public void ImportJointData_DefaultAxis_Succeeds(Joint.Axis axis, Quaternion expectedAnchorRotation)
{
var joint = new Joint(
name: "custom_joint", type: "continuous", parent: "base", child: "link",
axis: axis);
GameObject baseObject = new GameObject("base");
GameObject linkObject = new GameObject("link");
linkObject.transform.parent = baseObject.transform;
UrdfJoint.Create(baseObject, UrdfJoint.JointTypes.Fixed);
TestUrdfJointPlanar urdfJoint = linkObject.AddComponent <TestUrdfJointPlanar>();
ArticulationBody articulationBody = linkObject.GetComponent <ArticulationBody>();
urdfJoint.TestImportJointData(joint);
UnityEngine.Assertions.Assert.AreApproximatelyEqual(expectedAnchorRotation.w, articulationBody.anchorRotation.w);
UnityEngine.Assertions.Assert.AreApproximatelyEqual(expectedAnchorRotation.x, articulationBody.anchorRotation.x);
UnityEngine.Assertions.Assert.AreApproximatelyEqual(expectedAnchorRotation.y, articulationBody.anchorRotation.y);
UnityEngine.Assertions.Assert.AreApproximatelyEqual(expectedAnchorRotation.z, articulationBody.anchorRotation.z);
Object.DestroyImmediate(baseObject);
}
public void GetAxis_JointAxis_Succeeds()
{
var axis = new Joint.Axis(new double[] { 1, 2, 3 });
Assert.AreEqual(new Vector3(-2, 3, 1), TestUrdfJoint.Axis(axis));
}
public static Vector3 Axis(Joint.Axis axis) => GetAxis(axis);