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// 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;
namespace Mujoco {
[TestFixture]
public class MjConnectTests {
private MjBody _body1;
private MjBody _body2;
private MjConnect _constraint;
private XmlDocument _doc;
[SetUp]
public void SetUp() {
_body1 = new GameObject("body1").AddComponent<MjBody>();
_body2 = new GameObject("body2").AddComponent<MjBody>();
_constraint = new GameObject("connect").AddComponent<MjConnect>();
_doc = new XmlDocument();
}
[TearDown]
public void TearDown() {
UnityEngine.Object.DestroyImmediate(_constraint.gameObject);
UnityEngine.Object.DestroyImmediate(_body1.gameObject);
UnityEngine.Object.DestroyImmediate(_body2.gameObject);
}
[Test]
public void ErrorThrownWhenBody1Empty() {
// This is an illegal MJCF, but the purpose of this test is to verify that if
// the user didn't assign the body in the editor, an error will be thrown when play is hit.
_doc.LoadXml("<body/>");
_constraint.ParseMjcf(_doc.GetElementsByTagName("body")[0] as XmlElement);
Assert.That(() => { _constraint.GenerateMjcf("name", _doc); }, Throws.Exception);
}
// In this constraint both elements are required.
[Test]
public void ErrorThrownWhenBody2Empty() {
_doc.LoadXml("<body body1='body1'/>");
_constraint.ParseMjcf(_doc.GetElementsByTagName("body")[0] as XmlElement);
Assert.That(() => { _constraint.GenerateMjcf("name", _doc); }, Throws.Exception);
}
[Test]
public void ParseXML() {
_doc.LoadXml("<connect body1='body1' body2='body2'/>");
_constraint.ParseMjcf(_doc.GetElementsByTagName("connect")[0] as XmlElement);
Assert.That(_constraint.Body1, Is.EqualTo(_body1));
Assert.That(_constraint.Body2, Is.EqualTo(_body2));
}
[Test]
public void GenerateXML() {
_constraint.Body1 = _body1;
_constraint.Body2 = _body2;
var mjcf = _constraint.GenerateMjcf("name", _doc);
Assert.That(mjcf.OuterXml, Does.Contain("<connect"));
Assert.That(mjcf.OuterXml, Does.Contain("body1=\""));
Assert.That(mjcf.OuterXml, Does.Contain("body2=\""));
}
}
}
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