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
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
|
// 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.Linq;
using NUnit.Framework;
using UnityEngine;
using UnityEngine.TestTools.Utils;
namespace Mujoco {
[TestFixture]
public class MeshGeneratorsEditorTests {
[Test]
public void FirstAndLastVerticalSlicesContainVerticesLocatedInTheSamePlace() {
var meshData = MeshGenerators.BuildSphere(scale: Vector3.one, numVerticalSlices: 4,
numHorizontalSlices: 3);
var vertices = meshData.Item1;
Assert.That(vertices[0], Is.EqualTo(vertices[1]));
Assert.That(vertices[1], Is.EqualTo(vertices[2]));
Assert.That(vertices[2], Is.EqualTo(vertices[3]));
Assert.That(vertices[8], Is.EqualTo(vertices[9]));
Assert.That(vertices[9], Is.EqualTo(vertices[10]));
Assert.That(vertices[10], Is.EqualTo(vertices[11]));
}
[Test]
public void GeneratedSphereWithProperScaling() {
var scale = new Vector3(0.5f, 2, 3);
var meshData =
MeshGenerators.BuildSphere(scale: scale, numVerticalSlices: 4, numHorizontalSlices: 3);
var vertices = meshData.Item1;
// One of the vertices of the bottom cap.
Assert.That(vertices[0], Is.EqualTo(Vector3.down * scale.y).Using(Vector3ComparerWithEqualsOperator.Instance));
// One of the vertices of the top cap.
Assert.That(vertices[8], Is.EqualTo(Vector3.up * scale.y).Using(Vector3ComparerWithEqualsOperator.Instance));
// The sides.
Assert.That(vertices[4], Is.EqualTo(Vector3.right * scale.x).Using(Vector3ComparerWithEqualsOperator.Instance));
Assert.That(vertices[5], Is.EqualTo(Vector3.back * scale.z).Using(Vector3ComparerWithEqualsOperator.Instance));
Assert.That(vertices[6], Is.EqualTo(Vector3.left * scale.x).Using(Vector3ComparerWithEqualsOperator.Instance));
Assert.That(vertices[7],
Is.EqualTo(Vector3.forward * scale.z).Using(Vector3ComparerWithEqualsOperator.Instance));
}
[Test]
public void GeneratedCylinderHasCorrectHeight() {
var meshData = MeshGenerators.BuildCylinder(radius: 1.0f, height: 5.0f, numVerticalSlices: 4);
var bottomVertex =
meshData.Item1.Aggregate((result, item) => result.y < item.y ? result : item);
var topVertex = meshData.Item1.Aggregate((result, item) => result.y > item.y ? result : item);
Assert.That(topVertex.y - bottomVertex.y, Is.EqualTo(5.0f).Within(1e-3f));
}
[Test]
public void GeneratedCylinderHasCorrectRadius() {
var meshData = MeshGenerators.BuildCylinder(radius: 2.0f, height: 1.0f, numVerticalSlices: 4);
var averageRadius =
meshData.Item1.Select(v => new Vector3(v.x, 0, v.z).magnitude).Average(radius => radius);
Assert.That(averageRadius, Is.EqualTo(2.0f).Within(1e-3f));
}
[Test]
public void GeneratedCapsuleHasCorrectHeight() {
var meshData = MeshGenerators.BuildCapsule(radius: 1.0f, height: 5.0f, numVerticalSlices: 4,
numHorizontalSlices: 3);
var bottomVertex =
meshData.Item1.Aggregate((result, item) => result.y < item.y ? result : item);
var topVertex = meshData.Item1.Aggregate((result, item) => result.y > item.y ? result : item);
// The height of the capsule is the height of the body plus the diameter of the sphere that
// forms the bases.
Assert.That(topVertex.y - bottomVertex.y, Is.EqualTo(5.0f).Within(1e-3f));
}
[Test]
public void GeneratedCapsuleHasCorrectRadius() {
var meshData = MeshGenerators.BuildCapsule(radius: 2.0f, height: 3.0f, numVerticalSlices: 4,
numHorizontalSlices: 3);
var averageRadius = meshData.Item1.Where(v => Math.Abs(v.y) <= 0.5f)
.Select(v => new Vector3(v.x, 0, v.z).magnitude)
.Average(radius => radius);
Assert.That(averageRadius, Is.EqualTo(2.0f).Within(1e-3f));
}
[Test]
public void GeneratedBoxHasCorrectExtents() {
var extents = new Vector3(0.5f, 2, 3);
var meshData = MeshGenerators.BuildBox(extents: extents);
var minVertex = meshData.Item1.Aggregate(
(result, item) =>
(result.x + result.y + result.z) < (item.x + item.y + item.z) ? result : item);
var maxVertex = meshData.Item1.Aggregate(
(result, item) =>
(result.x + result.y + result.z) > (item.x + item.y + item.z) ? result : item);
Assert.That(minVertex, Is.EqualTo(extents * -1.0f).Using(Vector3ComparerWithEqualsOperator.Instance));
Assert.That(maxVertex, Is.EqualTo(extents).Using(Vector3ComparerWithEqualsOperator.Instance));
}
[Test]
public void GeneratedBoxTriangleMapIsAListOfConsecutiveIntegers() {
var meshData = MeshGenerators.BuildBox(extents: Vector3.one);
Assert.That(meshData.Item2, Has.Length.EqualTo(36));
for (var i = 0; i < 36; ++i) {
Assert.That(meshData.Item2[i], Is.EqualTo(i));
}
}
[Test]
public void GeneratedPlaneHasCorrectExtents() {
var meshData = MeshGenerators.BuildPlane(width: 2, height: 3);
var minVertex = meshData.Item1.Aggregate(
(result, item) => (result.x + result.z) < (item.x + item.z) ? result : item);
var maxVertex = meshData.Item1.Aggregate(
(result, item) => (result.x + result.z) > (item.x + item.z) ? result : item);
Assert.That(minVertex, Is.EqualTo(new Vector3(-1, 0, -1.5f)).Using(Vector3ComparerWithEqualsOperator.Instance));
Assert.That(maxVertex, Is.EqualTo(new Vector3(1, 0, 1.5f)).Using(Vector3ComparerWithEqualsOperator.Instance));
}
}
[TestFixture]
public class MeshMergerEditorTests {
private MeshMerger _meshMerger;
[SetUp]
public void SetUp() {
_meshMerger = new MeshMerger();
}
[Test]
public void AddingMeshVerticesAggregatesThem() {
_meshMerger.Add(vertices: new Vector3[] { Vector3.one }, triangles: new int[] {});
Assert.That(_meshMerger.Vertices, Has.Length.EqualTo(1));
_meshMerger.Add(vertices: new Vector3[] { Vector3.forward }, triangles: new int[] {});
Assert.That(_meshMerger.Vertices, Has.Length.EqualTo(2));
Assert.That(_meshMerger.Vertices[0], Is.EqualTo(Vector3.one));
Assert.That(_meshMerger.Vertices[1], Is.EqualTo(Vector3.forward));
}
[Test]
public void TriangleIndicesAreOffsetToPointAtTheCorrespondingMeshes() {
_meshMerger.Add(vertices: new Vector3[] { Vector3.right, Vector3.up },
triangles: new int[] { 0, 1 });
_meshMerger.Add(vertices: new Vector3[] { Vector3.forward, Vector3.zero },
triangles: new int[] { 0, 1 });
Assert.That(_meshMerger.Triangles, Has.Length.EqualTo(4));
Assert.That(_meshMerger.Vertices[_meshMerger.Triangles[0]], Is.EqualTo(Vector3.right));
Assert.That(_meshMerger.Vertices[_meshMerger.Triangles[1]], Is.EqualTo(Vector3.up));
Assert.That(_meshMerger.Vertices[_meshMerger.Triangles[2]], Is.EqualTo(Vector3.forward));
Assert.That(_meshMerger.Vertices[_meshMerger.Triangles[3]], Is.EqualTo(Vector3.zero));
}
[Test]
public void TranslatingAddedVertices() {
_meshMerger.AddAndTranslate(vertices: new Vector3[] { Vector3.zero }, triangles: new int[] {},
translation: Vector3.right);
_meshMerger.AddAndTranslate(vertices: new Vector3[] { Vector3.zero }, triangles: new int[] {},
translation: Vector3.up);
Assert.That(_meshMerger.Vertices[0], Is.EqualTo(Vector3.right));
Assert.That(_meshMerger.Vertices[1], Is.EqualTo(Vector3.up));
}
}
}
|
