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| using System; |
| using System.Collections; |
| using System.Collections.Generic; |
| using System.Xml; |
| using NUnit.Framework; |
| using UnityEngine; |
|
|
| namespace Mujoco { |
|
|
| [TestFixture] |
| public class MjcfGenerationContextTests { |
|
|
| [Test] |
| public void ComponentAssignedMujocoName() { |
| var mjcf = _scene.CreateScene(skipCompile:true); |
| Assert.That(mjcf.OuterXml, Does.Contain( |
| @"name=""component_0""")); |
| } |
|
|
| [Test] |
| public void TwoComponentsWithSameNameReceiveDistinctMujocoNames() { |
| var mjcf = _scene.CreateScene(skipCompile:true); |
| Assert.That(mjcf.OuterXml, Does.Contain( |
| @"name=""component_0""")); |
| Assert.That(mjcf.OuterXml, Does.Contain( |
| @"name=""component_1""")); |
| } |
|
|
| [Test] |
| public void GravityVectorIsConvertedToMjWorldReferenceFrame() { |
| Physics.gravity = new Vector3(1, 2, 3); |
| var mjcf = _scene.CreateScene(skipCompile:true); |
| Assert.That(mjcf.OuterXml, Does.Contain("gravity=\"1 3 2\"")); |
| } |
|
|
| [Test] |
| public void ConfigurationMjcfSpecifiesTimeout() { |
| var mjcf = _scene.CreateScene(skipCompile:true); |
| Assert.That(mjcf.OuterXml, Does.Contain($"timestep=\"{Time.fixedDeltaTime}\"")); |
| } |
|
|
| [Test] |
| public void ConfigurationMjcfSpecifiesCoordinateSystemAsLocal() { |
| var mjcf = _scene.CreateScene(skipCompile:true); |
| Assert.That(mjcf.OuterXml, Does.Contain("coordinate=\"local\"")); |
| } |
|
|
| [Test] |
| public void ConfigurationMjcIncludesOptions() { |
| var mjcf = _scene.CreateScene(skipCompile:true); |
| Assert.That(mjcf.OuterXml, Does.Contain("impratio")); |
| Assert.That(mjcf.OuterXml, Does.Contain("magnetic")); |
| Assert.That(mjcf.OuterXml, Does.Contain("wind")); |
| Assert.That(mjcf.OuterXml, Does.Contain("density")); |
| Assert.That(mjcf.OuterXml, Does.Contain("viscosity")); |
| Assert.That(mjcf.OuterXml, Does.Contain("o_margin")); |
| Assert.That(mjcf.OuterXml, Does.Contain("o_solref")); |
| Assert.That(mjcf.OuterXml, Does.Contain("o_solimp")); |
| Assert.That(mjcf.OuterXml, Does.Contain("iterations")); |
| Assert.That(mjcf.OuterXml, Does.Contain("tolerance")); |
| Assert.That(mjcf.OuterXml, Does.Contain("noslip_iterations")); |
| Assert.That(mjcf.OuterXml, Does.Contain("noslip_tolerance")); |
| Assert.That(mjcf.OuterXml, Does.Contain("ccd_iterations")); |
| Assert.That(mjcf.OuterXml, Does.Contain("ccd_tolerance")); |
| } |
|
|
| [Test] |
| public void AssigningGeneratedMeshAssetsUniqueNames() { |
| var context = new MjcfGenerationContext(); |
| var uniqueAssetName = context.AddMeshAsset(mesh: new Mesh()); |
| var element = new XmlDocument().CreateElement("test"); |
| context.GenerateMjcf(element); |
| var assetNodes = element.SelectNodes($"asset/mesh[@name='{uniqueAssetName}']"); |
| Assert.That(assetNodes, Has.Count.EqualTo(1)); |
| } |
|
|
| [Test] |
| public void MeshMjcfIgnoresTriangleConnectivityAndStoredOnlyTheVertexCloud() { |
| var mesh = new Mesh(); |
| mesh.vertices = new Vector3[] { |
| new Vector3(1, 0, 0), new Vector3(0, 1, 0), new Vector3(0, 0, 1) }; |
| mesh.triangles = new int[] { 0, 1, 2, 2, 1, 0, 1, 0, 2 }; |
| var context = new MjcfGenerationContext(); |
| context.AddMeshAsset(mesh); |
| var element = new XmlDocument().CreateElement("test"); |
| context.GenerateMjcf(element); |
| Assert.That(element.OuterXml, Does.Contain("vertex=\"1 0 0 0 0 1 0 1 0 \"")); |
| } |
|
|
| #region Test setup. |
|
|
| private MjBody _componentA; |
| private MjBody _componentB; |
| private Vector3 _originalGravity; |
| private MjScene _scene; |
| private MjGlobalSettings _settings; |
|
|
| [SetUp] |
| public void SetUp() { |
| _componentA = new GameObject("component").AddComponent<MjBody>(); |
| _componentB = new GameObject("component").AddComponent<MjBody>(); |
| _scene = MjScene.Instance; |
| _originalGravity = Physics.gravity; |
| _settings = new GameObject("settings").AddComponent<MjGlobalSettings>(); |
| } |
|
|
| [TearDown] |
| public void TearDown() { |
| Physics.gravity = _originalGravity; |
| UnityEngine.Object.DestroyImmediate(_componentA.gameObject); |
| UnityEngine.Object.DestroyImmediate(_componentB.gameObject); |
| UnityEngine.Object.DestroyImmediate(_settings.gameObject); |
| UnityEngine.Object.DestroyImmediate(_scene.gameObject); |
| } |
|
|
| #endregion |
| } |
| } |
|
|
