// 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(); _body2 = new GameObject("body2").AddComponent(); _anchor = _body1.transform; _constraint = new GameObject("connect").AddComponent(); _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(""); _constraint.ParseMjcf(_doc.GetElementsByTagName("body")[0] as XmlElement); Assert.That(() => { _constraint.GenerateMjcf("name", _doc); }, Throws.Exception); } [Test] public void ParseXML() { _doc.LoadXml(""); _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("