Add support for fluid shapes to Unity plugin

2023-02-17 12:42:08 +01:00
parent a6730aa740
commit 09bc934f25
2 changed files with 32 additions and 1 deletions
@@ -109,6 +109,13 @@ public class MjGeomSettingsGenerationTests {
    _settings.ToMjcf(_mjcf);
    Assert.That(_doc.OuterXml, Does.Contain(@"friction=""5 6 7"""));
  }
+
+  [Test]
+  public void FluidShapeTypeMjcf() {
+    _settings.FluidShapeType = MjGeomSettings.FluidShapeTypes.Ellipsoid;
+    _settings.ToMjcf(_mjcf);
+    Assert.That(_doc.OuterXml, Does.Contain(@"fluidshape=""ellipsoid"""));
+  }
 }

 [TestFixture]
@@ -199,5 +206,14 @@ public class MjGeomSettingsParsingTests {
    Assert.That(_settings.Friction.Torsional, Is.EqualTo(6));
    Assert.That(_settings.Friction.Rolling, Is.EqualTo(7));
  }
+
+  [Test]
+  public void FluidShapeTypeMjcf() {
+    _mjcf.SetAttribute("fluidshape", "ellipsoid");
+    _settings.FromMjcf(_mjcf);
+    Assert.That(_settings.FluidShapeType, Is.EqualTo(
+        MjGeomSettings.FluidShapeTypes.Ellipsoid
+    ));
+  }
 }
 }