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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 MjInertialTests {
private MjInertial _inertial;
private XmlDocument _doc;
[SetUp]
public void SetUp() {
_inertial = new GameObject("inertial").AddComponent<MjInertial>();
_doc = new XmlDocument();
}
[TearDown]
public void TearDown() {
UnityEngine.Object.DestroyImmediate(_inertial.gameObject);
}
[Test]
public void ParseAllSettings() {
_doc.LoadXml("<inertial mass='5' diaginertia='1 2 3'/>");
_inertial.ParseMjcf(_doc.GetElementsByTagName("inertial")[0] as XmlElement);
Assert.That(_inertial.Mass, Is.EqualTo(5.0f));
Assert.That(_inertial.DiagInertia, Is.EqualTo(new Vector3(1, 3, 2)));
}
[Test]
public void GenerateMjcf() {
_inertial.Mass = 6.0f;
_inertial.DiagInertia = new Vector3(7, 8, 9);
var mjcf = _inertial.GenerateMjcf("inertial", _doc);
Assert.That(mjcf.OuterXml, Does.Contain("mass=\"6\""));
Assert.That(mjcf.OuterXml, Does.Contain("diaginertia=\"7 9 8\""));
}
}
}
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