554 lines
17 KiB
C++
554 lines
17 KiB
C++
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/*
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* Copyright (C) 2015 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 "gazebo/common/MouseEvent.hh"
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#include "gazebo/msgs/msgs.hh"
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#include "gazebo/gui/MainWindow.hh"
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#include "gazebo/gui/GuiIface.hh"
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#include "gazebo/gui/GuiEvents.hh"
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#include "gazebo/gui/ModelMaker.hh"
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#include "gazebo/gui/ModelMaker_TEST.hh"
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/////////////////////////////////////////////////
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void ModelMaker_TEST::SimpleShape()
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{
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this->resMaxPercentChange = 5.0;
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this->shareMaxPercentChange = 2.0;
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this->Load("worlds/empty.world");
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// Create the main window.
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gazebo::gui::MainWindow *mainWindow = new gazebo::gui::MainWindow();
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QVERIFY(mainWindow != NULL);
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mainWindow->Load();
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mainWindow->Init();
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mainWindow->show();
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this->ProcessEventsAndDraw(mainWindow);
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// Check there's no box in the left panel yet
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bool hasBox = mainWindow->HasEntityName("unit_box");
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QVERIFY(!hasBox);
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// Get scene
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gazebo::rendering::ScenePtr scene = gazebo::rendering::get_scene();
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QVERIFY(scene != NULL);
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// Check there's no box in the scene yet
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gazebo::rendering::VisualPtr vis = scene->GetVisual("unit_box");
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QVERIFY(vis == NULL);
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// Create a model maker
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gazebo::gui::ModelMaker *modelMaker = new gazebo::gui::ModelMaker();
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QVERIFY(modelMaker != NULL);
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// Start the maker to make a box
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modelMaker->InitSimpleShape(gazebo::gui::ModelMaker::SimpleShapes::BOX);
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modelMaker->Start();
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// Check there's still no box in the left panel
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hasBox = mainWindow->HasEntityName("unit_box");
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QVERIFY(!hasBox);
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// Check there's a box in the scene -- this is the preview
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vis = scene->GetVisual("unit_box");
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QVERIFY(vis != NULL);
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// Check that the box appeared in the center of the screen
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ignition::math::Vector3d startPos = modelMaker->EntityPosition();
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QVERIFY(startPos == ignition::math::Vector3d(0, 0, 0.5));
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QVERIFY(vis->GetWorldPose().pos == startPos);
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// Mouse move
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gazebo::common::MouseEvent mouseEvent;
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mouseEvent.SetType(gazebo::common::MouseEvent::MOVE);
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modelMaker->OnMouseMove(mouseEvent);
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// Check that entity moved
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ignition::math::Vector3d pos = modelMaker->EntityPosition();
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QVERIFY(pos != startPos);
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QVERIFY(vis->GetWorldPose().pos == pos);
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// Mouse release
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mouseEvent.SetType(gazebo::common::MouseEvent::RELEASE);
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mouseEvent.SetButton(gazebo::common::MouseEvent::LEFT);
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mouseEvent.SetDragging(false);
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mouseEvent.SetPressPos(0, 0);
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mouseEvent.SetPos(0, 0);
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modelMaker->OnMouseRelease(mouseEvent);
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// Check there's no box in the scene -- the preview is gone
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vis = scene->GetVisual("unit_box");
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QVERIFY(vis == NULL);
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this->ProcessEventsAndDraw(mainWindow);
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// Check there's a box in the scene -- this is the final model
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vis = scene->GetVisual("unit_box");
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QVERIFY(vis != NULL);
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// Check the box is in the left panel
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hasBox = mainWindow->HasEntityName("unit_box");
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QVERIFY(hasBox);
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delete modelMaker;
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// Terminate
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mainWindow->close();
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delete mainWindow;
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}
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/////////////////////////////////////////////////
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void ModelMaker_TEST::FromFile()
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{
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this->resMaxPercentChange = 5.0;
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this->shareMaxPercentChange = 2.0;
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this->Load("worlds/empty.world");
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// Create the main window.
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gazebo::gui::MainWindow *mainWindow = new gazebo::gui::MainWindow();
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QVERIFY(mainWindow != NULL);
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mainWindow->Load();
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mainWindow->Init();
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mainWindow->show();
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this->ProcessEventsAndDraw(mainWindow);
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// Check there's no box in the left panel yet
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bool hasBox = mainWindow->HasEntityName("box");
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QVERIFY(!hasBox);
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// Get scene
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gazebo::rendering::ScenePtr scene = gazebo::rendering::get_scene();
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QVERIFY(scene != NULL);
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// Check there's no box in the scene yet
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gazebo::rendering::VisualPtr vis = scene->GetVisual("box");
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QVERIFY(vis == NULL);
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// Create a model maker
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gazebo::gui::ModelMaker *modelMaker = new gazebo::gui::ModelMaker();
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QVERIFY(modelMaker != NULL);
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// Model data
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boost::filesystem::path path;
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path = path / TEST_PATH / "models" / "box.sdf";
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// Start the maker to make a box
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modelMaker->InitFromFile(path.string());
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modelMaker->Start();
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// Check there's still no box in the left panel
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hasBox = mainWindow->HasEntityName("box");
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QVERIFY(!hasBox);
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// Check there's a box in the scene -- this is the preview
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vis = scene->GetVisual("box");
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QVERIFY(vis != NULL);
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// Check that the box appeared in the center of the screen
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ignition::math::Vector3d startPos = modelMaker->EntityPosition();
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QVERIFY(startPos == ignition::math::Vector3d(0, 0, 0.5));
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QVERIFY(vis->GetWorldPose().pos == startPos);
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// Mouse move
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gazebo::common::MouseEvent mouseEvent;
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mouseEvent.SetType(gazebo::common::MouseEvent::MOVE);
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modelMaker->OnMouseMove(mouseEvent);
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// Check that entity moved
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ignition::math::Vector3d pos = modelMaker->EntityPosition();
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QVERIFY(pos != startPos);
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QVERIFY(vis->GetWorldPose().pos == pos);
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// Mouse release
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mouseEvent.SetType(gazebo::common::MouseEvent::RELEASE);
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mouseEvent.SetButton(gazebo::common::MouseEvent::LEFT);
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mouseEvent.SetDragging(false);
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mouseEvent.SetPressPos(0, 0);
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mouseEvent.SetPos(0, 0);
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modelMaker->OnMouseRelease(mouseEvent);
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// Check there's no box in the scene -- the preview is gone
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vis = scene->GetVisual("box");
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QVERIFY(vis == NULL);
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this->ProcessEventsAndDraw(mainWindow);
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// Check there's a box in the scene -- this is the final model
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vis = scene->GetVisual("box");
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QVERIFY(vis != NULL);
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// Check the box is in the left panel
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hasBox = mainWindow->HasEntityName("box");
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QVERIFY(hasBox);
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delete modelMaker;
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// Terminate
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mainWindow->close();
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delete mainWindow;
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}
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/////////////////////////////////////////////////
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void ModelMaker_TEST::FromNestedModelFile()
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{
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this->resMaxPercentChange = 5.0;
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this->shareMaxPercentChange = 2.0;
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this->Load("worlds/empty.world");
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// Create the main window.
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gazebo::gui::MainWindow *mainWindow = new gazebo::gui::MainWindow();
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QVERIFY(mainWindow != NULL);
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mainWindow->Load();
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mainWindow->Init();
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mainWindow->show();
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this->ProcessEventsAndDraw(mainWindow);
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// Check there's no model in the left panel yet
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bool hasModel = mainWindow->HasEntityName("model_00");
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QVERIFY(!hasModel);
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// Get scene
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gazebo::rendering::ScenePtr scene = gazebo::rendering::get_scene();
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QVERIFY(scene != NULL);
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// Check there's no model in the scene yet
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gazebo::rendering::VisualPtr vis = scene->GetVisual("model_00");
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QVERIFY(vis == NULL);
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// Create a model maker
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gazebo::gui::ModelMaker *modelMaker = new gazebo::gui::ModelMaker();
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QVERIFY(modelMaker != NULL);
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// Model data
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boost::filesystem::path path;
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path = path / TEST_PATH / "models" / "deeply_nested_model.sdf";
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// Start the maker to make a model
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modelMaker->InitFromFile(path.string());
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modelMaker->Start();
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// Check there's still no model in the left panel
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hasModel = mainWindow->HasEntityName("model_00");
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QVERIFY(!hasModel);
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// Check there's a model in the scene -- this is the preview
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vis = scene->GetVisual("model_00");
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QVERIFY(vis != NULL);
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// check all preview visuals are loaded
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vis = scene->GetVisual("model_00::model_01");
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QVERIFY(vis != NULL);
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vis = scene->GetVisual("model_00::model_01::model_02");
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QVERIFY(vis != NULL);
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vis = scene->GetVisual("model_00::model_01::model_02::model_03");
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QVERIFY(vis != NULL);
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// Check that the model appeared in the center of the screen
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ignition::math::Vector3d startPos = modelMaker->EntityPosition();
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QVERIFY(startPos == ignition::math::Vector3d(0, 0, 0.5));
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vis = scene->GetVisual("model_00");
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QVERIFY(vis->GetWorldPose().pos == startPos);
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// Mouse move
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gazebo::common::MouseEvent mouseEvent;
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mouseEvent.SetType(gazebo::common::MouseEvent::MOVE);
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modelMaker->OnMouseMove(mouseEvent);
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// Check that entity moved
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ignition::math::Vector3d pos = modelMaker->EntityPosition();
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QVERIFY(pos != startPos);
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QVERIFY(vis->GetWorldPose().pos == pos);
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// Mouse release
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mouseEvent.SetType(gazebo::common::MouseEvent::RELEASE);
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mouseEvent.SetButton(gazebo::common::MouseEvent::LEFT);
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mouseEvent.SetDragging(false);
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mouseEvent.SetPressPos(0, 0);
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mouseEvent.SetPos(0, 0);
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modelMaker->OnMouseRelease(mouseEvent);
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// Check there's no model in the scene -- the preview is gone
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vis = scene->GetVisual("model_00");
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QVERIFY(vis == NULL);
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vis = scene->GetVisual("model_00::model_01");
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QVERIFY(vis == NULL);
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vis = scene->GetVisual("model_00::model_01::model_02");
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QVERIFY(vis == NULL);
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vis = scene->GetVisual("model_00::model_01::model_02::model_03");
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QVERIFY(vis == NULL);
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this->ProcessEventsAndDraw(mainWindow);
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// Check there's a model in the scene -- this is the final model
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vis = scene->GetVisual("model_00");
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QVERIFY(vis != NULL);
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vis = scene->GetVisual("model_00::model_01");
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QVERIFY(vis != NULL);
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vis = scene->GetVisual("model_00::model_01::model_02");
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QVERIFY(vis != NULL);
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vis = scene->GetVisual("model_00::model_01::model_02::model_03");
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QVERIFY(vis != NULL);
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// Check the model is in the left panel
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hasModel = mainWindow->HasEntityName("model_00");
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QVERIFY(hasModel);
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delete modelMaker;
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// Terminate
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mainWindow->close();
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delete mainWindow;
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}
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/////////////////////////////////////////////////
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void ModelMaker_TEST::FromModel()
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{
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this->resMaxPercentChange = 5.0;
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this->shareMaxPercentChange = 2.0;
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this->Load("worlds/box.world");
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// Create the main window.
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gazebo::gui::MainWindow *mainWindow = new gazebo::gui::MainWindow();
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QVERIFY(mainWindow != NULL);
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mainWindow->Load();
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mainWindow->Init();
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mainWindow->show();
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this->ProcessEventsAndDraw(mainWindow);
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// Check there's a model but not its copy
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bool hasModel = mainWindow->HasEntityName("box");
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QVERIFY(hasModel);
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hasModel = mainWindow->HasEntityName("box_clone");
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QVERIFY(!hasModel);
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// Get scene
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gazebo::rendering::ScenePtr scene = gazebo::rendering::get_scene();
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QVERIFY(scene != NULL);
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// Check there's a model but no clone in the scene yet
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gazebo::rendering::VisualPtr vis = scene->GetVisual("box");
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QVERIFY(vis != NULL);
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vis = scene->GetVisual("box_clone_tmp");
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QVERIFY(vis == NULL);
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vis = scene->GetVisual("box_clone");
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QVERIFY(vis == NULL);
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// Create a model maker
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gazebo::gui::ModelMaker *modelMaker = new gazebo::gui::ModelMaker();
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QVERIFY(modelMaker != NULL);
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// Start the maker to copy the model
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modelMaker->InitFromModel("box");
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modelMaker->Start();
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// Check there's still no clone in the left panel
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hasModel = mainWindow->HasEntityName("box_clone_tmp");
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QVERIFY(!hasModel);
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hasModel = mainWindow->HasEntityName("box_clone");
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QVERIFY(!hasModel);
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|
// Check there's a clone in the scene -- this is the preview
|
||
|
|
vis = scene->GetVisual("box_clone");
|
||
|
|
QVERIFY(vis == NULL);
|
||
|
|
vis = scene->GetVisual("box_clone_tmp");
|
||
|
|
QVERIFY(vis != NULL);
|
||
|
|
|
||
|
|
// Check that the clone appeared in the center of the screen
|
||
|
|
ignition::math::Vector3d startPos = modelMaker->EntityPosition();
|
||
|
|
QVERIFY(startPos == ignition::math::Vector3d(0, 0, 0.5));
|
||
|
|
QVERIFY(vis->GetWorldPose().pos == startPos);
|
||
|
|
|
||
|
|
// Mouse move
|
||
|
|
gazebo::common::MouseEvent mouseEvent;
|
||
|
|
mouseEvent.SetType(gazebo::common::MouseEvent::MOVE);
|
||
|
|
modelMaker->OnMouseMove(mouseEvent);
|
||
|
|
|
||
|
|
// Check that entity moved
|
||
|
|
ignition::math::Vector3d pos = modelMaker->EntityPosition();
|
||
|
|
QVERIFY(pos != startPos);
|
||
|
|
QVERIFY(vis->GetWorldPose().pos == pos);
|
||
|
|
|
||
|
|
// Mouse release
|
||
|
|
mouseEvent.SetType(gazebo::common::MouseEvent::RELEASE);
|
||
|
|
mouseEvent.SetButton(gazebo::common::MouseEvent::LEFT);
|
||
|
|
mouseEvent.SetDragging(false);
|
||
|
|
mouseEvent.SetPressPos(0, 0);
|
||
|
|
mouseEvent.SetPos(0, 0);
|
||
|
|
modelMaker->OnMouseRelease(mouseEvent);
|
||
|
|
|
||
|
|
// Check there's no clone in the scene -- the preview is gone
|
||
|
|
vis = scene->GetVisual("box_clone_tmp");
|
||
|
|
QVERIFY(vis == NULL);
|
||
|
|
|
||
|
|
this->ProcessEventsAndDraw(mainWindow);
|
||
|
|
|
||
|
|
// Check there's a clone in the scene -- this is the final model
|
||
|
|
vis = scene->GetVisual("box_clone");
|
||
|
|
QVERIFY(vis != NULL);
|
||
|
|
|
||
|
|
// Check the clone is in the left panel
|
||
|
|
hasModel = mainWindow->HasEntityName("box_clone");
|
||
|
|
QVERIFY(hasModel);
|
||
|
|
|
||
|
|
delete modelMaker;
|
||
|
|
|
||
|
|
// Terminate
|
||
|
|
mainWindow->close();
|
||
|
|
delete mainWindow;
|
||
|
|
}
|
||
|
|
|
||
|
|
/////////////////////////////////////////////////
|
||
|
|
void ModelMaker_TEST::FromNestedModel()
|
||
|
|
{
|
||
|
|
this->resMaxPercentChange = 5.0;
|
||
|
|
this->shareMaxPercentChange = 2.0;
|
||
|
|
|
||
|
|
this->Load("test/worlds/deeply_nested_models.world");
|
||
|
|
|
||
|
|
// Create the main window.
|
||
|
|
gazebo::gui::MainWindow *mainWindow = new gazebo::gui::MainWindow();
|
||
|
|
QVERIFY(mainWindow != NULL);
|
||
|
|
mainWindow->Load();
|
||
|
|
mainWindow->Init();
|
||
|
|
mainWindow->show();
|
||
|
|
|
||
|
|
this->ProcessEventsAndDraw(mainWindow);
|
||
|
|
|
||
|
|
// Check there's a model but not its copy
|
||
|
|
bool hasModel = mainWindow->HasEntityName("model_00");
|
||
|
|
QVERIFY(hasModel);
|
||
|
|
hasModel = mainWindow->HasEntityName("model_00_clone");
|
||
|
|
QVERIFY(!hasModel);
|
||
|
|
|
||
|
|
// Get scene
|
||
|
|
gazebo::rendering::ScenePtr scene = gazebo::rendering::get_scene();
|
||
|
|
QVERIFY(scene != NULL);
|
||
|
|
|
||
|
|
// Check there's a model but no clone in the scene yet
|
||
|
|
gazebo::rendering::VisualPtr vis = scene->GetVisual("model_00");
|
||
|
|
QVERIFY(vis != NULL);
|
||
|
|
vis = scene->GetVisual("model_00_clone_tmp");
|
||
|
|
QVERIFY(vis == NULL);
|
||
|
|
vis = scene->GetVisual("model_00_clone");
|
||
|
|
QVERIFY(vis == NULL);
|
||
|
|
|
||
|
|
// check all nested model visuals are there
|
||
|
|
vis = scene->GetVisual("model_00::model_01");
|
||
|
|
QVERIFY(vis != NULL);
|
||
|
|
vis = scene->GetVisual("model_00::model_01::model_02");
|
||
|
|
QVERIFY(vis != NULL);
|
||
|
|
vis = scene->GetVisual("model_00::model_01::model_02::model_03");
|
||
|
|
QVERIFY(vis != NULL);
|
||
|
|
|
||
|
|
// Create a model maker
|
||
|
|
gazebo::gui::ModelMaker *modelMaker = new gazebo::gui::ModelMaker();
|
||
|
|
QVERIFY(modelMaker != NULL);
|
||
|
|
|
||
|
|
// Start the maker to copy the model
|
||
|
|
modelMaker->InitFromModel("model_00");
|
||
|
|
modelMaker->Start();
|
||
|
|
|
||
|
|
// Check there's still no clone in the left panel
|
||
|
|
hasModel = mainWindow->HasEntityName("model_00_clone_tmp");
|
||
|
|
QVERIFY(!hasModel);
|
||
|
|
hasModel = mainWindow->HasEntityName("model_00_clone");
|
||
|
|
QVERIFY(!hasModel);
|
||
|
|
|
||
|
|
// Check there's a clone in the scene -- this is the preview
|
||
|
|
vis = scene->GetVisual("model_00_clone");
|
||
|
|
QVERIFY(vis == NULL);
|
||
|
|
vis = scene->GetVisual("model_00_clone_tmp");
|
||
|
|
QVERIFY(vis != NULL);
|
||
|
|
|
||
|
|
vis = scene->GetVisual("model_00_clone_tmp::model_01");
|
||
|
|
QVERIFY(vis != NULL);
|
||
|
|
vis = scene->GetVisual("model_00_clone_tmp::model_01::model_02");
|
||
|
|
QVERIFY(vis != NULL);
|
||
|
|
vis = scene->GetVisual("model_00_clone_tmp::model_01::model_02::model_03");
|
||
|
|
QVERIFY(vis != NULL);
|
||
|
|
|
||
|
|
// Check that the clone appeared in the center of the screen
|
||
|
|
ignition::math::Vector3d startPos = modelMaker->EntityPosition();
|
||
|
|
QVERIFY(startPos == ignition::math::Vector3d(0, 0, 0.5));
|
||
|
|
vis = scene->GetVisual("model_00_clone_tmp");
|
||
|
|
QVERIFY(vis->GetWorldPose().pos == startPos);
|
||
|
|
|
||
|
|
// Mouse move
|
||
|
|
gazebo::common::MouseEvent mouseEvent;
|
||
|
|
mouseEvent.SetType(gazebo::common::MouseEvent::MOVE);
|
||
|
|
modelMaker->OnMouseMove(mouseEvent);
|
||
|
|
|
||
|
|
// Check that entity moved
|
||
|
|
ignition::math::Vector3d pos = modelMaker->EntityPosition();
|
||
|
|
QVERIFY(pos != startPos);
|
||
|
|
QVERIFY(vis->GetWorldPose().pos == pos);
|
||
|
|
|
||
|
|
// Mouse release
|
||
|
|
mouseEvent.SetType(gazebo::common::MouseEvent::RELEASE);
|
||
|
|
mouseEvent.SetButton(gazebo::common::MouseEvent::LEFT);
|
||
|
|
mouseEvent.SetDragging(false);
|
||
|
|
mouseEvent.SetPressPos(0, 0);
|
||
|
|
mouseEvent.SetPos(0, 0);
|
||
|
|
modelMaker->OnMouseRelease(mouseEvent);
|
||
|
|
|
||
|
|
// Check there's no clone in the scene -- the preview is gone
|
||
|
|
// FIXME visuals don't get removed
|
||
|
|
// vis = scene->GetVisual("model_00_clone_tmp");
|
||
|
|
// QVERIFY(vis == NULL);
|
||
|
|
// vis = scene->GetVisual("model_00_clone_tmp::model_01");
|
||
|
|
// QVERIFY(vis == NULL);
|
||
|
|
// vis = scene->GetVisual("model_00_clone_tmp::model_01::model_02");
|
||
|
|
// QVERIFY(vis == NULL);
|
||
|
|
// vis = scene->GetVisual("model_00_clone_tmp::model_01::model_02::model_03");
|
||
|
|
// QVERIFY(vis == NULL);
|
||
|
|
|
||
|
|
this->ProcessEventsAndDraw(mainWindow);
|
||
|
|
|
||
|
|
// Check there's a clone in the scene -- this is the final model
|
||
|
|
vis = scene->GetVisual("model_00_clone");
|
||
|
|
QVERIFY(vis != NULL);
|
||
|
|
vis = scene->GetVisual("model_00_clone::model_01");
|
||
|
|
QVERIFY(vis != NULL);
|
||
|
|
vis = scene->GetVisual("model_00_clone::model_01::model_02");
|
||
|
|
QVERIFY(vis != NULL);
|
||
|
|
vis = scene->GetVisual("model_00_clone::model_01::model_02::model_03");
|
||
|
|
QVERIFY(vis != NULL);
|
||
|
|
|
||
|
|
// Check the clone is in the left panel
|
||
|
|
hasModel = mainWindow->HasEntityName("model_00_clone");
|
||
|
|
QVERIFY(hasModel);
|
||
|
|
|
||
|
|
delete modelMaker;
|
||
|
|
|
||
|
|
// Terminate
|
||
|
|
mainWindow->close();
|
||
|
|
delete mainWindow;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Generate a main function for the test
|
||
|
|
QTEST_MAIN(ModelMaker_TEST)
|