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mujoco / data /unity /Tests /Editor /Components /Equality /MjConnectTests.cs

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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 MjConnectTests {
	private MjBody _body1;
	private MjBody _body2;
	private Transform _anchor;
	private MjConnect _constraint;
	private XmlDocument _doc;

	[SetUp]
	public void SetUp() {
	_body1 = new GameObject("body1").AddComponent<MjBody>();
	_body2 = new GameObject("body2").AddComponent<MjBody>();
	_anchor = _body1.transform;
	_constraint = new GameObject("connect").AddComponent<MjConnect>();
	_doc = new XmlDocument();
	}

	[TearDown]
	public void TearDown() {
	UnityEngine.Object.DestroyImmediate(_constraint.gameObject);
	UnityEngine.Object.DestroyImmediate(_body1.gameObject);
	UnityEngine.Object.DestroyImmediate(_body2.gameObject);
	}

	[Test]
	public void ErrorThrownWhenBody1Empty() {
	_constraint.Body1 = null;
	Assert.That(() => { _constraint.GenerateMjcf("name", _doc); }, Throws.Exception);
	}

	// In this constraint both elements are required.
	[Test]
	public void ErrorThrownWhenBody2Empty() {
	_doc.LoadXml("<body body1='body1'/>");
	_constraint.ParseMjcf(_doc.GetElementsByTagName("body")[0] as XmlElement);
	Assert.That(() => { _constraint.GenerateMjcf("name", _doc); }, Throws.Exception);
	}

	[Test]
	public void ParseXML() {
	_doc.LoadXml("<connect body1='body1' body2='body2'/>");
	_constraint.ParseMjcf(_doc.GetElementsByTagName("connect")[0] as XmlElement);
	Assert.That(_constraint.Body1, Is.EqualTo(_body1));
	Assert.That(_constraint.Body2, Is.EqualTo(_body2));
	}

	[Test]
	public void GenerateXML() {
	_constraint.Body1 = _body1;
	_constraint.Body2 = _body2;
	_constraint.Anchor = _anchor;
	var mjcf = _constraint.GenerateMjcf("name", _doc);
	Assert.That(mjcf.OuterXml, Does.Contain("<connect"));
	Assert.That(mjcf.OuterXml, Does.Contain("body1=\""));
	Assert.That(mjcf.OuterXml, Does.Contain("body2=\""));
	Assert.That(mjcf.OuterXml, Does.Contain("anchor=\""));
	}
	}
	}