public void ExportSpecificJointData_Succeeds()
{
GameObject linkObject = new GameObject("link");
TestUrdfJointRevolute urdfJoint = linkObject.AddComponent <TestUrdfJointRevolute>();
ArticulationBody articulationBody = linkObject.GetComponent <ArticulationBody>();
urdfJoint.SetAxisOfMotion(new Vector3(1.2345678f, 2.3456789f, 3.4567891f));
urdfJoint.Dynamics(new Joint.Dynamics(4, 5));
var joint = new Joint(
name: "custom_joint", type: "continuous", parent: "base", child: "link");
urdfJoint.TestExportSpecificJointData(joint);
UnityEngine.Assertions.Assert.AreApproximatelyEqual(1.234568f, (float)joint.axis.xyz[0]);
UnityEngine.Assertions.Assert.AreApproximatelyEqual(2.345679f, (float)joint.axis.xyz[1]);
UnityEngine.Assertions.Assert.AreApproximatelyEqual(3.456789f, (float)joint.axis.xyz[2]);
Assert.AreEqual(4, joint.dynamics.damping);
Assert.AreEqual(5, joint.dynamics.friction);
Assert.AreEqual(articulationBody.xDrive.lowerLimit * Mathf.Deg2Rad, joint.limit.lower);
Assert.AreEqual(articulationBody.xDrive.upperLimit * Mathf.Deg2Rad, joint.limit.upper);
Assert.AreEqual(articulationBody.xDrive.forceLimit, joint.limit.effort);
Assert.AreEqual(articulationBody.maxAngularVelocity, joint.limit.velocity);
Object.DestroyImmediate(linkObject);
}
public void ImportJointData_SpecificAixs_Succeeds()
{
var joint = new Joint(
name: "custom_joint", type: "prismatic", parent: "base", child: "link",
axis: new Joint.Axis(new double[] { 1, 2, 3 }),
limit: new Joint.Limit(4, 5, 6, 7),
dynamics: new Joint.Dynamics(8, 9));
GameObject baseObject = new GameObject("base");
GameObject linkObject = new GameObject("link");
linkObject.transform.parent = baseObject.transform;
UrdfJoint.Create(baseObject, UrdfJoint.JointTypes.Fixed);
TestUrdfJointRevolute urdfJoint = linkObject.AddComponent <TestUrdfJointRevolute>();
ArticulationBody articulationBody = linkObject.GetComponent <ArticulationBody>();
urdfJoint.TestImportJointData(joint);
Assert.AreEqual(ArticulationDofLock.LimitedMotion, articulationBody.linearLockX);
Assert.AreEqual(ArticulationDofLock.LockedMotion, articulationBody.linearLockY);
Assert.AreEqual(ArticulationDofLock.LockedMotion, articulationBody.linearLockZ);
Assert.AreEqual(ArticulationDofLock.LimitedMotion, articulationBody.twistLock);
Quaternion expectedAnchorRotation = new Quaternion();
expectedAnchorRotation.SetFromToRotation(new Vector3(1, 0, 0), -new Vector3(-2, 3, 1));
Assert.AreEqual(expectedAnchorRotation, articulationBody.anchorRotation);
Assert.AreEqual(4 * Mathf.Rad2Deg, articulationBody.xDrive.lowerLimit);
Assert.AreEqual(5 * Mathf.Rad2Deg, articulationBody.xDrive.upperLimit);
Assert.AreEqual(6, articulationBody.xDrive.forceLimit);
Assert.AreEqual(7, articulationBody.maxAngularVelocity);
Assert.AreEqual(8, articulationBody.linearDamping);
Assert.AreEqual(8, articulationBody.angularDamping);
Assert.AreEqual(9, articulationBody.jointFriction);
Object.DestroyImmediate(baseObject);
}
