132 lines
3.7 KiB
C++
132 lines
3.7 KiB
C++
/*
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* Copyright (C) 2014 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/physics/PhysicsIface.hh"
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#include "gazebo/common/Time.hh"
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#include "gazebo/test/ServerFixture.hh"
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#include "gazebo/test/helper_physics_generator.hh"
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using namespace gazebo;
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class WorldTest : public ServerFixture,
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public testing::WithParamInterface<const char*>
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{
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/// \brief Test World::GetEntityBelowPoint
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/// \param[in] _physicsEngine Type of physics engine to test.
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public: void GetEntityBelowPoint(const std::string &_physicsEngine);
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};
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/////////////////////////////////////////////////
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void WorldTest::GetEntityBelowPoint(const std::string &_physicsEngine)
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{
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// Load in a world with lasers
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Load("worlds/shapes.world", false, _physicsEngine);
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != NULL);
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std::vector<std::string> modelNames;
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modelNames.push_back("box");
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modelNames.push_back("cylinder");
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modelNames.push_back("sphere");
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std::vector<std::string>::iterator iter;
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math::Vector3 pos, testPos;
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physics::ModelPtr model;
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physics::EntityPtr entity;
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for (iter = modelNames.begin(); iter != modelNames.end(); ++iter)
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{
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model = world->GetModel(*iter);
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ASSERT_TRUE(model != NULL);
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pos = model->GetWorldPose().pos;
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pos.z += 10;
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entity = world->GetEntityBelowPoint(pos);
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if (entity)
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{
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gzdbg << "hit: " << entity->GetScopedName()
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<< ", expected: " << model->GetScopedName()
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<< std::endl;
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EXPECT_EQ(entity->GetParentModel()->GetName(), model->GetName());
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}
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else
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{
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// Give a failure since we expected to get a return
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EXPECT_TRUE(entity != NULL);
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}
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testPos = pos;
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testPos.z = pos.z + 5;
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entity = world->GetEntityBelowPoint(testPos);
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if (entity)
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{
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gzdbg << "hit: " << entity->GetScopedName()
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<< ", expected: " << model->GetScopedName()
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<< std::endl;
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EXPECT_EQ(entity->GetParentModel(), model);
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}
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else
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{
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// Give a failure since we expected to get a return
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EXPECT_TRUE(entity != NULL);
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}
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}
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// Ground plane
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pos.Set(25, 25, 1);
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entity = world->GetEntityBelowPoint(pos);
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if (entity)
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{
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gzdbg << "hit: " << entity->GetScopedName()
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<< ", expected: " << model->GetScopedName()
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<< std::endl;
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EXPECT_EQ(entity->GetParentModel()->GetName(), "ground_plane");
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}
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else
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{
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// Give a failure since we expected to get a return
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EXPECT_TRUE(entity != NULL);
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}
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// Expect no hit
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pos.Set(25, 25, -1);
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entity = world->GetEntityBelowPoint(pos);
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EXPECT_TRUE(entity == NULL);
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}
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/////////////////////////////////////////////////
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TEST_P(WorldTest, GetEntityBelowPoint)
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{
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if (std::string(GetParam()) != "ode" &&
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std::string(GetParam()) != "bullet")
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{
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gzerr << "GetEntityBelowPoint not implemented for " << GetParam() << "\n";
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}
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else
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{
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GetEntityBelowPoint(GetParam());
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}
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}
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INSTANTIATE_TEST_CASE_P(PhysicsEngines, WorldTest, PHYSICS_ENGINE_VALUES);
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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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