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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.Linq;
using System.Xml;
using NUnit.Framework;
using UnityEngine;
namespace Mujoco {
[TestFixture]
public class FindParentComponentTests {
public class FakeMjComponent : MjComponent {
public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_GEOM;
protected override void OnParseMjcf(XmlElement mjcf) {}
protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
return null;
}
}
public class FakeGenericComponent : MonoBehaviour {}
private FakeMjComponent _parent;
private FakeMjComponent _child;
private FakeMjComponent _secondChild;
private FakeGenericComponent _hierarchyBreaker;
[SetUp]
public void SetUp() {
_parent =
new GameObject("parent", typeof(FakeMjComponent)).GetComponent<FakeMjComponent>();
_child =
new GameObject("child", typeof(FakeMjComponent)).GetComponent<FakeMjComponent>();
_secondChild = new GameObject("secondChild", typeof(FakeMjComponent))
.GetComponent<FakeMjComponent>();
_hierarchyBreaker = new GameObject("hierarchyBreaker", typeof(FakeGenericComponent))
.GetComponent<FakeGenericComponent>();
}
[TearDown]
public void TearDown() {
GameObject.DestroyImmediate(_secondChild.gameObject);
GameObject.DestroyImmediate(_child.gameObject);
GameObject.DestroyImmediate(_hierarchyBreaker.gameObject);
GameObject.DestroyImmediate(_parent.gameObject);
}
[Test]
public void FindParentWithMjComponentAsImmediateParent() {
_child.transform.parent = _parent.transform;
Assert.That(MjHierarchyTool.FindParentComponent(_child), Is.EqualTo(_parent));
}
[Test]
public void FindParentWithHavingToSkipAParent() {
_hierarchyBreaker.transform.parent = _parent.transform;
_child.transform.parent = _hierarchyBreaker.transform;
Assert.That(MjHierarchyTool.FindParentComponent(_child), Is.EqualTo(_parent));
}
[Test]
public void FindParentWitNoMjComponentParent() {
_child.transform.parent = _hierarchyBreaker.transform;
Assert.That(MjHierarchyTool.FindParentComponent(_child), Is.Null);
}
[Test]
public void InChainOfThreeTheCorrectImmediateParentIsPicked() {
_child.transform.parent = _parent.transform;
_secondChild.transform.parent = _child.transform;
Assert.That(MjHierarchyTool.FindParentComponent(_secondChild), Is.EqualTo(_child));
}
}
[TestFixture]
public class HierachyLinearizationTests {
public class FakeMjComponent : MjComponent {
public override MujocoLib.mjtObj ObjectType => MujocoLib.mjtObj.mjOBJ_GEOM;
protected override void OnParseMjcf(XmlElement mjcf) {}
protected override XmlElement OnGenerateMjcf(XmlDocument doc) {
return null;
}
}
public class FakeGenericComponent : MonoBehaviour {}
private FakeMjComponent _root;
private FakeMjComponent _node01;
private FakeMjComponent _node02;
private FakeMjComponent _node11;
private FakeMjComponent _node21;
private FakeGenericComponent _hierarchyBreaker;
[SetUp]
public void SetUp() {
_root =
new GameObject("root", typeof(FakeMjComponent)).GetComponent<FakeMjComponent>();
_node01 =
new GameObject("node01", typeof(FakeMjComponent)).GetComponent<FakeMjComponent>();
_node02 =
new GameObject("node02", typeof(FakeMjComponent)).GetComponent<FakeMjComponent>();
_node11 =
new GameObject("node11", typeof(FakeMjComponent)).GetComponent<FakeMjComponent>();
_node21 =
new GameObject("node21", typeof(FakeMjComponent)).GetComponent<FakeMjComponent>();
_hierarchyBreaker = new GameObject("hierarchyBreaker", typeof(FakeGenericComponent))
.GetComponent<FakeGenericComponent>();
}
[TearDown]
public void TearDown() {
GameObject.DestroyImmediate(_node21.gameObject);
GameObject.DestroyImmediate(_node11.gameObject);
GameObject.DestroyImmediate(_node02.gameObject);
GameObject.DestroyImmediate(_node01.gameObject);
GameObject.DestroyImmediate(_hierarchyBreaker.gameObject);
GameObject.DestroyImmediate(_root.gameObject);
}
[Test]
public void OneNodeHierarchy() {
var hierarchy = MjHierarchyTool.LinearizeHierarchyBFS(_root.transform).ToArray();
Assert.That(hierarchy, Has.Length.EqualTo(1));
Assert.That(hierarchy[0], Is.EqualTo(_root));
}
[Test]
public void OneLevelDeepTreeExclusivelyWithMjComponents() {
_node01.transform.parent = _root.transform;
_node02.transform.parent = _root.transform;
var hierarchy = MjHierarchyTool.LinearizeHierarchyBFS(_root.transform).ToArray();
Assert.That(hierarchy, Has.Length.EqualTo(3));
Assert.That(hierarchy[0], Is.EqualTo(_root));
Assert.That(hierarchy[1], Is.EqualTo(_node01));
Assert.That(hierarchy[2], Is.EqualTo(_node02));
}
[Test]
public void DeepTreeExclusivelyWithMjComponents() {
_node01.transform.parent = _root.transform;
_node02.transform.parent = _root.transform;
_node11.transform.parent = _node01.transform;
_node21.transform.parent = _node02.transform;
var hierarchy = MjHierarchyTool.LinearizeHierarchyBFS(_root.transform).ToArray();
Assert.That(hierarchy, Has.Length.EqualTo(5));
Assert.That(hierarchy[0], Is.EqualTo(_root));
Assert.That(hierarchy[1], Is.EqualTo(_node01));
Assert.That(hierarchy[2], Is.EqualTo(_node02));
Assert.That(hierarchy[3], Is.EqualTo(_node11));
Assert.That(hierarchy[4], Is.EqualTo(_node21));
}
[Test]
public void TreeWithAGenericComponent() {
_node01.transform.parent = _root.transform;
_hierarchyBreaker.transform.parent = _root.transform;
_node02.transform.parent = _hierarchyBreaker.transform;
var hierarchy = MjHierarchyTool.LinearizeHierarchyBFS(_root.transform).ToArray();
Assert.That(hierarchy, Has.Length.EqualTo(3));
Assert.That(hierarchy[0], Is.EqualTo(_root));
Assert.That(hierarchy[1], Is.EqualTo(_node01));
Assert.That(hierarchy[2], Is.EqualTo(_node02));
}
}
[TestFixture]
public class GetComponentsInImmediateChildrenTests {
public class FakeComponentA : MonoBehaviour {}
public class FakeComponentB : MonoBehaviour {}
private FakeComponentA _root;
private FakeComponentA _validChild;
private FakeComponentB _invalidChild;
private FakeComponentA _validGrandchild;
[SetUp]
public void SetUp() {
_root = new GameObject("root", typeof(FakeComponentA)).GetComponent<FakeComponentA>();
_validChild =
new GameObject("validChild", typeof(FakeComponentA)).GetComponent<FakeComponentA>();
_invalidChild =
new GameObject("invalidChild", typeof(FakeComponentB)).GetComponent<FakeComponentB>();
_validGrandchild =
new GameObject("validGrandchild", typeof(FakeComponentA)).GetComponent<FakeComponentA>();
_validGrandchild.transform.parent = _validChild.transform;
_validChild.transform.parent = _root.transform;
}
[TearDown]
public void TearDown() {
GameObject.DestroyImmediate(_validGrandchild.gameObject);
GameObject.DestroyImmediate(_invalidChild.gameObject);
GameObject.DestroyImmediate(_validChild.gameObject);
GameObject.DestroyImmediate(_root.gameObject);
}
[Test]
public void RootNodeIsIgnoredInTheSearch() {
var components =
MjHierarchyTool.GetComponentsInImmediateChildren<FakeComponentA>(_root.transform);
Assert.That(components, Has.No.Member(_root));
}
[Test]
public void ImmediateValidChildIsReturned() {
var components =
MjHierarchyTool.GetComponentsInImmediateChildren<FakeComponentA>(_root.transform);
Assert.That(components, Has.Member(_validChild));
}
[Test]
public void ChildWithAnInvalidTypeIsIgnored() {
var components =
MjHierarchyTool.GetComponentsInImmediateChildren<FakeComponentA>(_root.transform);
Assert.That(components, Has.No.Member(_invalidChild));
}
[Test]
public void GrandchildrenAreIgnoredDuringSearch() {
var components =
MjHierarchyTool.GetComponentsInImmediateChildren<FakeComponentA>(_root.transform);
Assert.That(components, Has.No.Member(_validGrandchild));
}
}
}
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