// 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 MjGlobalSettingsGenerationTests { private MjGlobalSettings _settings; private XmlDocument _doc; private XmlElement _root; [SetUp] public void SetUp() { _settings = new GameObject("settings").AddComponent(); _doc = new XmlDocument(); _root = (XmlElement)_doc.AppendChild(_doc.CreateElement("root")); } [TearDown] public void TearDown() { UnityEngine.Object.DestroyImmediate(_settings.gameObject); } [Test] public void GenerateOptionSizeFlagCustomNumeric() { _settings.GlobalOptions.ImpRatio = 1.2f; _settings.GlobalOptions.Magnetic = new Vector3(3.4f, 4.5f, 5.6f); _settings.GlobalOptions.Wind = new Vector3(6.7f, 7.8f, 8.9f); _settings.GlobalOptions.Density = 0.1f; _settings.GlobalOptions.Viscosity = 2.3f; _settings.GlobalOptions.OverrideMargin = 4.5f; _settings.GlobalOptions.Integrator = IntegratorType.RK4; _settings.GlobalOptions.Cone = FrictionConeType.elliptic; _settings.GlobalOptions.Jacobian = JacobianType.dense; _settings.GlobalOptions.Solver = ConstraintSolverType.PGS; _settings.GlobalOptions.Iterations = 12; _settings.GlobalOptions.Tolerance = 3.4f; _settings.GlobalOptions.NoSlipIterations = 5; _settings.GlobalOptions.NoSlipTolerance = 6.7f; _settings.GlobalOptions.CcdIterations = 8; _settings.GlobalOptions.CcdTolerance = 0.9f; _settings.GlobalSizes.Memory = "1M"; _settings.GlobalsToMjcf(_root); Assert.That(_doc.OuterXml, Does.Contain(@"impratio=""1.2""")); Assert.That(_doc.OuterXml, Does.Contain(@"magnetic=""3.4 4.5 5.6""")); Assert.That(_doc.OuterXml, Does.Contain(@"wind=""6.7 7.8 8.9""")); Assert.That(_doc.OuterXml, Does.Contain(@"density=""0.1""")); Assert.That(_doc.OuterXml, Does.Contain(@"viscosity=""2.3""")); Assert.That(_doc.OuterXml, Does.Contain(@"o_margin=""4.5""")); Assert.That(_doc.OuterXml, Does.Contain(@"integrator=""RK4""")); Assert.That(_doc.OuterXml, Does.Contain(@"cone=""elliptic""")); Assert.That(_doc.OuterXml, Does.Contain(@"jacobian=""dense""")); Assert.That(_doc.OuterXml, Does.Contain(@"o_solref=")); Assert.That(_doc.OuterXml, Does.Contain(@"o_solimp=")); Assert.That(_doc.OuterXml, Does.Contain(@"solver=""PGS""")); Assert.That(_doc.OuterXml, Does.Contain(@"iterations=""12""")); Assert.That(_doc.OuterXml, Does.Contain(@"tolerance=""3.4""")); Assert.That(_doc.OuterXml, Does.Contain(@"noslip_iterations=""5""")); Assert.That(_doc.OuterXml, Does.Contain(@"noslip_tolerance=""6.7""")); Assert.That(_doc.OuterXml, Does.Contain(@"ccd_iterations=""8""")); Assert.That(_doc.OuterXml, Does.Contain(@"ccd_tolerance=""0.9""")); Assert.That(_doc.OuterXml, Does.Contain(@"memory=""1M""")); } [Test] public void GenerateFlag() { _settings.GlobalOptions.Flag.Gravity = EnableDisableFlag.disable; _settings.GlobalsToMjcf(_root); Assert.That(_doc.OuterXml, Does.Contain(@"gravity=""disable""")); Assert.That(_doc.OuterXml, Does.Contain(@"constraint=")); Assert.That(_doc.OuterXml, Does.Contain(@"equality=")); Assert.That(_doc.OuterXml, Does.Contain(@"frictionloss=")); Assert.That(_doc.OuterXml, Does.Contain(@"limit=")); Assert.That(_doc.OuterXml, Does.Contain(@"contact=")); Assert.That(_doc.OuterXml, Does.Contain(@"passive=")); Assert.That(_doc.OuterXml, Does.Contain(@"clampctrl=")); Assert.That(_doc.OuterXml, Does.Contain(@"warmstart=")); Assert.That(_doc.OuterXml, Does.Contain(@"filterparent=")); Assert.That(_doc.OuterXml, Does.Contain(@"actuation=")); Assert.That(_doc.OuterXml, Does.Contain(@"refsafe=")); Assert.That(_doc.OuterXml, Does.Contain(@"override=")); Assert.That(_doc.OuterXml, Does.Contain(@"energy=")); Assert.That(_doc.OuterXml, Does.Contain(@"fwdinv=")); } } [TestFixture] public class MjGlobalSettingsParsingTests { private MjGlobalSettings _settings; private XmlElement _root; private XmlElement _option; private XmlElement _size; private XmlElement _flag; private XmlElement _numeric; [SetUp] public void SetUp() { _settings = new GameObject("settings").AddComponent(); var doc = new XmlDocument(); _root = (XmlElement)doc.AppendChild(doc.CreateElement("root")); _option = (XmlElement)_root.AppendChild(doc.CreateElement("option")); _size = (XmlElement)_root.AppendChild(doc.CreateElement("size")); _flag = (XmlElement)_option.AppendChild(doc.CreateElement("flag")); var custom = (XmlElement)_root.AppendChild(doc.CreateElement("custom")); _numeric = (XmlElement)custom.AppendChild(doc.CreateElement("numeric")); } [TearDown] public void TearDown() { UnityEngine.Object.DestroyImmediate(_settings.gameObject); } [Test] public void ParseSizeOptionFlagCustomNumeric() { _option.SetAttribute("impratio", "1.2"); _option.SetAttribute("magnetic", "3.4 4.5 5.6"); _option.SetAttribute("wind", "6.7 7.8 8.9"); _option.SetAttribute("density", "0.1"); _option.SetAttribute("viscosity", "2.3"); _option.SetAttribute("o_margin", "4.5"); _option.SetAttribute("integrator", "RK4"); _option.SetAttribute("cone", "elliptic"); _option.SetAttribute("jacobian", "dense"); _option.SetAttribute("solver", "PGS"); _option.SetAttribute("iterations", "12"); _option.SetAttribute("tolerance", "3.4"); _option.SetAttribute("noslip_iterations", "5"); _option.SetAttribute("noslip_tolerance", "6.7"); _option.SetAttribute("ccd_iterations", "8"); _option.SetAttribute("ccd_tolerance", "0.9"); _flag.SetAttribute("gravity", "disable"); _size.SetAttribute("memory", "1M"); _numeric.SetAttribute("name", "numeric_name"); _numeric.SetAttribute("data", "1 2 3"); _settings.ParseGlobalMjcfSections(_root); Assert.That(_settings.GlobalOptions.ImpRatio, Is.EqualTo(1.2f)); Assert.That(_settings.GlobalOptions.Magnetic, Is.EqualTo(new Vector3(3.4f, 4.5f, 5.6f))); Assert.That(_settings.GlobalOptions.Wind, Is.EqualTo(new Vector3(6.7f, 7.8f, 8.9f))); Assert.That(_settings.GlobalOptions.Density, Is.EqualTo(0.1f)); Assert.That(_settings.GlobalOptions.Viscosity, Is.EqualTo(2.3f)); Assert.That(_settings.GlobalOptions.OverrideMargin, Is.EqualTo(4.5f)); Assert.That(_settings.GlobalOptions.Integrator, Is.EqualTo(IntegratorType.RK4)); Assert.That(_settings.GlobalOptions.Cone, Is.EqualTo(FrictionConeType.elliptic)); Assert.That(_settings.GlobalOptions.Jacobian, Is.EqualTo(JacobianType.dense)); Assert.That(_settings.GlobalOptions.Solver, Is.EqualTo(ConstraintSolverType.PGS)); Assert.That(_settings.GlobalOptions.Iterations, Is.EqualTo(12)); Assert.That(_settings.GlobalOptions.Tolerance, Is.EqualTo(3.4f)); Assert.That(_settings.GlobalOptions.NoSlipIterations, Is.EqualTo(5)); Assert.That(_settings.GlobalOptions.NoSlipTolerance, Is.EqualTo(6.7f)); Assert.That(_settings.GlobalOptions.CcdIterations, Is.EqualTo(8)); Assert.That(_settings.GlobalOptions.CcdTolerance, Is.EqualTo(0.9f)); Assert.That(_settings.GlobalOptions.Flag.Gravity, Is.EqualTo(EnableDisableFlag.disable)); Assert.That(_settings.GlobalSizes.Memory, Is.EqualTo("1M")); Assert.That(_settings.CustomNumeric.Count, Is.EqualTo(1)); Assert.That(_settings.CustomNumeric[0].Name, Is.EqualTo("numeric_name")); Assert.That(_settings.CustomNumeric[0].Data, Is.EqualTo("1 2 3")); } } }