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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 MjJointConstraintTests {
private MjHingeJoint _joint1;
private MjHingeJoint _joint2;
private MjJointConstraint _constraint;
private XmlDocument _doc;
[SetUp]
public void SetUp() {
_joint1 = new GameObject("joint1").AddComponent<MjHingeJoint>();
_joint2 = new GameObject("joint2").AddComponent<MjHingeJoint>();
_constraint = new GameObject("joint").AddComponent<MjJointConstraint>();
_doc = new XmlDocument();
}
[TearDown]
public void TearDown() {
UnityEngine.Object.DestroyImmediate(_constraint.gameObject);
UnityEngine.Object.DestroyImmediate(_joint1.gameObject);
UnityEngine.Object.DestroyImmediate(_joint2.gameObject);
}
[Test]
public void ErrorThrownWhenJoint1Empty() {
// This is an illegal MJCF, but the purpose of this test is to verify that if
// the user didn't assign the joint in the editor, an error will be thrown when play is hit.
_doc.LoadXml("<joint/>");
_constraint.ParseMjcf(_doc.GetElementsByTagName("joint")[0] as XmlElement);
Assert.That(() => { _constraint.GenerateMjcf("name", _doc); }, Throws.Exception);
}
[Test]
public void Joint2Empty() {
_doc.LoadXml("<joint joint1='joint1'/>");
_constraint.ParseMjcf(_doc.GetElementsByTagName("joint")[0] as XmlElement);
_constraint.GenerateMjcf("name", _doc);
}
[Test]
public void ParseAllSettings() {
_doc.LoadXml("<joint joint1='joint1' joint2='joint2'/>");
_constraint.ParseMjcf(_doc.GetElementsByTagName("joint")[0] as XmlElement);
Assert.That(_constraint.Joint1, Is.EqualTo(_joint1));
Assert.That(_constraint.Joint2, Is.EqualTo(_joint2));
}
}
}
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