89 lines
2.8 KiB
C++
89 lines
2.8 KiB
C++
/*
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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 "gazebo/test/ServerFixture.hh"
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#include "gazebo/physics/physics.hh"
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#include "gazebo/test/helper_physics_generator.hh"
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using namespace gazebo;
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class RayShapeTest : public ServerFixture,
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public testing::WithParamInterface<const char*>
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{
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public: void Standalone(const std::string &_physicsEngine);
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};
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/////////////////////////////////////////////////
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void RayShapeTest::Standalone(const std::string &_physicsEngine)
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{
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// Load the shapes world
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Load("worlds/shapes.world", true, _physicsEngine);
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != NULL);
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gazebo::physics::RayShapePtr ray =
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boost::dynamic_pointer_cast<gazebo::physics::RayShape>(
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world->GetPhysicsEngine()->CreateShape("ray",
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gazebo::physics::CollisionPtr()));
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ASSERT_TRUE(ray != NULL);
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double dist;
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std::string entity;
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ray->SetPoints(ignition::math::Vector3d(-1, 0, 0.5),
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ignition::math::Vector3d(10, 0, 0.5));
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ray->GetIntersection(dist, entity);
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EXPECT_NEAR(dist, 0.5, 1e-4);
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EXPECT_EQ(entity, "box::link::collision");
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ray->SetPoints(ignition::math::Vector3d(-1, 1.5, 0.5),
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ignition::math::Vector3d(10, 1.5, 0.5));
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ray->GetIntersection(dist, entity);
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EXPECT_NEAR(dist, 0.5, 1e-4);
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EXPECT_EQ(entity, "sphere::link::collision");
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ray->SetPoints(ignition::math::Vector3d(-1, -1.5, 0.5),
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ignition::math::Vector3d(10, -1.5, 0.5));
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ray->GetIntersection(dist, entity);
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EXPECT_NEAR(dist, 0.5, 1e-4);
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EXPECT_EQ(entity, "cylinder::link::collision");
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ray->SetPoints(ignition::math::Vector3d(-1, -10.5, 0.5),
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ignition::math::Vector3d(10, -10.5, 0.5));
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ray->GetIntersection(dist, entity);
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EXPECT_NEAR(dist, 1000, 1e-4);
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EXPECT_TRUE(entity.empty());
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}
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/////////////////////////////////////////////////
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TEST_P(RayShapeTest, Standalone)
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{
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Standalone(GetParam());
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}
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/////////////////////////////////////////////////
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INSTANTIATE_TEST_CASE_P(PhysicsEngines, RayShapeTest,
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::testing::Values("ode"));
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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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