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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 MjcfGenerationContextTests {
[Test]
public void ComponentAssignedMujocoName() {
var mjcf = _scene.CreateScene(skipCompile:true);
Assert.That(mjcf.OuterXml, Does.Contain(
@"name=""component_0"""));
}
[Test]
public void TwoComponentsWithSameNameReceiveDistinctMujocoNames() {
var mjcf = _scene.CreateScene(skipCompile:true);
Assert.That(mjcf.OuterXml, Does.Contain(
@"name=""component_0"""));
Assert.That(mjcf.OuterXml, Does.Contain(
@"name=""component_1"""));
}
[Test]
public void GravityVectorIsConvertedToMjWorldReferenceFrame() {
Physics.gravity = new Vector3(1, 2, 3);
var mjcf = _scene.CreateScene(skipCompile:true);
Assert.That(mjcf.OuterXml, Does.Contain("gravity=\"1 3 2\""));
}
[Test]
public void ConfigurationMjcfSpecifiesTimeout() {
var mjcf = _scene.CreateScene(skipCompile:true);
Assert.That(mjcf.OuterXml, Does.Contain($"timestep=\"{Time.fixedDeltaTime}\""));
}
[Test]
public void ConfigurationMjcfSpecifiesCoordinateSystemAsLocal() {
var mjcf = _scene.CreateScene(skipCompile:true);
Assert.That(mjcf.OuterXml, Does.Contain("coordinate=\"local\""));
}
[Test]
public void ConfigurationMjcIncludesOptions() {
var mjcf = _scene.CreateScene(skipCompile:true);
Assert.That(mjcf.OuterXml, Does.Contain("impratio"));
Assert.That(mjcf.OuterXml, Does.Contain("magnetic"));
Assert.That(mjcf.OuterXml, Does.Contain("wind"));
Assert.That(mjcf.OuterXml, Does.Contain("density"));
Assert.That(mjcf.OuterXml, Does.Contain("viscosity"));
Assert.That(mjcf.OuterXml, Does.Contain("o_margin"));
Assert.That(mjcf.OuterXml, Does.Contain("o_solref"));
Assert.That(mjcf.OuterXml, Does.Contain("o_solimp"));
Assert.That(mjcf.OuterXml, Does.Contain("iterations"));
Assert.That(mjcf.OuterXml, Does.Contain("tolerance"));
Assert.That(mjcf.OuterXml, Does.Contain("noslip_iterations"));
Assert.That(mjcf.OuterXml, Does.Contain("noslip_tolerance"));
Assert.That(mjcf.OuterXml, Does.Contain("mpr_iterations"));
Assert.That(mjcf.OuterXml, Does.Contain("mpr_tolerance"));
}
[Test]
public void AssigningGeneratedMeshAssetsUniqueNames() {
var context = new MjcfGenerationContext();
var uniqueAssetName = context.AddMeshAsset(mesh: new Mesh());
var element = new XmlDocument().CreateElement("test");
context.GenerateMjcf(element);
var assetNodes = element.SelectNodes($"asset/mesh[@name='{uniqueAssetName}']");
Assert.That(assetNodes, Has.Count.EqualTo(1));
}
[Test]
public void MeshMjcfIgnoresTriangleConnectivityAndStoredOnlyTheVertexCloud() {
var mesh = new Mesh();
mesh.vertices = new Vector3[] {
new Vector3(1, 0, 0), new Vector3(0, 1, 0), new Vector3(0, 0, 1) };
mesh.triangles = new int[] { 0, 1, 2, 2, 1, 0, 1, 0, 2 };
var context = new MjcfGenerationContext();
context.AddMeshAsset(mesh);
var element = new XmlDocument().CreateElement("test");
context.GenerateMjcf(element);
Assert.That(element.OuterXml, Does.Contain("vertex=\"1 0 0 0 0 1 0 1 0 \""));
}
[Test]
public void SettingNUserSensorValuesKeepsTheHigherValue() {
var context = new MjcfGenerationContext();
context.NUserSensor = 5;
context.NUserSensor = 6;
context.NUserSensor = 1;
Assert.That(context.NUserSensor, Is.EqualTo(6));
var element = new XmlDocument().CreateElement("test");
context.GenerateMjcf(element);
Assert.That(element.OuterXml, Does.Contain("nuser_sensor=\"6\""));
}
#region Test setup.
private MjBody _componentA;
private MjBody _componentB;
private Vector3 _originalGravity;
private MjScene _scene;
private MjGlobalSettings _settings;
[SetUp]
public void SetUp() {
_componentA = new GameObject("component").AddComponent<MjBody>();
_componentB = new GameObject("component").AddComponent<MjBody>();
_scene = MjScene.Instance;
_originalGravity = Physics.gravity;
_settings = new GameObject("settings").AddComponent<MjGlobalSettings>();
}
[TearDown]
public void TearDown() {
Physics.gravity = _originalGravity;
UnityEngine.Object.DestroyImmediate(_componentA.gameObject);
UnityEngine.Object.DestroyImmediate(_componentB.gameObject);
UnityEngine.Object.DestroyImmediate(_settings.gameObject);
UnityEngine.Object.DestroyImmediate(_scene.gameObject);
}
#endregion
}
}
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