add test

Signed-off-by: Ian Chen <ichen@openrobotics.org>
gazebosim · May 29, 2024 · bcb575a · bcb575a
1 parent 5dc81d8
commit bcb575a
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/src/Util_TEST.cc b/src/Util_TEST.cc
@@ -1023,4 +1023,12 @@ TEST_F(UtilTest, LoadMesh)
     "test", "media", "duck.dae");
   meshSdf.SetFilePath(filePath);
   EXPECT_NE(nullptr, loadMesh(meshSdf));
+
+  EXPECT_TRUE(meshSdf.SetOptimization("convex_decomposition"));
+  sdf::ConvexDecomposition convexDecomp;
+  convexDecomp.SetMaxConvexHulls(16u);
+  meshSdf.SetConvexDecomposition(convexDecomp);
+  auto *optimizedMesh = loadMesh(meshSdf);
+  EXPECT_NE(nullptr, optimizedMesh);
+  EXPECT_EQ(16u, optimizedMesh->SubMeshCount());
 }