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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 MjEllipsoidShapeTests {
private GameObject _owner;
private MjShapeComponent _shape;
private XmlDocument _doc;
[SetUp]
public void SetUp() {
_owner = new GameObject("owner");
_shape = _owner.AddComponent<MjSite>();
_shape.ShapeType = MjShapeComponent.ShapeTypes.Ellipsoid;
_shape.Ellipsoid.Radiuses = Vector3.one;
_doc = new XmlDocument();
}
[TearDown]
public void TearDown() {
UnityEngine.Object.DestroyImmediate(_owner);
}
[TestCase(1, 2, 3, "1 3 2")]
public void EllipsoidSize(float x, float y, float z, string expectedResult) {
var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
_shape.Ellipsoid.Radiuses = new Vector3(x, y, z);
_shape.ShapeToMjcf(mjcf, _owner.transform);
Assert.That(_doc.OuterXml, Does.Contain("size=\"" + expectedResult + "\""));
}
[TestCase(0.5f, "0.5 0.5 0.5")]
[TestCase(2.0f, "2 2 2")]
public void EffectOfUniformScaling(float uniformScale, string expectedResult) {
var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
_owner.transform.localScale = Vector3.one * uniformScale;
_shape.ShapeToMjcf(mjcf, _owner.transform);
Assert.That(_doc.OuterXml, Does.Contain("size=\"" + expectedResult + "\""));
}
[TestCase(2, 3, 4, "2 4 3")]
public void EffectOfNonUniformScaling(float x, float y, float z, string expectedResult) {
var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
_owner.transform.localScale = new Vector3(x, y, z);
_shape.ShapeToMjcf(mjcf, _owner.transform);
Assert.That(_doc.OuterXml, Does.Contain("size=\"" + expectedResult + "\""));
}
[Test]
public void ParsingSettings() {
var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
mjcf.SetAttribute("type", "ellipsoid");
mjcf.SetAttribute("size", "0.1 0.2 0.3");
_shape.ShapeFromMjcf(mjcf);
Assert.That(_shape.ShapeType, Is.EqualTo(MjShapeComponent.ShapeTypes.Ellipsoid));
Assert.That(_shape.Ellipsoid.Radiuses, Is.EqualTo(new Vector3(0.1f, 0.3f, 0.2f)));
}
[TestCase("0 0 0 0 0 1", 0.5f, 0.5f, 0.5f)]
[TestCase("0 0 0 0 1 0", 0.5f, 0.5f, 0.5f)]
[TestCase("0 0 0 1 0 0", 0.5f, 0.5f, 0.5f)]
[TestCase("0 0 -1 0 0 1", 1, 1, 1)]
[TestCase("0 -1 0 0 1 0", 1, 1, 1)]
[TestCase("-1 0 0 1 0 0", 1, 1, 1)]
public void FromToSizeSpecificationIsOrientationAgnostic(string fromToStr, float x, float y,
float z) {
var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
mjcf.SetAttribute("type", "ellipsoid");
mjcf.SetAttribute("fromto", fromToStr);
_shape.ShapeFromMjcf(mjcf);
Assert.That(_shape.Ellipsoid.Radiuses, Is.EqualTo(new Vector3(x, y, z)));
}
[Test]
public void FromToSizeSpecificationUsesMagnitudeOfVectorAsSizeBase() {
var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
mjcf.SetAttribute("type", "ellipsoid");
mjcf.SetAttribute("fromto", "-1 0 0 0 0 1");
_shape.ShapeFromMjcf(mjcf);
Assert.That((_shape.Ellipsoid.Radiuses - new Vector3(0.707f, 0.707f, 0.707f)).magnitude,
Is.EqualTo(0).Within(1e-3f));
}
}
}
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