1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
|
// 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.Utils;
namespace Mujoco {
[TestFixture]
public class MjSlideJointTests {
private GameObject _parent;
private MjSlideJoint _joint;
private XmlDocument _doc;
private Vector3EqualityComparer _comparer;
[SetUp]
public void SetUp() {
_parent = new GameObject("parent");
_joint = new GameObject("joint", typeof(MjSlideJoint)).GetComponent<MjSlideJoint>();
_joint.transform.parent = _parent.transform;
_doc = new XmlDocument();
_comparer = new Vector3EqualityComparer(1e-3f);
}
[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.RangeLower = -20;
_joint.RangeUpper = 10;
_doc.AppendChild(_joint.GenerateMjcf("name", _doc));
Assert.That(_doc.OuterXml, Does.Contain(@"range=""-20 10"""));
}
[Test]
public void TestingAnOffsetAxis() {
_joint.transform.rotation =
Quaternion.AngleAxis(45.0f, Vector3.up);
var element = _joint.GenerateMjcf("name", _doc);
Assert.That(element.GetVector3Attribute("axis", Vector3.zero),
Is.EqualTo(new Vector3(0.7071068f, -0.7071069f, 0)).Using(_comparer));
}
[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)));
}
[TestCase("1 0 0", 1, 0, 0)]
[TestCase("0 1 0", 0, 0, 1)]
[TestCase("0 0 1", 0, 1, 0)]
public void ParsingTranslatesSlidexisIntoJointRotation(
string setting, float rx, float ry, float rz) {
var jointElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("joint"));
jointElement.SetAttribute("axis", setting);
_joint.ParseMjcf(jointElement);
Assert.That(_joint.SlideAxis, Is.EqualTo(new Vector3(rx, ry, rz)).Using(_comparer));
}
[TestCase("0 10", 0, 10)]
[TestCase("-10 0", -10, 0)]
[TestCase("-10 10", -10, 10)]
public void ParsingJointLimitRangeSettings(
string setting, float expectedLow, float expectedHigh) {
var jointElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("joint"));
jointElement.SetAttribute("range", setting);
_joint.ParseMjcf(jointElement);
Assert.That(_joint.RangeLower, Is.EqualTo(expectedLow));
Assert.That(_joint.RangeUpper, Is.EqualTo(expectedHigh));
}
}
}
|
