Merge Fix

Author: AlexD717

fission/src/test/PhysicsSystem.test.ts

@@ -1,4 +1,4 @@
-import { test, expect, describe, assert, beforeEach, afterEach } from "vitest"
+import { test, expect, describe, assert, beforeEach, afterEach, vi } from "vitest"
 import PhysicsSystem, { LayerReserve, BodyAssociate } from "../../systems/physics/PhysicsSystem"
 import MirabufParser from "@/mirabuf/MirabufParser"
 import MirabufCachingService, { MiraType } from "@/mirabuf/MirabufLoader"
@@ -698,16 +698,3 @@ describe("Update Loop", () => {
         expect(body.GetPosition().GetY()).toBeLessThanOrEqual(10)
     })
 })
-
-describe("Mirabuf Physics Loading", () => {
-    test("Body Loading (Dozer)", async () => {
-        const assembly = await MirabufCachingService.cacheRemote("/api/mira/robots/Dozer_v9.mira", MiraType.ROBOT).then(
-            x => MirabufCachingService.get(x!.id, MiraType.ROBOT)
-        )
-        const parser = new MirabufParser(assembly!)
-        const physSystem = new PhysicsSystem()
-        const mapping = physSystem.createBodiesFromParser(parser, new LayerReserve())
-
-        expect(mapping.size).toBe(7)
-    })
-})

fission/src/test/physics/PhysicsSystem.test.ts

@@ -0,0 +1,36 @@
+import { describe, test, expect } from "vitest"
+import MirabufParser from "@/mirabuf/MirabufParser"
+import MirabufCachingService, { MiraType } from "@/mirabuf/MirabufLoader"
+import PhysicsSystem, { LayerReserve } from "@/systems/physics/PhysicsSystem"
+
+describe("Mirabuf Physics Loading", () => {
+    test("Body Loading (Dozer)", async () => {
+        const assembly = await MirabufCachingService.cacheRemote("/api/mira/robots/Dozer_v9.mira", MiraType.ROBOT).then(
+            x => MirabufCachingService.get(x!.id, MiraType.ROBOT)
+        )
+        const parser = new MirabufParser(assembly!)
+        const physSystem = new PhysicsSystem()
+        const mapping = physSystem.createBodiesFromParser(parser, new LayerReserve())
+
+        expect(mapping.size).toBe(7)
+    })
+
+    /*
+     * Multi-Joint Wheels robot contains
+     * - 4 wheels (4 revolute joints)
+     * - 2 additional revolute joints
+     * - 2 slider joints
+     * Mira File: https://synthesis.autodesk.com/api/mira/private/Multi-Joint_Wheels_v0.mira
+     */
+    test("Body Loading (Multi-Joint Wheels)", async () => {
+        const assembly = await MirabufCachingService.cacheRemote(
+            "/api/mira/private/Multi-Joint_Wheels_v0.mira",
+            MiraType.ROBOT
+        ).then(x => MirabufCachingService.get(x!.id, MiraType.ROBOT))
+        const parser = new MirabufParser(assembly!)
+        const physSystem = new PhysicsSystem()
+        const mapping = physSystem.createBodiesFromParser(parser, new LayerReserve())
+
+        expect(mapping.size).toBe(9)
+    })
+})