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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.
#if UNITY_EDITOR
using System;
using System.Collections;
using System.Collections.Generic;
using System.Xml;
using NUnit.Framework;
using UnityEngine;
using UnityEngine.TestTools;
namespace Mujoco {
[TestFixture]
public class MjJointStateTests {
private MjBody _body;
private MjHingeJoint _joint;
private MjInertial _inertial;
private MjScene _scene;
[SetUp]
public void SetUp() {
_scene = MjScene.Instance;
_body = new GameObject("body").AddComponent<MjBody>();
_joint = new GameObject("joint").AddComponent<MjHingeJoint>();
_joint.transform.parent = _body.transform;
_inertial = new GameObject("inertial").AddComponent<MjInertial>();
_inertial.transform.parent = _body.transform;
}
[TearDown]
public void TearDown() {
GameObject.DestroyImmediate(_joint.gameObject);
GameObject.DestroyImmediate(_inertial.gameObject);
GameObject.DestroyImmediate(_body.gameObject);
GameObject.DestroyImmediate(MjScene.Instance);
}
[UnityTest]
public IEnumerator JointVelocityChangesTheConfiguration() {
_joint.Velocity = 10;
_scene.CreateScene();
yield return new WaitForFixedUpdate();
Assert.That(_joint.Configuration, Is.Not.EqualTo(0));
}
[UnityTest]
public IEnumerator JointConfigurationIsUsed() {
_joint.Configuration = 10;
_scene.CreateScene();
yield return new WaitForFixedUpdate();
Assert.That(_joint.Configuration, Is.Not.EqualTo(0));
}
[UnityTest]
public IEnumerator JointConfigurationIsReadOnly() {
_scene.CreateScene();
_joint.Configuration = 10;
yield return new WaitForFixedUpdate();
Assert.That(_joint.Configuration, Is.EqualTo(0));
}
}
}
#endif
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