68 lines
2.2 KiB
C++
68 lines
2.2 KiB
C++
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/*
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* Copyright (C) 2016 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 "test_config.h"
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#include "gazebo/common/Mesh.hh"
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#include "gazebo/common/Material.hh"
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#include "gazebo/common/OBJLoader.hh"
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#include "test/util.hh"
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using namespace gazebo;
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class OBJLoaderTest : public gazebo::testing::AutoLogFixture { };
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/////////////////////////////////////////////////
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TEST_F(OBJLoaderTest, LoadObjBox)
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{
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common::OBJLoader loader;
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common::Mesh *mesh = loader.Load(
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std::string(PROJECT_SOURCE_PATH) + "/test/data/box.obj");
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EXPECT_STREQ("unknown", mesh->GetName().c_str());
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EXPECT_EQ(ignition::math::Vector3d(1, 1, 1), mesh->Max());
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EXPECT_EQ(ignition::math::Vector3d(-1, -1, -1), mesh->Min());
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// 36 vertices
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EXPECT_EQ(36u, mesh->GetVertexCount());
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EXPECT_EQ(36u, mesh->GetNormalCount());
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EXPECT_EQ(36u, mesh->GetIndexCount());
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EXPECT_EQ(0u, mesh->GetTexCoordCount());
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EXPECT_EQ(1u, mesh->GetSubMeshCount());
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EXPECT_EQ(1u, mesh->GetMaterialCount());
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// Make sure we can read the submesh name
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EXPECT_STREQ("Cube_Cube.001", mesh->GetSubMesh(0)->GetName().c_str());
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EXPECT_EQ(mesh->GetMaterialCount(), 1u);
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const common::Material *mat = mesh->GetMaterial(0u);
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ASSERT_TRUE(mat);
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// Make sure we read the material color values
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EXPECT_EQ(mat->GetAmbient(), common::Color(0.0, 0.0, 0.0, 1.0));
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EXPECT_EQ(mat->GetDiffuse(), common::Color(0.512, 0.512, 0.512, 1.0));
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EXPECT_EQ(mat->GetSpecular(), common::Color(0.25, 0.25, 0.25, 1.0));
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EXPECT_DOUBLE_EQ(mat->GetTransparency(), 0.0);
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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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