test/python: test empty BVH model

humanoid-path-planner · Dec 30, 2023 · f1c068f · f1c068f
1 parent 22074cc
commit f1c068f
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/test/python_unit/geometric_shapes.py b/test/python_unit/geometric_shapes.py
@@ -156,6 +156,11 @@ def test_cone(self):
         Ic_ref = np.diag([Icx_ref, Icx_ref, Iz_ref])
         self.assertApprox(Ic, Ic_ref)
 
+    def test_BVH(self):
+        bvh = hppfcl.BVHModelOBBRSS()
+        self.assertEqual(bvh.num_vertices, 0)
+        self.assertEqual(bvh.vertices().shape, (0, 3))
+
     def test_convex(self):
         verts = hppfcl.StdVec_Vec3f()
         faces = hppfcl.StdVec_Triangle()