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); }