Tom Erez
6a58fd1522
Also, don't add a Global Settings component at import if the xml doesn't have any global settings (option/size/custom). PiperOrigin-RevId: 495950899 Change-Id: I6599e8ea3f3a82729fc5c974fd7ced8eb93b277e
82 lines
2.7 KiB
C#
82 lines
2.7 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 MjConnectTests {
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private MjBody _body1;
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private MjBody _body2;
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private Transform _anchor;
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private MjConnect _constraint;
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private XmlDocument _doc;
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[SetUp]
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public void SetUp() {
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_body1 = new GameObject("body1").AddComponent<MjBody>();
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_body2 = new GameObject("body2").AddComponent<MjBody>();
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_anchor = _body1.transform;
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_constraint = new GameObject("connect").AddComponent<MjConnect>();
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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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UnityEngine.Object.DestroyImmediate(_constraint.gameObject);
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UnityEngine.Object.DestroyImmediate(_body1.gameObject);
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UnityEngine.Object.DestroyImmediate(_body2.gameObject);
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}
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[Test]
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public void ErrorThrownWhenBody1Empty() {
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_constraint.Body1 = null;
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Assert.That(() => { _constraint.GenerateMjcf("name", _doc); }, Throws.Exception);
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}
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// In this constraint both elements are required.
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[Test]
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public void ErrorThrownWhenBody2Empty() {
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_doc.LoadXml("<body body1='body1'/>");
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_constraint.ParseMjcf(_doc.GetElementsByTagName("body")[0] as XmlElement);
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Assert.That(() => { _constraint.GenerateMjcf("name", _doc); }, Throws.Exception);
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}
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[Test]
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public void ParseXML() {
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_doc.LoadXml("<connect body1='body1' body2='body2'/>");
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_constraint.ParseMjcf(_doc.GetElementsByTagName("connect")[0] as XmlElement);
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Assert.That(_constraint.Body1, Is.EqualTo(_body1));
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Assert.That(_constraint.Body2, Is.EqualTo(_body2));
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}
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[Test]
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public void GenerateXML() {
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_constraint.Body1 = _body1;
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_constraint.Body2 = _body2;
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_constraint.Anchor = _anchor;
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var mjcf = _constraint.GenerateMjcf("name", _doc);
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Assert.That(mjcf.OuterXml, Does.Contain("<connect"));
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Assert.That(mjcf.OuterXml, Does.Contain("body1=\""));
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Assert.That(mjcf.OuterXml, Does.Contain("body2=\""));
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Assert.That(mjcf.OuterXml, Does.Contain("anchor=\""));
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}
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}
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}
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