327 lines
10 KiB
C++
327 lines
10 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 <memory>
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#include "gazebo/gui/GuiIface.hh"
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#include "gazebo/gui/GLWidget.hh"
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#include "gazebo/gui/MainWindow.hh"
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#include "gazebo/gui/model/ModelCreator.hh"
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#include "view_control.hh"
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#include "test_config.h"
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/////////////////////////////////////////////////
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void MouseZoom(QWidget *_widget)
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{
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// There seem to be a problem simulating mouse drag using QTest
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// so use raw QMouseEvent.
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// move the mouse cursor to the center of the widget
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QPoint midPt(_widget->width()*0.5, _widget->height()*0.5);
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QMouseEvent *pressEvent = new QMouseEvent(QEvent::MouseButtonPress, midPt,
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_widget->mapToGlobal(midPt), Qt::RightButton, Qt::RightButton,
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Qt::NoModifier);
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QApplication::postEvent(_widget, pressEvent);
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// move the cursor in y for a quarter of the widget height
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double destY = 0.25;
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unsigned int steps = 30;
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for (unsigned int i = 0; i < steps; ++i)
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{
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// compute the next y pos to move the mouse cursor to.
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double dy = 0.5 - (destY * (1.0 / steps) * (i+1));
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QPoint movePt(_widget->width()*0.5, _widget->height()*dy);
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QMouseEvent *moveEvent = new QMouseEvent(QEvent::MouseMove, movePt,
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_widget->mapToGlobal(movePt), Qt::RightButton, Qt::RightButton,
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Qt::NoModifier);
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QApplication::postEvent(_widget, moveEvent);
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gazebo::common::Time::MSleep(30);
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QCoreApplication::processEvents();
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}
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QPoint releasePt(_widget->width()*0.5, _widget->height()*destY);
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QMouseEvent *releaseEvent = new QMouseEvent(QEvent::MouseButtonRelease,
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releasePt, _widget->mapToGlobal(releasePt), Qt::RightButton,
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Qt::RightButton, Qt::NoModifier);
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QApplication::postEvent(_widget, releaseEvent);
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}
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/////////////////////////////////////////////////
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void ViewControlTest::MouseZoomSimulation()
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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/shapes.world", false, false, false);
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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 != nullptr);
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mainWindow->Load();
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mainWindow->Init();
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mainWindow->show();
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// Process some events and draw the screen
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this->ProcessEventsAndDraw(mainWindow);
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// Get camera and scene
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gazebo::rendering::UserCameraPtr cam = gazebo::gui::get_active_camera();
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QVERIFY(cam != nullptr);
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gazebo::rendering::ScenePtr scene = cam->GetScene();
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QVERIFY(scene != nullptr);
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// Get box visual and position it
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gazebo::rendering::VisualPtr boxVis = scene->GetVisual("box");
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QVERIFY(boxVis != nullptr);
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cam->SetWorldPose(ignition::math::Pose3d(
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ignition::math::Vector3d(-1.5, 0.0, 0.5),
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ignition::math::Quaterniond(0, 0, 0)));
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// Process some events and draw the screen
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this->ProcessEventsAndDraw(mainWindow);
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// make sure the box is visible
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QVERIFY(cam->IsVisible(boxVis));
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// Get the glwidget
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auto glWidget = mainWindow->findChild<gazebo::gui::GLWidget *>("GLWidget");
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QVERIFY(glWidget != nullptr);
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// Zoom in on the model.
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MouseZoom(glWidget);
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// Process some events and draw the screen
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this->ProcessEventsAndDraw(mainWindow);
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// verify the camera did not zoom past the model
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QVERIFY(cam->IsVisible(boxVis));
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// Clean up
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cam->Fini();
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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 ViewControlTest::MouseZoomModelEditor()
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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", false, false, false);
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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 != nullptr);
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mainWindow->Load();
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mainWindow->Init();
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mainWindow->show();
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// Process some events and draw the screen
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this->ProcessEventsAndDraw(mainWindow);
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// Get camera and scene
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gazebo::rendering::UserCameraPtr cam = gazebo::gui::get_active_camera();
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QVERIFY(cam != nullptr);
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gazebo::rendering::ScenePtr scene = cam->GetScene();
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QVERIFY(scene != nullptr);
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// Process some events and draw the screen
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this->ProcessEventsAndDraw(mainWindow);
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// create the model editor
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std::unique_ptr<gazebo::gui::ModelCreator> modelCreator(
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new gazebo::gui::ModelCreator());
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// Inserting a link
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modelCreator->AddShape(gazebo::gui::ModelCreator::ENTITY_CYLINDER);
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gazebo::rendering::VisualPtr cylinder =
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scene->GetVisual("ModelPreview_0_0::link_0");
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QVERIFY(cylinder != nullptr);
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// Process some events and draw the screen
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this->ProcessEventsAndDraw(mainWindow);
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cam->SetWorldPose(ignition::math::Pose3d(
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ignition::math::Vector3d(-1.5, 0.0, 0.5),
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ignition::math::Quaterniond(0, 0, 0)));
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// Process some events and draw the screen
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this->ProcessEventsAndDraw(mainWindow);
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// make sure the cylinder is visible
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QVERIFY(cam->IsVisible(cylinder));
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// Get the glwidget
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auto glWidget = mainWindow->findChild<gazebo::gui::GLWidget *>("GLWidget");
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QVERIFY(glWidget != nullptr);
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// Zoom in on the link.
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MouseZoom(glWidget);
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// Process some events and draw the screen
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this->ProcessEventsAndDraw(mainWindow);
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// verify the camera did not zoom past the link
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QVERIFY(cam->IsVisible(cylinder));
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// Clean up
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cam->Fini();
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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 ViewControlTest::MouseZoomTerrain()
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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/heightmap.world", false, false, false);
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gazebo::gui::MainWindow *mainWindow = new gazebo::gui::MainWindow();
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QVERIFY(mainWindow != nullptr);
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// Create the main window.
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mainWindow->Load();
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mainWindow->Init();
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mainWindow->show();
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std::string boxName = "box4";
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// Get the user camera and scene
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gazebo::rendering::UserCameraPtr cam = gazebo::gui::get_active_camera();
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QVERIFY(cam != nullptr);
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gazebo::rendering::ScenePtr scene = cam->GetScene();
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QVERIFY(scene != nullptr);
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this->ProcessEventsAndDraw(mainWindow);
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gazebo::rendering::VisualPtr boxVis = scene->GetVisual(boxName);
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QVERIFY(boxVis != nullptr);
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auto glWidget = mainWindow->findChild<gazebo::gui::GLWidget *>("GLWidget");
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QVERIFY(glWidget != nullptr);
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// move camera so that it faces the box but partially occluded by terrain
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cam->SetWorldPose(ignition::math::Pose3d(
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ignition::math::Vector3d(62.93, -65.14, 9.49),
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ignition::math::Quaterniond(0, -0.5, 1.57)));
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this->ProcessEventsAndDraw(mainWindow);
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// make sure the box is visible and not completely occluded
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QVERIFY(cam->IsVisible(boxVis));
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ignition::math::Pose3d boxPt =
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ignition::math::Pose3d(0.0, -0.5, 0.4, 0.0, 0.0, 0.0) +
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boxVis->GetWorldPose().Ign();
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auto vis = cam->GetVisual(cam->Project(boxPt.Pos()));
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QVERIFY(vis != nullptr);
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QCOMPARE(vis->GetRootVisual(), boxVis);
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// zoom in. It should not zoom pass the terrain.
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QTest::mouseClick(glWidget, Qt::LeftButton, 0,
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QPoint(glWidget->width()*0.5, glWidget->height()*0.5));
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MouseZoom(glWidget);
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// Process some events and draw the screen
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this->ProcessEventsAndDraw(mainWindow);
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// Make sure the box is still in the frustum but it should now be
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// completely occluded.
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QVERIFY(cam->IsVisible(boxVis));
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vis = cam->GetVisual(cam->Project(boxPt.Pos()));
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QVERIFY(vis == nullptr);
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cam->Fini();
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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 ViewControlTest::MouseZoomBoundingBox()
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{
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this->resMaxPercentChange = 5.0;
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this->shareMaxPercentChange = 2.0;
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// Load a world with a large cordless drill mesh. Place a camera
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// inside its bounding box and test view control using the mouse.
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// Mouse clicks on the mesh should return valid contact points that
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// can be used as focus points for moving the camera.
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this->Load("worlds/camera_mesh_bbox.world", false, false, false);
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gazebo::gui::MainWindow *mainWindow = new gazebo::gui::MainWindow();
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QVERIFY(mainWindow != nullptr);
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// Create the main window.
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mainWindow->Load();
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mainWindow->Init();
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mainWindow->show();
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// Get the user camera and scene
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gazebo::rendering::UserCameraPtr cam = gazebo::gui::get_active_camera();
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QVERIFY(cam != nullptr);
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gazebo::rendering::ScenePtr scene = cam->GetScene();
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QVERIFY(scene != nullptr);
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this->ProcessEventsAndDraw(mainWindow);
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std::string modelName = "drill";
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gazebo::rendering::VisualPtr modelVis = scene->GetVisual(modelName);
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QVERIFY(modelVis != nullptr);
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auto glWidget = mainWindow->findChild<gazebo::gui::GLWidget *>("GLWidget");
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QVERIFY(glWidget != nullptr);
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ignition::math::Pose3d camWorldPose(
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ignition::math::Vector3d(0, 0.3, 1.0),
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ignition::math::Quaterniond(0, -1.57, 0));
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// place camera inside bounding box of cordless drill and look up
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cam->SetWorldPose(camWorldPose);
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this->ProcessEventsAndDraw(mainWindow);
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// verify valid contact point
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ignition::math::Vector3d pos;
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scene->FirstContact(cam, ignition::math::Vector2i(0, 0), pos);
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QVERIFY(pos.Z() < 1.5);
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// zoom in. It should not zoom pass the drill
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QTest::mouseClick(glWidget, Qt::LeftButton, 0,
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QPoint(glWidget->width()*0.5, glWidget->height()*0.5));
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MouseZoom(glWidget);
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// Process some events and draw the screen
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this->ProcessEventsAndDraw(mainWindow);
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// Make sure the camera is still inside bounding box of drill
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ignition::math::Vector3d camPose = cam->WorldPose().Pos();
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QVERIFY(ignition::math::equal(camPose.X(), camWorldPose.Pos().X(), 1e-3));
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QVERIFY(ignition::math::equal(camPose.Y(), camWorldPose.Pos().Y(), 1e-3));
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QVERIFY(camPose.Z() < 1.5);
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cam->Fini();
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mainWindow->close();
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delete mainWindow;
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}
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// Generate a main function for the test
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QTEST_MAIN(ViewControlTest)
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