307 lines
9.9 KiB
C++
307 lines
9.9 KiB
C++
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#include <gtest/gtest.h>
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#include <boost/filesystem.hpp>
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#include "test_config.h"
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#include "gazebo/common/ColladaLoader.hh"
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#include "gazebo/common/Exception.hh"
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#include "gazebo/common/Mesh.hh"
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#include "gazebo/common/MeshManager.hh"
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#include "gazebo/common/SystemPaths.hh"
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#include "gazebo/math/Vector3.hh"
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#include "test/util.hh"
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using namespace gazebo;
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class MeshTest : public gazebo::testing::AutoLogFixture { };
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std::string asciiSTLBox =
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"solid MYSOLID\n\
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facet normal 0.0 0.0 -1.0\n\
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outer loop\n\
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vertex 0.0 0.0 0.0\n\
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vertex 1.0 1.0 0.0\n\
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vertex 1.0 0.0 0.0\n\
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endloop\n\
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endfacet\n\
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facet normal 0.0 0.0 -1.0\n\
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outer loop\n\
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vertex 0.0 0.0 0.0\n\
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vertex 0.0 1.0 0.0\n\
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vertex 1.0 1.0 0.0\n\
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endloop\n\
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endfacet\n\
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facet normal -1.0 0.0 0.0\n\
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outer loop\n\
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vertex 0.0 0.0 0.0\n\
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vertex 0.0 1.0 1.0\n\
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vertex 0.0 1.0 0.0\n\
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endloop\n\
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endfacet\n\
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facet normal -1.0 0.0 0.0\n\
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outer loop\n\
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vertex 0.0 0.0 0.0\n\
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vertex 0.0 0.0 1.0\n\
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vertex 0.0 1.0 1.0\n\
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endloop\n\
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endfacet\n\
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facet normal 0.0 1.0 0.0\n\
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outer loop\n\
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vertex 0.0 1.0 0.0\n\
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vertex 1.0 1.0 1.0\n\
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vertex 1.0 1.0 0.0\n\
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endloop\n\
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endfacet\n\
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facet normal 0.0 1.0 0.0\n\
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outer loop\n\
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vertex 0.0 1.0 0.0\n\
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vertex 0.0 1.0 1.0\n\
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vertex 1.0 1.0 1.0\n\
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endloop\n\
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endfacet\n\
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facet normal 1.0 0.0 0.0\n\
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outer loop\n\
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vertex 1.0 0.0 0.0\n\
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vertex 1.0 1.0 0.0\n\
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vertex 1.0 1.0 1.0\n\
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endloop\n\
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endfacet\n\
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facet normal 1.0 0.0 0.0\n\
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outer loop\n\
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vertex 1.0 0.0 0.0\n\
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vertex 1.0 1.0 1.0\n\
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vertex 1.0 0.0 1.0\n\
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endloop\n\
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endfacet\n\
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facet normal 0.0 -1.0 0.0\n\
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outer loop\n\
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vertex 0.0 0.0 0.0\n\
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vertex 1.0 0.0 0.0\n\
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vertex 1.0 0.0 1.0\n\
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endloop\n\
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endfacet\n\
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facet normal 0.0 -1.0 0.0\n\
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outer loop\n\
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vertex 0.0 0.0 0.0\n\
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vertex 1.0 0.0 1.0\n\
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vertex 0.0 0.0 1.0\n\
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endloop\n\
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endfacet\n\
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facet normal 0.0 0.0 1.0\n\
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outer loop\n\
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vertex 0.0 0.0 1.0\n\
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vertex 1.0 0.0 1.0\n\
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vertex 1.0 1.0 1.0\n\
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endloop\n\
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endfacet\n\
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facet normal 0.0 0.0 1.0\n\
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outer loop\n\
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vertex 0.0 0.0 1.0\n\
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vertex 1.0 1.0 1.0\n\
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vertex 0.0 1.0 1.0\n\
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endloop\n\
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endfacet\n\
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endsolid MYSOLID";
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/////////////////////////////////////////////////
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TEST_F(MeshTest, Mesh)
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{
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// Cleanup test directory.
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common::SystemPaths *paths = common::SystemPaths::Instance();
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boost::filesystem::remove_all(paths->GetDefaultTestPath());
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boost::filesystem::create_directories(paths->GetDefaultTestPath());
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EXPECT_EQ(NULL, common::MeshManager::Instance()->Load("break.mesh"));
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EXPECT_EQ(NULL, common::MeshManager::Instance()->Load("break.3ds"));
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EXPECT_EQ(NULL, common::MeshManager::Instance()->Load("break.xml"));
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const common::Mesh *mesh =
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common::MeshManager::Instance()->GetMesh("unit_box");
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EXPECT_EQ(static_cast<unsigned int>(24), mesh->GetVertexCount());
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EXPECT_EQ(static_cast<unsigned int>(24), mesh->GetNormalCount());
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EXPECT_EQ(static_cast<unsigned int>(36), mesh->GetIndexCount());
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EXPECT_EQ(static_cast<unsigned int>(24), mesh->GetTexCoordCount());
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EXPECT_EQ(static_cast<unsigned int>(0), mesh->GetMaterialCount());
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ignition::math::Vector3d center, min, max;
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mesh->GetAABB(center, min, max);
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EXPECT_TRUE(center == ignition::math::Vector3d(0, 0, 0));
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EXPECT_TRUE(min == ignition::math::Vector3d(-.5, -.5, -.5));
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EXPECT_TRUE(max == ignition::math::Vector3d(.5, .5, .5));
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float *vertArray = NULL;
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int *indArray = NULL;
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mesh->FillArrays(&vertArray, &indArray);
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int i = 0;
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EXPECT_FLOAT_EQ(.5, vertArray[i++]);
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EXPECT_FLOAT_EQ(-.5, vertArray[i++]);
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EXPECT_FLOAT_EQ(.5, vertArray[i++]);
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EXPECT_FLOAT_EQ(-.5, vertArray[i++]);
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EXPECT_FLOAT_EQ(-.5, vertArray[i++]);
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EXPECT_FLOAT_EQ(.5, vertArray[i++]);
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EXPECT_FLOAT_EQ(-.5, vertArray[i++]);
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EXPECT_FLOAT_EQ(-.5, vertArray[i++]);
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EXPECT_FLOAT_EQ(-.5, vertArray[i++]);
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EXPECT_FLOAT_EQ(.5, vertArray[i++]);
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EXPECT_FLOAT_EQ(-.5, vertArray[i++]);
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EXPECT_FLOAT_EQ(-.5, vertArray[i++]);
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EXPECT_FLOAT_EQ(-.5, vertArray[i++]);
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EXPECT_FLOAT_EQ(.5, vertArray[i++]);
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EXPECT_FLOAT_EQ(.5, vertArray[i++]);
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EXPECT_FLOAT_EQ(.5, vertArray[i++]);
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EXPECT_FLOAT_EQ(.5, vertArray[i++]);
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EXPECT_FLOAT_EQ(.5, vertArray[i++]);
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EXPECT_FLOAT_EQ(.5, vertArray[i++]);
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EXPECT_FLOAT_EQ(.5, vertArray[i++]);
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EXPECT_FLOAT_EQ(-.5, vertArray[i++]);
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EXPECT_FLOAT_EQ(-.5, vertArray[i++]);
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EXPECT_FLOAT_EQ(.5, vertArray[i++]);
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EXPECT_FLOAT_EQ(-.5, vertArray[i++]);
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common::Mesh *newMesh = new common::Mesh();
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newMesh->SetName("testBox");
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common::SubMesh *subMesh = new common::SubMesh();
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newMesh->AddSubMesh(subMesh);
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std::vector<ignition::math::Vector3d> verts;
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std::vector<ignition::math::Vector3d> norms;
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EXPECT_THROW(mesh->GetSubMesh(1), common::Exception);
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for (i = 0; i < 24; ++i)
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{
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verts.push_back(mesh->GetSubMesh(0)->Vertex(i));
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norms.push_back(mesh->GetSubMesh(0)->Normal(i));
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}
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subMesh->CopyVertices(verts);
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subMesh->CopyNormals(norms);
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EXPECT_TRUE(subMesh->HasVertex(ignition::math::Vector3d(-.5, -.5, -.5)));
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EXPECT_FALSE(subMesh->HasVertex(ignition::math::Vector3d(0, 0, 0)));
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newMesh->GetAABB(center, min, max);
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EXPECT_TRUE(center == ignition::math::Vector3d(0, 0, 0));
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EXPECT_TRUE(min == ignition::math::Vector3d(-.5, -.5, -.5));
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EXPECT_TRUE(max == ignition::math::Vector3d(.5, .5, .5));
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subMesh->SetVertexCount(1);
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subMesh->SetIndexCount(1);
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subMesh->SetNormalCount(1);
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subMesh->SetTexCoordCount(1);
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EXPECT_EQ(static_cast<unsigned int>(1), subMesh->GetVertexCount());
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EXPECT_EQ(static_cast<unsigned int>(1), subMesh->GetIndexCount());
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EXPECT_EQ(static_cast<unsigned int>(1), subMesh->GetNormalCount());
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EXPECT_EQ(static_cast<unsigned int>(1), subMesh->GetTexCoordCount());
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subMesh->SetVertex(0, ignition::math::Vector3d(1, 2, 3));
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EXPECT_TRUE(subMesh->Vertex(0) == ignition::math::Vector3d(1, 2, 3));
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subMesh->SetTexCoord(0, ignition::math::Vector2d(.1, .2));
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EXPECT_TRUE(subMesh->TexCoord(0) == ignition::math::Vector2d(.1, .2));
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newMesh->GenSphericalTexCoord(ignition::math::Vector3d(0, 0, 0));
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delete newMesh;
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std::ofstream stlFile((paths->GetDefaultTestPath() +
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"/gazebo_stl_test.stl").c_str(), std::ios::out);
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stlFile << asciiSTLBox;
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stlFile.close();
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mesh = common::MeshManager::Instance()->Load(
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paths->GetDefaultTestPath() + "/gazebo_stl_test-bad.stl");
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EXPECT_EQ(NULL, mesh);
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mesh = common::MeshManager::Instance()->Load(
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paths->GetDefaultTestPath() + "/gazebo_stl_test.stl");
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mesh->GetAABB(center, min, max);
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EXPECT_TRUE(center == ignition::math::Vector3d(0.5, 0.5, 0.5));
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EXPECT_TRUE(min == ignition::math::Vector3d(0, 0, 0));
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EXPECT_TRUE(max == ignition::math::Vector3d(1, 1, 1));
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// Cleanup test directory.
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boost::filesystem::remove_all(paths->GetDefaultTestPath());
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}
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/////////////////////////////////////////////////
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// Test centering a submesh.
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TEST_F(MeshTest, MeshMove)
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{
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common::ColladaLoader loader;
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common::Mesh *mesh = loader.Load(
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std::string(PROJECT_SOURCE_PATH) + "/test/data/box_offset.dae");
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// The default location of the box_offset is not centered
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EXPECT_EQ(ignition::math::Vector3d(5.46554, 2.18039, 4.8431), mesh->Max());
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EXPECT_EQ(ignition::math::Vector3d(3.46555, 0.180391, 2.8431), mesh->Min());
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mesh->Center(ignition::math::Vector3d::Zero);
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EXPECT_EQ(ignition::math::Vector3d(1.0, 1.0, 1.0), mesh->Max());
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EXPECT_EQ(ignition::math::Vector3d(-1.0, -1.0, -1.0), mesh->Min());
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mesh->Translate(ignition::math::Vector3d(1, 2, 3));
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EXPECT_EQ(ignition::math::Vector3d(2.0, 3.0, 4.0), mesh->Max());
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EXPECT_EQ(ignition::math::Vector3d(0.0, 1.0, 2.0), mesh->Min());
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}
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/////////////////////////////////////////////////
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// Test centering a submesh.
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TEST_F(MeshTest, SubMeshCenter)
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{
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common::ColladaLoader loader;
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common::Mesh *mesh = loader.Load(
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std::string(PROJECT_SOURCE_PATH) + "/test/data/box_offset.dae");
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// The default location of the box_offest is not centered
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EXPECT_EQ(ignition::math::Vector3d(5.46554, 2.18039, 4.8431), mesh->Max());
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EXPECT_EQ(ignition::math::Vector3d(3.46555, 0.180391, 2.8431), mesh->Min());
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// Get the Cube submesh
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common::SubMesh submesh(mesh->GetSubMesh("Cube"));
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submesh.Center(ignition::math::Vector3d(1, 2, 3));
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EXPECT_EQ(ignition::math::Vector3d(0, 1, 2), submesh.Min());
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EXPECT_EQ(ignition::math::Vector3d(2, 3, 4), submesh.Max());
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submesh.Translate(ignition::math::Vector3d(1, 2, 3));
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EXPECT_EQ(ignition::math::Vector3d(1, 3, 5), submesh.Min());
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EXPECT_EQ(ignition::math::Vector3d(3, 5, 7), submesh.Max());
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// The original mesh should not change
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EXPECT_EQ(ignition::math::Vector3d(5.46554, 2.18039, 4.8431), mesh->Max());
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EXPECT_EQ(ignition::math::Vector3d(3.46555, 0.180391, 2.8431), mesh->Min());
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}
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/////////////////////////////////////////////////
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int main(int argc, char **argv)
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{
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::testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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}
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