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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 MjBallJointTests {
private GameObject _parent;
private MjBallJoint _joint;
private XmlDocument _doc;
[SetUp]
public void SetUp() {
_parent = new GameObject("parent");
_joint = new GameObject("joint").AddComponent<MjBallJoint>();
_joint.transform.parent = _parent.transform;
_doc = new XmlDocument();
}
[TearDown]
public void TearDown() {
GameObject.DestroyImmediate(_parent);
}
[Test]
public void ComponentWorldPositionConvertedToMjCoordinates() {
_joint.transform.position = new Vector3(1, 2, 3);
_doc.AppendChild(_joint.GenerateMjcf("name", _doc));
Assert.That(_doc.OuterXml, Does.Contain(@"pos=""1 3 2"""));
}
[Test]
public void GenerateLimits() {
_joint.RangeUpper = 10;
_doc.AppendChild(_joint.GenerateMjcf("name", _doc));
Assert.That(_doc.OuterXml, Does.Contain(@"range=""0 10"""));
}
[Test]
public void ParsingPosition() {
var jointElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("joint"));
jointElement.SetAttribute("pos", "1 2 3");
_joint.ParseMjcf(jointElement);
Assert.That(_joint.transform.localPosition, Is.EqualTo(new Vector3(1, 3, 2)));
}
[Test]
public void ParsingJointLimitRangeSettings() {
var jointElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("joint"));
jointElement.SetAttribute("range", "0 10");
_joint.ParseMjcf(jointElement);
Assert.That(_joint.RangeUpper, Is.EqualTo(10));
}
}
}
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