| 37 | IMPLEMENT_SIMPLE_AUTOMATION_TEST(FMjBindingIntegrationTest, "URLab.MuJoCo.Binding.Integration", EAutomationTestFlags::EditorContext | EAutomationTestFlags::ProductFilter) |
| 38 | |
| 39 | bool FMjBindingIntegrationTest::RunTest(const FString& Parameters) |
| 40 | { |
| 41 | // 1. Create a Temporary World |
| 42 | UWorld* World = UWorld::CreateWorld(EWorldType::Game, false); |
| 43 | if (!World) |
| 44 | { |
| 45 | AddError(TEXT("Failed to create temporary world.")); |
| 46 | return false; |
| 47 | } |
| 48 | FWorldContext& WorldContext = GEngine->CreateNewWorldContext(EWorldType::Game); |
| 49 | WorldContext.SetCurrentWorld(World); |
| 50 | |
| 51 | // 2. Spawn Articulation (Robot) |
| 52 | FActorSpawnParameters SpawnParams; |
| 53 | AMjArticulation* Robot = World->SpawnActor<AMjArticulation>(SpawnParams); |
| 54 | if (!Robot) |
| 55 | { |
| 56 | AddError(TEXT("Failed to spawn AMjArticulation.")); |
| 57 | World->DestroyWorld(false); |
| 58 | GEngine->DestroyWorldContext(World); |
| 59 | return false; |
| 60 | } |
| 61 | |
| 62 | // 3. Construct Component Hierarchy: WorldBody -> Body -> { Geom, Joint } |
| 63 | // AMjArticulation::Setup() requires a UMjWorldBody as root, with UMjBody children. |
| 64 | UMjWorldBody* WorldBody = NewObject<UMjWorldBody>(Robot, TEXT("WorldBody")); |
| 65 | Robot->SetRootComponent(WorldBody); |
| 66 | WorldBody->RegisterComponent(); |
| 67 | |
| 68 | UMjBody* RootBody = NewObject<UMjBody>(Robot, TEXT("RootBody")); |
| 69 | RootBody->RegisterComponent(); |
| 70 | RootBody->AttachToComponent(WorldBody, FAttachmentTransformRules::KeepRelativeTransform); |
| 71 | |
| 72 | UMjGeom* Geom = NewObject<UMjGeom>(Robot, TEXT("TestGeom")); |
| 73 | Geom->size = {0.1f, 0.1f, 0.1f}; // Sphere radius 0.1m — must be non-zero for MuJoCo to accept |
| 74 | Geom->bOverride_size = true; // ExportTo only writes size when this is true |
| 75 | Geom->RegisterComponent(); |
| 76 | Geom->AttachToComponent(RootBody, FAttachmentTransformRules::KeepRelativeTransform); |
| 77 | |
| 78 | UMjJoint* Joint = NewObject<UMjJoint>(Robot, TEXT("TestJoint")); |
| 79 | Joint->RegisterComponent(); |
| 80 | Joint->AttachToComponent(RootBody, FAttachmentTransformRules::KeepRelativeTransform); |
| 81 | |
| 82 | // 4. Spawn Manager — World->BeginPlay() does not propagate AActor::BeginPlay() |
| 83 | // without a GameMode, so we drive compilation directly. |
| 84 | AAMjManager* Manager = World->SpawnActor<AAMjManager>(SpawnParams); |
| 85 | if (!Manager) |
| 86 | { |
| 87 | AddError(TEXT("Failed to spawn AAMjManager.")); |
| 88 | World->DestroyWorld(false); |
| 89 | GEngine->DestroyWorldContext(World); |
| 90 | return false; |
| 91 | } |
| 92 | |
| 93 | // 5. Drive compilation directly — bypasses the BeginPlay dispatch issue in test worlds |
| 94 | Manager->Compile(); |
| 95 | |
| 96 | // 6. Verify Manager State |
nothing calls this directly
no test coverage detected