public void _Reads_Link_Visual_Geometry()
{
robot.ConstructFromString(urdfString);
Link sensorLink = robot.links.Find(link => link.name == "sensor_link");
Link.Geometry geometry = sensorLink.visuals[0].geometry;
Link.Geometry.Sphere sphere = geometry.sphere;
Assert.That(sphere.radius, Is.EqualTo(0.1d));
Link baseLink = robot.links.Find(link => link.name == "base_link");
Link.Geometry.Mesh mesh = baseLink.visuals[0].geometry.mesh;
Assert.That(mesh.filename, Is.EqualTo("filename.stl"));
Assert.That(mesh.scale, Is.EqualTo(new[] { 0.001d, 0.001d, 0.001d }));
}
private Godot.Mesh CreateSphere(
Link.Geometry.Sphere sphere,
SpatialMaterial mat = null)
{
SphereMesh temp = new SphereMesh();
if (mat != null)
{
temp.Material = mat;
}
temp.RadialSegments = 16;
temp.Radius = (float)sphere.radius;
temp.Height = (float)(sphere.radius * 2.0);
return(temp);
}
