Tom Erez
79 lines
2.2 KiB
C#
79 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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#if UNITY_EDITOR
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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 MjJointStateTests {
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private MjBody _body;
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private MjHingeJoint _joint;
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private MjInertial _inertial;
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private MjScene _scene;
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[SetUp]
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public void SetUp() {
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_scene = MjScene.Instance;
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_body = new GameObject("body").AddComponent<MjBody>();
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_joint = new GameObject("joint").AddComponent<MjHingeJoint>();
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_joint.transform.parent = _body.transform;
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_inertial = new GameObject("inertial").AddComponent<MjInertial>();
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_inertial.transform.parent = _body.transform;
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}
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[TearDown]
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public void TearDown() {
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GameObject.DestroyImmediate(_joint.gameObject);
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GameObject.DestroyImmediate(_inertial.gameObject);
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GameObject.DestroyImmediate(_body.gameObject);
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GameObject.DestroyImmediate(MjScene.Instance);
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}
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[UnityTest]
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public IEnumerator JointVelocityChangesTheConfiguration() {
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_joint.Velocity = 10;
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_scene.CreateScene();
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yield return new WaitForFixedUpdate();
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Assert.That(_joint.Configuration, Is.Not.EqualTo(0));
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}
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[UnityTest]
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public IEnumerator JointConfigurationIsUsed() {
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_joint.Configuration = 10;
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_scene.CreateScene();
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yield return new WaitForFixedUpdate();
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Assert.That(_joint.Configuration, Is.Not.EqualTo(0));
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}
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[UnityTest]
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public IEnumerator JointConfigurationIsReadOnly() {
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_scene.CreateScene();
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_joint.Configuration = 10;
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yield return new WaitForFixedUpdate();
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Assert.That(_joint.Configuration, Is.EqualTo(0));
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}
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}
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}
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#endif
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