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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 MjGeomSettingsGenerationTests {
private MjGeomSettings _settings;
private XmlDocument _doc;
private XmlElement _mjcf;
[SetUp]
public void SetUp() {
_settings = new MjGeomSettings();
_doc = new XmlDocument();
_mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("geom"));
}
[Test]
public void ContactFilteringTypeMjcf() {
_settings.Filtering.Contype = 5;
_settings.ToMjcf(_mjcf);
Assert.That(_doc.OuterXml, Does.Contain(@"contype=""5"""));
}
[Test]
public void ContactFilteringAffinityMjcf() {
_settings.Filtering.Conaffinity = 5;
_settings.ToMjcf(_mjcf);
Assert.That(_doc.OuterXml, Does.Contain(@"conaffinity=""5"""));
}
[Test]
public void ContactFilteringGroupMjcf() {
_settings.Filtering.Group = 5;
_settings.ToMjcf(_mjcf);
Assert.That(_doc.OuterXml, Does.Contain(@"group=""5"""));
}
[Test]
public void SolverContactDimensionalityMjcf() {
_settings.Solver.ConDim = 5;
_settings.ToMjcf(_mjcf);
Assert.That(_doc.OuterXml, Does.Contain(@"condim=""5"""));
}
[Test]
public void SolverMixMjcf() {
_settings.Solver.SolMix = 5;
_settings.ToMjcf(_mjcf);
Assert.That(_doc.OuterXml, Does.Contain(@"solmix=""5"""));
}
[Test]
public void SolverReferenceMjcf() {
_settings.Solver.SolRef.TimeConst = 5;
_settings.Solver.SolRef.DampRatio = 6;
_settings.ToMjcf(_mjcf);
Assert.That(_doc.OuterXml, Does.Contain(@"solref=""5 6"""));
}
[Test]
public void SolverImpendanceMjcf() {
_settings.Solver.SolImp.DMin = 5;
_settings.Solver.SolImp.DMax = 6;
_settings.Solver.SolImp.Width = 7;
_settings.ToMjcf(_mjcf);
Assert.That(_doc.OuterXml, Does.Contain(@"solimp=""5 6 7"""));
}
[Test]
public void SolverMarginMjcf() {
_settings.Solver.Margin = 5;
_settings.ToMjcf(_mjcf);
Assert.That(_doc.OuterXml, Does.Contain(@"margin=""5"""));
}
[Test]
public void SolverGapMjcf() {
_settings.Solver.Gap = 5;
_settings.ToMjcf(_mjcf);
Assert.That(_doc.OuterXml, Does.Contain(@"gap=""5"""));
}
[Test]
public void MaterialFrictionMjcf() {
_settings.Friction.Sliding = 5;
_settings.Friction.Torsional = 6;
_settings.Friction.Rolling = 7;
_settings.ToMjcf(_mjcf);
Assert.That(_doc.OuterXml, Does.Contain(@"friction=""5 6 7"""));
}
}
[TestFixture]
public class MjGeomSettingsParsingTests {
private MjGeomSettings _settings;
private XmlDocument _doc;
private XmlElement _mjcf;
[SetUp]
public void SetUp() {
_doc = new XmlDocument();
_mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("geom"));
_settings = new MjGeomSettings();
}
[Test]
public void ContactFilteringTypeMjcf() {
_mjcf.SetAttribute("contype", "5");
_settings.FromMjcf(_mjcf);
Assert.That(_settings.Filtering.Contype, Is.EqualTo(5));
}
[Test]
public void ContactFilteringAffinityMjcf() {
_mjcf.SetAttribute("conaffinity", "5");
_settings.FromMjcf(_mjcf);
Assert.That(_settings.Filtering.Conaffinity, Is.EqualTo(5));
}
[Test]
public void ContactFilteringGroupMjcf() {
_mjcf.SetAttribute("group", "5");
_settings.FromMjcf(_mjcf);
Assert.That(_settings.Filtering.Group, Is.EqualTo(5));
}
[Test]
public void SolverContactDimensionalityMjcf() {
_mjcf.SetAttribute("condim", "5");
_settings.FromMjcf(_mjcf);
Assert.That(_settings.Solver.ConDim, Is.EqualTo(5));
}
[Test]
public void SolverMixMjcf() {
_mjcf.SetAttribute("solmix", "5");
_settings.FromMjcf(_mjcf);
Assert.That(_settings.Solver.SolMix, Is.EqualTo(5));
}
[Test]
public void SolverReferenceMjcf() {
_mjcf.SetAttribute("solref", "5 6");
_settings.FromMjcf(_mjcf);
Assert.That(_settings.Solver.SolRef.TimeConst, Is.EqualTo(5));
Assert.That(_settings.Solver.SolRef.DampRatio, Is.EqualTo(6));
}
[Test]
public void SolverImpendanceMjcf() {
_mjcf.SetAttribute("solimp", "5 6 7");
_settings.FromMjcf(_mjcf);
Assert.That(_settings.Solver.SolImp.DMin, Is.EqualTo(5));
Assert.That(_settings.Solver.SolImp.DMax, Is.EqualTo(6));
Assert.That(_settings.Solver.SolImp.Width, Is.EqualTo(7));
}
[Test]
public void SolverMarginMjcf() {
_mjcf.SetAttribute("margin", "5");
_settings.FromMjcf(_mjcf);
Assert.That(_settings.Solver.Margin, Is.EqualTo(5));
}
[Test]
public void SolverGapMjcf() {
_mjcf.SetAttribute("gap", "5");
_settings.FromMjcf(_mjcf);
Assert.That(_settings.Solver.Gap, Is.EqualTo(5));
}
[Test]
public void MaterialFrictionMjcf() {
_mjcf.SetAttribute("friction", "5 6 7");
_settings.FromMjcf(_mjcf);
Assert.That(_settings.Friction.Sliding, Is.EqualTo(5));
Assert.That(_settings.Friction.Torsional, Is.EqualTo(6));
Assert.That(_settings.Friction.Rolling, Is.EqualTo(7));
}
}
}
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