public void TestTwoBodies()
{
// * rootObj
// - rb1
// * go2
// - rb2
// - joint
var rootObj = new GameObject();
var rb1 = rootObj.AddComponent <Rigidbody>();
var go2 = new GameObject();
var rb2 = go2.AddComponent <Rigidbody>();
go2.transform.SetParent(rootObj.transform);
var joint = go2.AddComponent <ConfigurableJoint>();
joint.connectedBody = rb1;
var poseExtractor = new RigidBodyPoseExtractor(rb1);
Assert.AreEqual(2, poseExtractor.NumPoses);
rb1.position = new Vector3(1, 0, 0);
rb1.rotation = Quaternion.Euler(0, 13.37f, 0);
rb1.velocity = new Vector3(2, 0, 0);
Assert.AreEqual(rb1.position, poseExtractor.GetPoseAt(0).position);
Assert.IsTrue(rb1.rotation == poseExtractor.GetPoseAt(0).rotation);
Assert.AreEqual(rb1.velocity, poseExtractor.GetLinearVelocityAt(0));
}
public void TestTwoBodiesVirtualRoot()
{
// * virtualRoot
// * rootObj
// - rb1
// * go2
// - rb2
// - joint
var virtualRoot = new GameObject("I am vroot");
var rootObj = new GameObject();
var rb1 = rootObj.AddComponent <Rigidbody>();
var go2 = new GameObject();
go2.AddComponent <Rigidbody>();
go2.transform.SetParent(rootObj.transform);
var joint = go2.AddComponent <ConfigurableJoint>();
joint.connectedBody = rb1;
var poseExtractor = new RigidBodyPoseExtractor(rb1, null, virtualRoot);
Assert.AreEqual(3, poseExtractor.NumPoses);
// "body" 0 has no parent
Assert.AreEqual(-1, poseExtractor.GetParentIndex(0));
// body 1 has parent 0
Assert.AreEqual(0, poseExtractor.GetParentIndex(1));
var virtualRootPos = new Vector3(0, 2, 0);
var virtualRootRot = Quaternion.Euler(0, 42, 0);
virtualRoot.transform.position = virtualRootPos;
virtualRoot.transform.rotation = virtualRootRot;
Assert.AreEqual(virtualRootPos, poseExtractor.GetPoseAt(0).position);
Assert.IsTrue(virtualRootRot == poseExtractor.GetPoseAt(0).rotation);
Assert.AreEqual(Vector3.zero, poseExtractor.GetLinearVelocityAt(0));
// Same as above test, but using index 1
rb1.position = new Vector3(1, 0, 0);
rb1.rotation = Quaternion.Euler(0, 13.37f, 0);
rb1.velocity = new Vector3(2, 0, 0);
Assert.AreEqual(rb1.position, poseExtractor.GetPoseAt(1).position);
Assert.IsTrue(rb1.rotation == poseExtractor.GetPoseAt(1).rotation);
Assert.AreEqual(rb1.velocity, poseExtractor.GetLinearVelocityAt(1));
}
public void TestTwoBodies()
{
// * rootObj
// - rb1
// * go2
// - rb2
// - joint
var rootObj = new GameObject();
var rb1 = rootObj.AddComponent <Rigidbody>();
var go2 = new GameObject();
var rb2 = go2.AddComponent <Rigidbody>();
go2.transform.SetParent(rootObj.transform);
var joint = go2.AddComponent <ConfigurableJoint>();
joint.connectedBody = rb1;
var poseExtractor = new RigidBodyPoseExtractor(rb1);
Assert.AreEqual(2, poseExtractor.NumPoses);
rb1.position = new Vector3(1, 0, 0);
rb1.rotation = Quaternion.Euler(0, 13.37f, 0);
rb1.velocity = new Vector3(2, 0, 0);
Assert.AreEqual(rb1.position, poseExtractor.GetPoseAt(0).position);
Assert.IsTrue(rb1.rotation == poseExtractor.GetPoseAt(0).rotation);
Assert.AreEqual(rb1.velocity, poseExtractor.GetLinearVelocityAt(0));
// Check DisplayNodes gives expected results
var displayNodes = poseExtractor.GetDisplayNodes();
Assert.AreEqual(2, displayNodes.Count);
Assert.AreEqual(rb1, displayNodes[0].NodeObject);
Assert.AreEqual(false, displayNodes[0].Enabled);
Assert.AreEqual(rb2, displayNodes[1].NodeObject);
Assert.AreEqual(true, displayNodes[1].Enabled);
}
