81 lines
2.8 KiB
C++
81 lines
2.8 KiB
C++
/*
|
|
* Copyright (C) 2015 Open Source Robotics Foundation
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*
|
|
*/
|
|
|
|
#include <gtest/gtest.h>
|
|
|
|
#include "test_config.h"
|
|
#include "gazebo/common/GTSMeshUtils.hh"
|
|
#include "test/util.hh"
|
|
|
|
using namespace gazebo;
|
|
|
|
class GTSMeshUtils : public gazebo::testing::AutoLogFixture { };
|
|
|
|
/////////////////////////////////////////////////
|
|
TEST_F(GTSMeshUtils, DelaunayTriangulation)
|
|
{
|
|
// test triangulation of a path with two subpaths:
|
|
// a smaller square inside a bigger square.
|
|
// The smaller square should be treated as a hole inside the bigger square.
|
|
|
|
std::vector<ignition::math::Vector2d> vertices;
|
|
// outside square
|
|
vertices.push_back(ignition::math::Vector2d(0, 0));
|
|
vertices.push_back(ignition::math::Vector2d(1, 0));
|
|
vertices.push_back(ignition::math::Vector2d(1, 1));
|
|
vertices.push_back(ignition::math::Vector2d(0, 1));
|
|
// inside square
|
|
vertices.push_back(ignition::math::Vector2d(0.25, 0.25));
|
|
vertices.push_back(ignition::math::Vector2d(0.25, 0.75));
|
|
vertices.push_back(ignition::math::Vector2d(0.75, 0.75));
|
|
vertices.push_back(ignition::math::Vector2d(0.75, 0.25));
|
|
|
|
std::vector<ignition::math::Vector2i> edges;
|
|
edges.push_back(ignition::math::Vector2i(0, 1));
|
|
edges.push_back(ignition::math::Vector2i(1, 2));
|
|
edges.push_back(ignition::math::Vector2i(2, 3));
|
|
edges.push_back(ignition::math::Vector2i(3, 0));
|
|
|
|
edges.push_back(ignition::math::Vector2i(4, 5));
|
|
edges.push_back(ignition::math::Vector2i(5, 6));
|
|
edges.push_back(ignition::math::Vector2i(6, 7));
|
|
edges.push_back(ignition::math::Vector2i(7, 4));
|
|
|
|
common::Mesh *mesh = new common::Mesh();
|
|
mesh->SetName("extruded");
|
|
common::SubMesh *subMesh = new common::SubMesh();
|
|
mesh->AddSubMesh(subMesh);
|
|
|
|
bool result = common::GTSMeshUtils::DelaunayTriangulation(vertices,
|
|
edges,
|
|
subMesh);
|
|
EXPECT_TRUE(result);
|
|
|
|
// same as number of vertices in the path
|
|
EXPECT_EQ(subMesh->GetVertexCount(), 8u);
|
|
|
|
// there should be 8 triangles.
|
|
EXPECT_EQ(subMesh->GetIndexCount() / 3u, 8u);
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
int main(int argc, char **argv)
|
|
{
|
|
::testing::InitGoogleTest(&argc, argv);
|
|
return RUN_ALL_TESTS();
|
|
}
|