(1, 3, 2)));
|
|
}
|
|
|
|
[TestCase("1 0 0", 1, 0, 0)]
|
|
[TestCase("0 1 0", 0, 0, 1)]
|
|
[TestCase("0 0 1", 0, 1, 0)]
|
|
public void ParsingTranslatesSlidexisIntoJointRotation(
|
|
string setting, float rx, float ry, float rz) {
|
|
var jointElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("joint"));
|
|
jointElement.SetAttribute("axis", setting);
|
|
_joint.ParseMjcf(jointElement);
|
|
Assert.That(_joint.SlideAxis, Is.EqualTo(new Vector3(rx, ry, rz)).Using(_comparer));
|
|
}
|
|
|
|
[TestCase("0 10", 0, 10)]
|
|
[TestCase("-10 0", -10, 0)]
|
|
[TestCase("-10 10", -10, 10)]
|
|
public void ParsingJointLimitRangeSettings(
|
|
string setting, float expectedLow, float expectedHigh) {
|
|
var jointElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("joint"));
|
|
jointElement.SetAttribute("range", setting);
|
|
_joint.ParseMjcf(jointElement);
|
|
Assert.That(_joint.RangeLower, Is.EqualTo(expectedLow));
|
|
Assert.That(_joint.RangeUpper, Is.EqualTo(expectedHigh));
|
|
}
|
|
}
|
|
}
|