Update tests to include AGX logs

AGXUnity/Sensor/LidarSensor.cs

@@ -709,8 +709,10 @@ public bool Remove( LidarOutput output )
         return false;
 
       m_outputs.Remove( output );
-      if ( Native != null )
-        output.Disconnect();
+      if ( Native != null ) {
+        if ( output.Native.getParent() == Native )
+          output.Disconnect();
+      }
       return true;
     }
 

AGXUnity/Sensor/SensorEnvironment.cs

@@ -617,19 +617,21 @@ internal void DisposeRT()
       m_meshFilters.Clear();
       m_explicitInclusions.Clear();
 
-      Native?.Dispose();
-      Native = null;
-    }
-
-    protected override void OnDestroy()
-    {
       if ( Simulation.HasInstance ) {
         Simulation.Instance.StepCallbacks.PostSynchronizeTransforms -= UpdateEnvironment;
         Simulation.Instance.StepCallbacks.PreStepForward -= AddNew;
       }
 
       ScriptComponent.OnInitialized -= LateInitializeScriptComponent;
 
+      Native?.Dispose();
+      Native = null;
+    }
+
+    protected override void OnDestroy()
+    {
+      DisposeRT();
+
       base.OnDestroy();
     }
   }

AGXUnity/Simulation.cs

@@ -540,7 +540,6 @@ protected override void OnDestroy()
           m_solverSettings.SetSimulation( null );
         if ( SensorEnvironment.HasInstance )
           SensorEnvironment.Instance.DisposeRT();
-        m_simulation.setSensorEnvironment( null );
         m_simulation.cleanup();
       }
       m_simulation = null;
@@ -553,7 +552,6 @@ protected override void OnApplicationQuit()
       if ( m_simulation != null ) {
         if ( SensorEnvironment.HasInstance )
           SensorEnvironment.Instance.DisposeRT();
-        m_simulation.setSensorEnvironment( null );
         m_simulation.cleanup();
       }
     }

Tests/Editor/SetupPlaymodeTestPlayer.cs

@@ -7,6 +7,7 @@
 
 [assembly: TestPlayerBuildModifier( typeof( SetupPlaymodeTestPlayer ) )]
 [assembly: PostBuildCleanup( typeof( SetupPlaymodeTestPlayer ) )]
+[assembly: TestMustExpectAllLogs]
 
 public class SetupPlaymodeTestPlayer : ITestPlayerBuildModifier, IPostBuildCleanup
 {

Tests/Runtime/LidarTests.cs

@@ -518,7 +518,6 @@ public IEnumerator TestAddCableAfterInitialization()
       var cableComp = cable.AddComponent<Cable>();
       cableComp.Route.Add( Cable.NodeType.BodyFixedNode, cable, Vector3.right, Quaternion.Euler( 0, -90, 0 ) );
       cableComp.Route.Add( Cable.NodeType.BodyFixedNode, cable, Vector3.left, Quaternion.Euler( 0, -90, 0 ) );
-      cable.AddComponent<CableRenderer>();
 
       TestUtils.InitializeAll();
 
@@ -545,7 +544,6 @@ public IEnumerator TestRemoveCable()
       var cableComp = cable.AddComponent<Cable>();
       cableComp.Route.Add( Cable.NodeType.BodyFixedNode, cable, Vector3.right, Quaternion.Euler( 0, -90, 0 ) );
       cableComp.Route.Add( Cable.NodeType.BodyFixedNode, cable, Vector3.left, Quaternion.Euler( 0, -90, 0 ) );
-      cable.AddComponent<CableRenderer>();
 
       TestUtils.InitializeAll();
 
@@ -577,7 +575,6 @@ public IEnumerator TestDisableEnableCable()
       var cableComp = cable.AddComponent<Cable>();
       cableComp.Route.Add( Cable.NodeType.BodyFixedNode, cable, Vector3.right, Quaternion.Euler( 0, -90, 0 ) );
       cableComp.Route.Add( Cable.NodeType.BodyFixedNode, cable, Vector3.left, Quaternion.Euler( 0, -90, 0 ) );
-      cable.AddComponent<CableRenderer>();
 
       TestUtils.InitializeAll();
       yield return TestUtils.Step();
@@ -1105,7 +1102,7 @@ public IEnumerator TestReadFromFileCsvLidar()
       modelData.FirstLineIsHeader = false;
       modelData.FrameSize = 2;
       modelData.TwoColumns = false;
-      modelData.FilePath = "Assets/AGXUnity/Tests/Runtime/Test Resources/csv_lidar_pattern.csv";
+      modelData.FilePath = ResourceHelper.GetTestResource( "csv_lidar_pattern.csv" );
 
       var output = new LidarOutput { agxSensor.RtOutput.Field.XYZ_VEC3_F32 };
       lidarComp.Add( output );

Tests/Runtime/OpenPLXTests.cs

@@ -95,8 +95,7 @@ public IEnumerator TestInvertedPendulum()
     {
       LoadOpenPLX( "inverted_pendulum.openplx" );
       GameObject.Find( "inverted_pendulum" ).AddComponent<Aux.InvertedPendulumController>();
-      // Inverted pendulum is calibrated for 60hz
-      //Time.fixedDeltaTime = 1.0f/60.0f;
+
       var cartRB = FindComponentByName<RigidBody>("inverted_pendulum/PendulumScene/cart");
       var rodRB = FindComponentByName<RigidBody>("inverted_pendulum/PendulumScene/rod");
 
@@ -109,7 +108,6 @@ public IEnumerator TestInvertedPendulum()
 
       Assert.AreEqual( 0.0f, cartRB.transform.position.x, 0.01f, "Cart Position" );
       Assert.AreEqual( 0.0f, cartRB.LinearVelocity.x, 0.1f, "Cart Velocity" );
-      //Time.fixedDeltaTime = 1.0f/50.0f;
     }
 
     [UnityTest]
@@ -573,6 +571,8 @@ public IEnumerator TestSteering()
     [UnityTest]
     public IEnumerator TestShovelTerrainImport()
     {
+      LogAssert.Expect( LogType.Warning, new Regex( @"AGXUnity\.Rendering\.DeformableTerrainParticleRenderer:.*" ) );
+
       var root = LoadOpenPLX( "shovel.openplx" );
       var shovelGO = root.FindMappedObject( "ShovelScene.shovel.shovel" );
       Assert.NotNull( shovelGO );

Tests/Runtime/ResourceHelper.cs

@@ -0,0 +1,47 @@
+using System.IO;
+using System.Linq;
+using System.Runtime.CompilerServices;
+using UnityEngine;
+#if UNITY_EDITOR
+using UnityEditor;
+using UnityEditor.Callbacks;
+#endif
+
+public static class ResourceHelper
+{
+  private static string[] s_trackedResources =
+  {
+    "csv_lidar_pattern.csv"
+  };
+
+  private static string GetEditorResourcePath( [CallerFilePath] string path = "" ) => Path.Combine( Path.GetDirectoryName( path ), "Test Resources" );
+  private static string GetRuntimeResourcePath() => Path.Combine( Application.dataPath, "Test Resources" );
+  private static string ResourcePath => Application.isEditor ? GetEditorResourcePath() : GetRuntimeResourcePath();
+
+#if UNITY_EDITOR
+  [PostProcessBuild( 16 )]
+  public static void OnPostProcessBuild( BuildTarget target, string targetPathFilename )
+  {
+    var targetExecutableFileInfo = new FileInfo( targetPathFilename );
+    var targetDataPath =  targetExecutableFileInfo.Directory.FullName +
+                          Path.DirectorySeparatorChar +
+                          Path.GetFileNameWithoutExtension( targetExecutableFileInfo.Name ) +
+                          "_Data";
+
+    targetDataPath = Path.Combine( targetDataPath, "Test Resources" );
+    Debug.Log( $"Copying test resources to '{targetDataPath}'" );
+
+    Directory.CreateDirectory( targetDataPath );
+
+    foreach ( var f in s_trackedResources )
+      File.Copy( Path.Combine( ResourcePath, f ), Path.Combine( targetDataPath, f ) );
+  }
+#endif
+
+  public static string GetTestResource( string identifier )
+  {
+    Debug.Assert( s_trackedResources.Contains( identifier ), $"File '{identifier}' is not a tracked test resource" );
+
+    return Path.Combine( ResourcePath, identifier );
+  }
+}

Tests/Runtime/RuntimeFixture.cs

@@ -1,6 +1,9 @@
 using AGXUnity;
 using NUnit.Framework;
 using UnityEngine;
+using UnityEngine.TestTools;
+
+[assembly: TestMustExpectAllLogs]
 
 namespace AGXUnityTesting.Runtime
 {
@@ -10,6 +13,10 @@ public class AGXUnityFixture
     public void SetupSimulationInstance()
     {
       Simulation.Instance.GetInitialized();
+      Simulation.Instance.PreIntegratePositions = true;
+      Simulation.Instance.LogEnabled = true;
+      Simulation.Instance.AGXUnityLogLevel = LogLevel.Warning;
+      Simulation.Instance.LogToUnityConsole = true;
     }
 
     [OneTimeTearDown]

Tests/Runtime/TerrainTests.cs

@@ -53,8 +53,7 @@ public IEnumerator SetupTerrainScene()
     [UnityTearDown]
     public IEnumerator TearDownTerrainScene()
     {
-      GameObject.Destroy( unityTerrain.gameObject );
-      yield return null;
+      yield return TestUtils.DestroyAndWait( unityTerrain.gameObject );
     }
 
     [Test]

Tests/Runtime/VehicleTests.cs

@@ -14,7 +14,7 @@
 
 namespace AGXUnityTesting.Runtime
 {
-  public class VehicleTests
+  public class VehicleTests : AGXUnityFixture
   {
     private GameObject CreateShape<T>( Vector3 transform = new Vector3() )
       where T : Shape
@@ -74,13 +74,6 @@ private BasicVehicle CreateBasicVehicle( System.Func<RigidBody, RigidBody, int,
       };
     }
 
-    [OneTimeSetUp]
-    public void EnableLogging()
-    {
-      Simulation.Instance.LogToUnityConsole = true;
-      Simulation.Instance.AGXUnityLogLevel = LogLevel.Debug;
-    }
-
     [UnityTearDown]
     public IEnumerator CleanVehicleScene()
     {
@@ -93,6 +86,8 @@ public IEnumerator CleanVehicleScene()
       var toDelete = objects.Where(x => x is not Simulation).Select(x => x.gameObject).ToArray();
 
       yield return TestUtils.DestroyAndWait( toDelete );
+
+      yield return TestUtils.DestroyAndWait( GameObject.Find( "Simple Track" ) );
     }
 
     [Test]
@@ -397,13 +392,18 @@ private Track CreateSimpleTrack()
     {
       GameObject root = new GameObject("Simple Track");
 
+      var refBody = Factory.Create<RigidBody>( );
+      refBody.transform.parent = root.transform;
+      refBody.GetComponent<RigidBody>().MotionControl = agx.RigidBody.MotionControl.KINEMATICS;
+
       var (frontRB, frontWheel) = CreateWheel( Vector3.left, TrackWheelModel.Sprocket );
       var (backRB, backWheel) = CreateWheel( Vector3.right );
 
       var track = Factory.Create<Track>();
       var trackComp = track.GetComponent<Track>();
       track.AddComponent<TrackRenderer>();
       trackComp.Width = 1;
+      trackComp.ReferenceObject = refBody;
 
       trackComp.Add( frontWheel );
       trackComp.Add( backWheel );

Tests/Runtime/WireCutMergeTests.cs

@@ -1,6 +1,7 @@
 using AGXUnity;
 using NUnit.Framework;
 using System.Collections;
+using System.Text.RegularExpressions;
 using UnityEngine;
 using UnityEngine.TestTools;
 
@@ -135,6 +136,7 @@ public IEnumerator InvalidWinchesFailsMerge()
       var result = SourceWire.Cut( Vector3.zero );
       Assert.NotNull( result, "Cutting failed" );
 
+      LogAssert.Expect( LogType.Warning, new Regex( "Failed to merge wires.*" ) );
       Assert.False( result.Merge( SourceWire ), "Merge should fail" );
       // Need to wait a frame to ensure object is destroyed
       yield return null;