177 lines
7.0 KiB
C++
177 lines
7.0 KiB
C++
/*
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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 <gtest/gtest.h>
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#include "gazebo/rendering/RenderingIface.hh"
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#include "gazebo/rendering/RenderTypes.hh"
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#include "gazebo/rendering/Scene.hh"
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#include "gazebo/rendering/Visual.hh"
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#include "gazebo/rendering/SelectionObj.hh"
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#include "gazebo/test/ServerFixture.hh"
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using namespace gazebo;
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class SelectionObj_TEST : public RenderingFixture
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{
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};
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/////////////////////////////////////////////////
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TEST_F(SelectionObj_TEST, SelectionObjTest)
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{
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Load("worlds/empty.world");
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gazebo::rendering::ScenePtr scene = gazebo::rendering::get_scene("default");
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if (!scene)
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scene = gazebo::rendering::create_scene("default", false);
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EXPECT_TRUE(scene != NULL);
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// Test calling constructor and Load functions and make sure
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// there are no segfaults
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rendering::SelectionObjPtr obj;
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obj.reset(new rendering::SelectionObj("obj", scene->WorldVisual()));
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obj->Load();
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// Selection none = no handles visible
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obj->SetMode(rendering::SelectionObj::SELECTION_NONE);
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::TRANS));
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::TRANS_X));
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::TRANS_Y));
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::TRANS_Z));
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::ROT));
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::ROT_X));
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::ROT_Y));
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::ROT_Z));
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::SCALE));
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::SCALE_X));
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::SCALE_Y));
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::SCALE_Z));
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// Translate group visible
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obj->SetMode(rendering::SelectionObj::TRANS);
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EXPECT_TRUE(obj->GetHandleVisible(rendering::SelectionObj::TRANS));
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EXPECT_TRUE(obj->GetHandleVisible(rendering::SelectionObj::TRANS_X));
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EXPECT_TRUE(obj->GetHandleVisible(rendering::SelectionObj::TRANS_Y));
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EXPECT_TRUE(obj->GetHandleVisible(rendering::SelectionObj::TRANS_Z));
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::ROT));
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::ROT_X));
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::ROT_Y));
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::ROT_Z));
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::SCALE));
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::SCALE_X));
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::SCALE_Y));
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::SCALE_Z));
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// Rotate group visible
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obj->SetMode(rendering::SelectionObj::ROT);
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::TRANS));
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::TRANS_X));
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::TRANS_Y));
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::TRANS_Z));
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EXPECT_TRUE(obj->GetHandleVisible(rendering::SelectionObj::ROT));
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EXPECT_TRUE(obj->GetHandleVisible(rendering::SelectionObj::ROT_X));
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EXPECT_TRUE(obj->GetHandleVisible(rendering::SelectionObj::ROT_Y));
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EXPECT_TRUE(obj->GetHandleVisible(rendering::SelectionObj::ROT_Z));
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::SCALE));
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::SCALE_X));
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::SCALE_Y));
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::SCALE_Z));
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// Scale group visible
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obj->SetMode(rendering::SelectionObj::SCALE);
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::TRANS));
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::TRANS_X));
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::TRANS_Y));
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::TRANS_Z));
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::ROT));
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::ROT_X));
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::ROT_Y));
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::ROT_Z));
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EXPECT_TRUE(obj->GetHandleVisible(rendering::SelectionObj::SCALE));
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EXPECT_TRUE(obj->GetHandleVisible(rendering::SelectionObj::SCALE_X));
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EXPECT_TRUE(obj->GetHandleVisible(rendering::SelectionObj::SCALE_Y));
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EXPECT_TRUE(obj->GetHandleVisible(rendering::SelectionObj::SCALE_Z));
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// Set child handles
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obj->SetHandleVisible(rendering::SelectionObj::TRANS_X, true);
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EXPECT_TRUE(obj->GetHandleVisible(rendering::SelectionObj::TRANS_X));
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obj->SetHandleVisible(rendering::SelectionObj::ROT_Y, false);
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EXPECT_FALSE(obj->GetHandleVisible(rendering::SelectionObj::ROT_Y));
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obj->SetHandleVisible(rendering::SelectionObj::SCALE_Z, true);
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EXPECT_TRUE(obj->GetHandleVisible(rendering::SelectionObj::SCALE_Z));
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}
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/////////////////////////////////////////////////
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TEST_F(SelectionObj_TEST, LoadFini)
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{
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Load("worlds/empty.world");
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gazebo::rendering::ScenePtr scene = gazebo::rendering::get_scene("default");
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if (!scene)
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scene = gazebo::rendering::create_scene("default", false);
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EXPECT_TRUE(scene != NULL);
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// Create and load visual
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rendering::SelectionObjPtr obj;
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obj.reset(new rendering::SelectionObj("obj", scene->WorldVisual()));
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obj->Load();
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EXPECT_TRUE(obj != NULL);
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// Check that it was added to the scene (by Load)
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EXPECT_EQ(scene->GetVisual("obj"), obj);
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// Remove it from the scene (Fini is called)
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scene->RemoveVisual(obj);
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// Check that it was removed
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EXPECT_TRUE(scene->GetVisual("obj") == NULL);
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// Reset pointer
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obj.reset();
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EXPECT_TRUE(obj == NULL);
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// Create another visual with the same name
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rendering::SelectionObjPtr obj2;
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obj2.reset(new rendering::SelectionObj("obj", scene->WorldVisual()));
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obj2->Load();
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EXPECT_TRUE(obj2 != NULL);
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// Check that the scene returns the new visual
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EXPECT_EQ(scene->GetVisual("obj"), obj2);
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// Remove it from the scene (Fini is called)
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scene->RemoveVisual(obj2);
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// Check that it was removed
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EXPECT_TRUE(scene->GetVisual("obj") == NULL);
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// Reset pointer
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obj2.reset();
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EXPECT_TRUE(obj2 == NULL);
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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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