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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;
using UnityEngine.TestTools;
namespace Mujoco {
[TestFixture]
public class MjBaseJointTests {
public class FakeJoint : MjBaseJoint {
protected override void OnParseMjcf(XmlElement mjcf) {}
protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
return (XmlElement)doc.CreateElement("joint");
}
}
private FakeJoint _joint;
private MjBaseBody _parent;
private MjBaseBody _grandParent;
[Test]
public void RetrievingBodiesConnectedByTheJoint() {
_joint = new GameObject("joint").AddComponent<FakeJoint>();
_parent = new GameObject("parent").AddComponent<MjBody>();
_grandParent = new GameObject("grandParent").AddComponent<MjBody>();
_joint.transform.parent = _parent.transform;
_parent.transform.parent = _grandParent.transform;
MjBaseBody grandParent, parent;
_joint.GetConnectedBodies(out grandParent, out parent);
Assert.That(grandParent, Is.EqualTo(_grandParent));
Assert.That(parent, Is.EqualTo(_parent));
GameObject.DestroyImmediate(_joint.gameObject);
GameObject.DestroyImmediate(_parent.gameObject);
GameObject.DestroyImmediate(_grandParent.gameObject);
GameObject.DestroyImmediate(MjScene.Instance);
}
[Test]
public void RetrievingBodiesConnectedToTheWorld() {
_joint = new GameObject("joint").AddComponent<FakeJoint>();
_parent = new GameObject("parent").AddComponent<MjBody>();
_joint.transform.parent = _parent.transform;
MjBaseBody grandParent, parent;
_joint.GetConnectedBodies(out grandParent, out parent);
Assert.That(grandParent, Is.Null);
Assert.That(parent, Is.EqualTo(_parent));
GameObject.DestroyImmediate(_joint.gameObject);
GameObject.DestroyImmediate(_parent.gameObject);
GameObject.DestroyImmediate(MjScene.Instance);
}
}
}
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