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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 MjScenePlayTests {
private MjScene _scene;
private MjBody _body;
private MjInertial _inertia;
private MjHingeJoint _joint;
[SetUp]
public void SetUp() {
_scene = MjScene.Instance;
_body = new GameObject("body").AddComponent<MjBody>();
_inertia = new GameObject("inertia").AddComponent<MjInertial>();
_inertia.transform.parent = _body.transform;
_joint = new GameObject("joint").AddComponent<MjHingeJoint>();
_joint.transform.parent = _body.transform;
}
[TearDown]
public void TearDown() {
GameObject.DestroyImmediate(_joint.gameObject);
GameObject.DestroyImmediate(_inertia.gameObject);
GameObject.DestroyImmediate(_body.gameObject);
GameObject.DestroyImmediate(_scene.gameObject);
}
[UnityTest]
public IEnumerator RecreatedScenePreservesPosition() {
_joint.Velocity = .1f;
_scene.CreateScene();
yield return null; // qpos moves, xpos stays at zero
yield return null; // now xpos changed
var tickedRotation = _body.transform.rotation;
_scene.RecreateScene();
// xpos is one step behind qpos, so it's not a perfect no-op, hence the high tolerance
Assert.That(tickedRotation.x, Is.EqualTo(_body.transform.rotation.x).Within(1e-3f));
Assert.That(tickedRotation.y, Is.EqualTo(_body.transform.rotation.y).Within(1e-3f));
Assert.That(tickedRotation.z, Is.EqualTo(_body.transform.rotation.z).Within(1e-3f));
Assert.That(tickedRotation.w, Is.EqualTo(_body.transform.rotation.w).Within(1e-3f));
// Assert.That(tickedRotation, Is.EqualTo(_body.transform.rotation).Using(_quaternionComparer));
}
[UnityTest]
public IEnumerator SceneRecreatedWithAddition() {
_joint.Velocity = 1;
_scene.CreateScene();
Assert.That(_scene.SceneRecreationAtLateUpdateRequested, Is.False);
var body = new GameObject("body").AddComponent<MjBody>();
var inertia = new GameObject("inertia").AddComponent<MjInertial>();
inertia.transform.parent = body.transform;
var joint = new GameObject("joint").AddComponent<MjHingeJoint>();
joint.transform.parent = body.transform;
yield return null; // call "start"
Assert.That(_scene.SceneRecreationAtLateUpdateRequested, Is.True);
yield return null; // call "lateUpdate"
Assert.That(_scene.SceneRecreationAtLateUpdateRequested, Is.False);
UnityEngine.Object.DestroyImmediate(inertia.gameObject);
UnityEngine.Object.DestroyImmediate(joint.gameObject);
UnityEngine.Object.DestroyImmediate(body.gameObject);
}
[UnityTest]
public IEnumerator SceneRecreatedAfterDeletion() {
var body = new GameObject("body").AddComponent<MjBody>();
var inertia = new GameObject("inertia").AddComponent<MjInertial>();
inertia.transform.parent = body.transform;
var joint = new GameObject("joint").AddComponent<MjHingeJoint>();
joint.transform.parent = body.transform;
yield return null;
yield return null;
Assert.That(_scene.SceneRecreationAtLateUpdateRequested, Is.False);
UnityEngine.Object.DestroyImmediate(inertia.gameObject);
UnityEngine.Object.DestroyImmediate(joint.gameObject);
UnityEngine.Object.DestroyImmediate(body.gameObject);
Assert.That(_scene.SceneRecreationAtLateUpdateRequested, Is.True);
yield return null; // should result in a new scene
Assert.That(_scene.SceneRecreationAtLateUpdateRequested, Is.False);
}
}
}
#endif
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