public void TestSingleBody()
{
var go = new GameObject();
var rootArticBody = go.AddComponent <ArticulationBody>();
var poseExtractor = new ArticulationBodyPoseExtractor(rootArticBody);
Assert.AreEqual(1, poseExtractor.NumPoses);
}
public void TestNullRoot()
{
var poseExtractor = new ArticulationBodyPoseExtractor(null);
// These should be no-ops
poseExtractor.UpdateLocalSpacePoses();
poseExtractor.UpdateModelSpacePoses();
Assert.AreEqual(0, poseExtractor.NumPoses);
}
public void TestTwoBodies()
{
// * rootObj
// - rootArticBody
// * leafGameObj
// - leafArticBody
var rootObj = new GameObject();
var rootArticBody = rootObj.AddComponent <ArticulationBody>();
var leafGameObj = new GameObject();
var leafArticBody = leafGameObj.AddComponent <ArticulationBody>();
leafGameObj.transform.SetParent(rootObj.transform);
leafArticBody.jointType = ArticulationJointType.RevoluteJoint;
var poseExtractor = new ArticulationBodyPoseExtractor(rootArticBody);
Assert.AreEqual(2, poseExtractor.NumPoses);
Assert.AreEqual(-1, poseExtractor.GetParentIndex(0));
Assert.AreEqual(0, poseExtractor.GetParentIndex(1));
}
