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);