mujoco

// 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 MjBoxShapeTests {
    private GameObject _owner;
    private MjShapeComponent _shape;
    private XmlDocument _doc;

    [SetUp]
    public void SetUp() {
      _owner = new GameObject("owner");
      _shape = _owner.AddComponent<MjSite>();
      _shape.ShapeType = MjShapeComponent.ShapeTypes.Box;
      _shape.Box.Extents = Vector3.one;
      _doc = new XmlDocument();
    }

    [TearDown]
    public void TearDown() {
      UnityEngine.Object.DestroyImmediate(_owner);
    }

    [TestCase(1, 2, 3, "1 3 2")]
    public void BoxSize(float x, float y, float z, string expectedResult) {
      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
      _shape.Box.Extents = new Vector3(x, y, z);
      _shape.ShapeToMjcf(mjcf, _owner.transform);
      Assert.That(_doc.OuterXml, Does.Contain("size=\"" + expectedResult + "\""));
    }

    [TestCase(0.5f, "0.5 0.5 0.5")]
    [TestCase(2.0f, "2 2 2")]
    public void EffectOfUniformScaling(float uniformScale, string expectedResult) {
      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
      _owner.transform.localScale = Vector3.one * uniformScale;
      _shape.ShapeToMjcf(mjcf, _owner.transform);
      Assert.That(_doc.OuterXml, Does.Contain("size=\"" + expectedResult + "\""));
    }

    [TestCase(2, 3, 4, "2 4 3")]
    public void EffectOfNonUniformScaling(float x, float y, float z, string expectedResult) {
      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
      _owner.transform.localScale = new Vector3(x, y, z);
      _shape.ShapeToMjcf(mjcf, _owner.transform);
      Assert.That(_doc.OuterXml, Does.Contain("size=\"" + expectedResult + "\""));
    }

    [Test]
    public void ParsingSettings() {
      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
      mjcf.SetAttribute("type", "box");
      mjcf.SetAttribute("size", "0.1 0.2 0.3");
      _shape.ShapeFromMjcf(mjcf);
      Assert.That(_shape.ShapeType, Is.EqualTo(MjShapeComponent.ShapeTypes.Box));
      Assert.That(_shape.Box.Extents, Is.EqualTo(new Vector3(0.1f, 0.3f, 0.2f)));
    }

    [TestCase("0 0 0 0 0 1", 0.5f, 0.5f, 0.5f)]
    [TestCase("0 0 0 0 1 0", 0.5f, 0.5f, 0.5f)]
    [TestCase("0 0 0 1 0 0", 0.5f, 0.5f, 0.5f)]
    [TestCase("0 0 -1 0 0 1", 1, 1, 1)]
    [TestCase("0 -1 0 0 1 0", 1, 1, 1)]
    [TestCase("-1 0 0 1 0 0", 1, 1, 1)]
    public void FromToSizeSpecificationIsOrientationAgnostic(string fromToStr, float x, float y,
                                                             float z) {
      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
      mjcf.SetAttribute("type", "box");
      mjcf.SetAttribute("fromto", fromToStr);
      _shape.ShapeFromMjcf(mjcf);
      Assert.That(_shape.Box.Extents, Is.EqualTo(new Vector3(x, y, z)));
    }

    [Test]
    public void FromToSizeSpecificationUsesMagnitudeOfVectorAsSizeBase() {
      var mjcf = (XmlElement)_doc.AppendChild(_doc.CreateElement("test"));
      mjcf.SetAttribute("type", "box");
      mjcf.SetAttribute("fromto", "-1 0 0 0 0 1");
      _shape.ShapeFromMjcf(mjcf);
      Assert.That((_shape.Box.Extents - new Vector3(0.707f, 0.707f, 0.707f)).magnitude,
                  Is.EqualTo(0).Within(1e-3f));
    }
  }
}