generated from tpl/purs
83 lines
2.9 KiB
Plaintext
83 lines
2.9 KiB
Plaintext
module Test.Mujoco.MJCF.Visual where
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import Prelude
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import Data.Tuple.Nested ((/\))
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import Mujoco.MJCF as X
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import Mujoco.MJCF.Visual as Vis
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import Mujoco.MJCF.XML (Node)
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import Test.Mujoco.MJCF.Util (MjcfSpec, parseOk)
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import Test.Spec (describe, it)
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v :: Node -> Node
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v c = X.mujoco {}
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[ Vis.visual {} [ c ]
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, X.worldbody {} unit
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]
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spec :: MjcfSpec Unit
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spec =
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describe "visual" do
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describe "global" do
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it "fovy + linewidth" $ parseOk $ v $
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Vis.global { fovy: 45.0, linewidth: 2.0 }
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it "offwidth + offheight" $ parseOk $ v $
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Vis.global { offwidth: 1920, offheight: 1080 }
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it "orthographic + ellipsoidinertia" $ parseOk $ v $
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Vis.global { orthographic: true, ellipsoidinertia: true }
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describe "quality" do
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it "shadowsize + offsamples" $ parseOk $ v $
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Vis.quality { shadowsize: 4096, offsamples: 8 }
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it "numslices + numstacks + numquads" $ parseOk $ v $
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Vis.quality { numslices: 32, numstacks: 32, numquads: 4 }
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describe "headlight" do
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it "ambient + diffuse + specular" $ parseOk $ v $
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Vis.headlight { ambient: 0.3 /\ 0.3 /\ 0.3, diffuse: 0.6 /\ 0.6 /\ 0.6, specular: 0.2 /\ 0.2 /\ 0.2 }
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it "active" $ parseOk $ v $
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Vis.headlight { active: 0 }
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describe "map" do
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it "stiffness + force + torque" $ parseOk $ v $
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Vis.map { stiffness: 100.0, force: 0.05, torque: 0.1 }
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it "fogstart + fogend" $ parseOk $ v $
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Vis.map { fogstart: 2.0, fogend: 10.0 }
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it "znear + zfar" $ parseOk $ v $
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Vis.map { znear: 0.01, zfar: 50.0 }
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it "shadowclip + shadowscale" $ parseOk $ v $
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Vis.map { shadowclip: 0.5, shadowscale: 0.5 }
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describe "scale" do
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it "forcewidth + contactwidth + contactheight" $ parseOk $ v $
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Vis.scale { forcewidth: 0.1, contactwidth: 0.3, contactheight: 0.1 }
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it "jointlength + jointwidth" $ parseOk $ v $
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Vis.scale { jointlength: 0.5, jointwidth: 0.1 }
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it "framelength + framewidth" $ parseOk $ v $
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Vis.scale { framelength: 1.0, framewidth: 0.05 }
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it "actuatorlength + actuatorwidth" $ parseOk $ v $
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Vis.scale { actuatorlength: 0.7, actuatorwidth: 0.1 }
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describe "rgba" do
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it "fog + haze" $ parseOk $ v $
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Vis.rgba { fog: 0.0 /\ 0.0 /\ 0.0 /\ 1.0, haze: 1.0 /\ 1.0 /\ 1.0 /\ 1.0 }
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it "force + inertia + joint" $ parseOk $ v $
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Vis.rgba { force: 1.0 /\ 0.5 /\ 0.5 /\ 1.0, inertia: 0.8 /\ 0.2 /\ 0.2 /\ 0.6, joint: 0.2 /\ 0.6 /\ 0.8 /\ 1.0 }
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it "com + camera + light" $ parseOk $ v $
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Vis.rgba { com: 0.0 /\ 1.0 /\ 0.0 /\ 1.0, camera: 0.6 /\ 0.9 /\ 0.6 /\ 1.0, light: 0.9 /\ 0.9 /\ 0.3 /\ 1.0 }
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it "contact colors" $ parseOk $ v $
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Vis.rgba { contactpoint: 0.9 /\ 0.2 /\ 0.2 /\ 1.0, contactforce: 0.2 /\ 0.9 /\ 0.2 /\ 1.0, contactfriction: 0.2 /\ 0.2 /\ 0.9 /\ 1.0, contacttorque: 0.9 /\ 0.9 /\ 0.2 /\ 1.0 }
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