backdating test

Author: madhephaestus

src/test/java/mujoco/java/MuJoColibTest.java

@@ -10,12 +10,9 @@
 import org.mujoco.MuJoCoLib.mjModel;
 import org.mujoco.MuJoCoLib.mjModel_;
 import org.mujoco.MuJoCoLib.mjVFS;
-import org.mujoco.MuJoCoModelManager;
 
 import static org.junit.Assert.*;
 
-import java.io.File;
-import java.io.IOException;
 import java.util.logging.Level;
 import java.util.logging.Logger;
 
@@ -25,29 +22,37 @@
 
 public class MuJoColibTest {
 	@Test
-	public void mujocoJNILoadTest() throws IOException {
+	public void mujocoJNILoadTest() {
 		System.out.println(System.getProperty("org.bytedeco.javacpp.logger.debug"));
 		System.setProperty("org.bytedeco.javacpp.logger.debug", "true");
+		MuJoCoLib lib = new MuJoCoLib();
 
 		System.out.println("Starting " + MuJoCoLib.mj_versionString().getString());
-
-		MuJoCoModelManager manager = new MuJoCoModelManager("humanoid/humanoid.xml");
-		//MuJoCoModelManager manager = new MuJoCoModelManager(new File("/home/hephaestus/git/mujoco-java/model/humanoid/humanoid.xml"));
-
+		byte[] error = new byte[100];
+		int error_sz = 0;
+		mjModel m = MuJoCoLib.mj_loadXML(
+				"/home/hephaestus/git/mujoco-java/src/main/resources/mujoco/java/humanoid/humanoid.xml", null, error,
+				error_sz);
+		System.out.println("Humanoid model loaded " + m);
+		mjData d = MuJoCoLib.mj_makeData(m);
 		try {
-			mjModel_ Maccessable = manager.getModel();
-			mjData_ accessable = manager.getData();
-			System.out.println("Run model for 10 seconds");
-			while (accessable.time() < 10) {
-				manager.stepOne();
-				manager.stepTwo();
-				Thread.sleep(1);
+			mjModel_ Maccessable = new mjModel_(m);
+			try (mjData_ accessable = new mjData_(d)) {
+				System.out.println("Run model for 10 seconds");
+				while (accessable.time() < 10) {
+					MuJoCoLib.mj_step(m, d);
+					Thread.sleep(1);
+					
+				}
+
 			}
 		} catch (Exception e) {
 			// TODO Auto-generated catch block
 			e.printStackTrace();
 		}
 		System.out.println("Clean up data objects");
-		manager.close();
+
+		MuJoCoLib.mj_deleteData(d);
+		MuJoCoLib.mj_deleteModel(m);
 	}
 }