Tom Erez
107 lines
4.1 KiB
C#
107 lines
4.1 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 MjScenePlayTests {
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private MjScene _scene;
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private MjBody _body;
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private MjInertial _inertia;
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private MjHingeJoint _joint;
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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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_inertia = new GameObject("inertia").AddComponent<MjInertial>();
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_inertia.transform.parent = _body.transform;
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_joint = new GameObject("joint").AddComponent<MjHingeJoint>();
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_joint.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(_inertia.gameObject);
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GameObject.DestroyImmediate(_body.gameObject);
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GameObject.DestroyImmediate(_scene.gameObject);
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}
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[UnityTest]
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public IEnumerator RecreatedScenePreservesPosition() {
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_joint.Velocity = .1f;
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_scene.CreateScene();
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yield return null; // qpos moves, xpos stays at zero
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yield return null; // now xpos changed
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var tickedRotation = _body.transform.rotation;
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_scene.RecreateScene();
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// xpos is one step behind qpos, so it's not a perfect no-op, hence the high tolerance
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Assert.That(tickedRotation.x, Is.EqualTo(_body.transform.rotation.x).Within(1e-3f));
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Assert.That(tickedRotation.y, Is.EqualTo(_body.transform.rotation.y).Within(1e-3f));
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Assert.That(tickedRotation.z, Is.EqualTo(_body.transform.rotation.z).Within(1e-3f));
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Assert.That(tickedRotation.w, Is.EqualTo(_body.transform.rotation.w).Within(1e-3f));
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// Assert.That(tickedRotation, Is.EqualTo(_body.transform.rotation).Using(_quaternionComparer));
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}
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[UnityTest]
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public IEnumerator SceneRecreatedWithAddition() {
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_joint.Velocity = 1;
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_scene.CreateScene();
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Assert.That(_scene.SceneRecreationAtLateUpdateRequested, Is.False);
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var body = new GameObject("body").AddComponent<MjBody>();
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var inertia = new GameObject("inertia").AddComponent<MjInertial>();
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inertia.transform.parent = body.transform;
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var joint = new GameObject("joint").AddComponent<MjHingeJoint>();
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joint.transform.parent = body.transform;
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yield return null; // call "start"
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Assert.That(_scene.SceneRecreationAtLateUpdateRequested, Is.True);
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yield return null; // call "lateUpdate"
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Assert.That(_scene.SceneRecreationAtLateUpdateRequested, Is.False);
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UnityEngine.Object.DestroyImmediate(inertia.gameObject);
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UnityEngine.Object.DestroyImmediate(joint.gameObject);
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UnityEngine.Object.DestroyImmediate(body.gameObject);
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}
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[UnityTest]
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public IEnumerator SceneRecreatedAfterDeletion() {
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var body = new GameObject("body").AddComponent<MjBody>();
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var inertia = new GameObject("inertia").AddComponent<MjInertial>();
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inertia.transform.parent = body.transform;
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var joint = new GameObject("joint").AddComponent<MjHingeJoint>();
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joint.transform.parent = body.transform;
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yield return null;
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yield return null;
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Assert.That(_scene.SceneRecreationAtLateUpdateRequested, Is.False);
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UnityEngine.Object.DestroyImmediate(inertia.gameObject);
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UnityEngine.Object.DestroyImmediate(joint.gameObject);
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UnityEngine.Object.DestroyImmediate(body.gameObject);
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Assert.That(_scene.SceneRecreationAtLateUpdateRequested, Is.True);
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yield return null; // should result in a new scene
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Assert.That(_scene.SceneRecreationAtLateUpdateRequested, Is.False);
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}
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}
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}
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#endif
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