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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 MjGeomTransformTests {
private GameObject _parent;
private MjGeom _geom;
private XmlDocument _doc;
[SetUp]
public void SetUp() {
_parent = new GameObject("parent");
_geom = new GameObject("geom", typeof(MjGeom)).GetComponent<MjGeom>();
_geom.transform.parent = _parent.transform;
_doc = new XmlDocument();
}
[TearDown]
public void TearDown() {
UnityEngine.Object.DestroyImmediate(_geom.gameObject);
UnityEngine.Object.DestroyImmediate(_parent);
}
[Test]
public void WorldPositionToMjCoordinates() {
_geom.transform.position = new Vector3(1, 2, 3);
_doc.AppendChild(_geom.GenerateMjcf("name", _doc));
Assert.That(_doc.OuterXml, Does.Contain(@"pos=""1 3 2"""));
}
[Test]
public void WorldRotationToMjCoordinates() {
_geom.transform.rotation = Quaternion.AngleAxis(45.0f, Vector3.up);
_doc.AppendChild(_geom.GenerateMjcf("name", _doc));
Assert.That(_doc.OuterXml, Does.Contain(@"quat=""-0.9238795 0 0 0.3826835"""));
}
[Test]
public void BodyRelativePositionUsedInMjcf() {
_parent.transform.position = new Vector3(1, 2, 3);
_parent.transform.rotation = Quaternion.AngleAxis(45.0f, (new Vector3(1, 2, 3)).normalized);
_doc.AppendChild(_geom.GenerateMjcf("name", _doc));
Assert.That(_doc.OuterXml, Does.Contain(@"pos=""1 3 2"""));
Assert.That(_doc.OuterXml, Does.Contain(@"quat=""-0.9238795 0.1022765 0.3068294 0.2045529"""));
}
[Test]
public void LocalPositionParsing() {
var geomElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("geom"));
geomElement.SetAttribute("pos", "1 2 3");
_geom.ParseMjcf(geomElement);
Assert.That(_geom.transform.localPosition, Is.EqualTo(new Vector3(1, 3, 2)));
}
[TestCase(0.866f, 0.5f, 0, 0, 0.5f, 0, 0, -0.866f)]
[TestCase(0.866f, 0, 0.5f, 0, 0, 0, 0.5f, -0.866f)]
[TestCase(0.866f, 0, 0, 0.5f, 0, 0.5f, 0, -0.866f)]
[TestCase(0, 0.866f, 0.5f, 0, 0.866f, 0, 0.5f, 0)]
[TestCase(0, 0.866f, 0, 0.5f, 0.866f, 0.5f, 0, 0)]
[TestCase(0, 0, 0.866f, 0.5f, 0, 0.5f, 0.866f, 0)]
public void BodyLocalRotationParsing(
float ix, float iy, float iz, float iw, float ex, float ey, float ez, float ew) {
var geomElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("geom"));
geomElement.SetAttribute("quat", $"{ix} {iy} {iz} {iw}");
_geom.ParseMjcf(geomElement);
var angle = Quaternion.Angle(_geom.transform.localRotation, new Quaternion(ex, ey, ez, ew));
Assert.That(angle, Is.EqualTo(0).Within(3));
}
[TestCase("0 0 0 0 0 1", 0, 0, 0, 1)]
[TestCase("0 0 0 0 1 0", 0.707f, 0, 0, 0.707f)]
[TestCase("0 0 0 1 0 0", 0, 0, -0.707f, 0.707f)]
[TestCase("1 0 0 0 0 0", 0, 0, 0.707f, 0.707f)]
[TestCase("0 1 0 0 0 0", -0.707f, 0, 0, 0.707f)]
[TestCase("0 0 1 0 0 0", 1, 0, 0, 0)]
[TestCase("1 0 0 0 0 1", 0, 0, 0.382f, 0.924f)]
[TestCase("1 0 0 0 1 0", 0.5f, 0, 0.5f, 0.707f)]
public void OrientationSpecifiedUsingFromToParameterIsTheDirectionOfFromToVector(
string input, float ex, float ey, float ez, float ew) {
var geomElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("geom"));
geomElement.SetAttribute("type", "box");
geomElement.SetAttribute("fromto", input);
_geom.ParseMjcf(geomElement);
var angle = Quaternion.Angle(_geom.transform.localRotation, new Quaternion(ex, ey, ez, ew));
Assert.That(angle, Is.EqualTo(0).Within(3));
}
[TestCase("0 0 0 0 0 1", 0)]
[TestCase("0 0 0 0 0.01 1", 0.573f)]
[TestCase("0 0 0 0 -0.01 1", 0.573f)]
[TestCase("0 0 0 0 0 -1", 180)]
[TestCase("0 0 0 0 0.01 -1", 179.427f)]
[TestCase("0 0 0 0 -0.01 -1", 179.427f)]
public void TestingFromToRotationsAroundThePoles(string input, float expectedAngle) {
var geomElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("geom"));
geomElement.SetAttribute("type", "box");
geomElement.SetAttribute("fromto", input);
_geom.ParseMjcf(geomElement);
var transformedForward = _geom.transform.localRotation * Vector3.forward;
var angle = Vector3.Angle(transformedForward, Vector3.forward);
Assert.That(angle, Is.EqualTo(expectedAngle).Within(1e-3f));
}
[TestCase("0 0 0 0 0 1", 0, 0.5f, 0)]
[TestCase("0 0 0 0 1 0", 0, 0, 0.5f)]
[TestCase("0 0 0 1 0 0", 0.5f, 0, 0)]
[TestCase("1 0 0 0 0 1", 0.5f, 0.5f, 0)]
[TestCase("0 1 0 0 0 1", 0, 0.5f, 0.5f)]
[TestCase("0 1 0 0 0 1", 0, 0.5f, 0.5f)]
public void PositionSpecifiedUsingFromToParameterIsMiddleOfFromToSegment(
string input, float x, float y, float z) {
var geomElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("geom"));
geomElement.SetAttribute("type", "box");
geomElement.SetAttribute("fromto", input);
_geom.ParseMjcf(geomElement);
Assert.That(_geom.transform.localPosition, Is.EqualTo(new Vector3(x, y, z)));
}
[TestCase("0 0 1", 0, 0, 0, 1)]
[TestCase("0 1 0", 0.707f, 0, 0, 0.707f)]
[TestCase("1 0 0", 0, 0, -0.707f, 0.707f)]
public void ZAxisParameterSpecifiesForwardVectorOfGeom(
string input, float ex, float ey, float ez, float ew) {
var geomElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("geom"));
geomElement.SetAttribute("zaxis", input);
_geom.ParseMjcf(geomElement);
var angle = Quaternion.Angle(_geom.transform.localRotation, new Quaternion(ex, ey, ez, ew));
Assert.That(angle, Is.EqualTo(0).Within(3));
}
[TestCase("0 0 90", 0, 0.707f, 0, 0.707f)]
[TestCase("0 90 0", 0, 0, -0.707f, 0.707f)]
[TestCase("90 0 0", 0.707f, 0, 0, 0.707f)]
[TestCase("0 0 45", 0, 0.382f, 0, 0.924f)]
[TestCase("0 45 0", 0, 0, -0.382f, 0.924f)]
[TestCase("45 0 0", 0.382f, 0, 0, 0.924f)]
public void UsingEulerAnglesToSpecifyRotation(
string input, float ex, float ey, float ez, float ew) {
var geomElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("geom"));
geomElement.SetAttribute("euler", input);
_geom.ParseMjcf(geomElement);
var angle = Quaternion.Angle(_geom.transform.localRotation, new Quaternion(ex, ey, ez, ew));
Assert.That(angle, Is.EqualTo(0).Within(3));
}
[Test]
public void NoRotationSpecificationSetsIdentityRotation() {
var geomElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("geom"));
_geom.ParseMjcf(geomElement);
Assert.That(_geom.transform.localRotation, Is.EqualTo(Quaternion.identity));
}
}
[TestFixture]
public class MjGeomPropertiesSerializingTests {
private MjGeom _geom;
private XmlDocument _doc;
[SetUp]
public void SetUp() {
_geom = new GameObject("geom", typeof(MjGeom)).GetComponent<MjGeom>();
_doc = new XmlDocument();
}
[TearDown]
public void TearDown() {
UnityEngine.Object.DestroyImmediate(_geom.gameObject);
}
[Test]
public void MaterialDensityMjcf() {
_geom.Density = 5;
_doc.AppendChild(_geom.GenerateMjcf("name", _doc));
Assert.That(_doc.OuterXml, Does.Contain(@"density=""5"""));
}
[Test]
public void MaterialDensityParsing() {
var geomElement = (XmlElement)_doc.AppendChild(_doc.CreateElement("geom"));
geomElement.SetAttribute("density", "5.2");
_geom.ParseMjcf(geomElement);
Assert.That(_geom.Density, Is.EqualTo(5.2f));
}
}
}
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