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Geometry_TEST.cc
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/*
* Copyright (C) 2018 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 <optional>
#include <gtest/gtest.h>
#include "sdf/Box.hh"
#include "sdf/Capsule.hh"
#include "sdf/Cylinder.hh"
#include "sdf/Ellipsoid.hh"
#include "sdf/Geometry.hh"
#include "sdf/Heightmap.hh"
#include "sdf/Mesh.hh"
#include "sdf/Plane.hh"
#include "sdf/Polyline.hh"
#include "sdf/Sphere.hh"
#include "sdf/ParserConfig.hh"
#include "sdf/Types.hh"
#include "sdf/Element.hh"
#include "sdf/CustomInertiaCalcProperties.hh"
#include "test_utils.hh"
#include <gz/math/Inertial.hh>
#include <gz/math/MassMatrix3.hh>
#include <gz/math/Pose3.hh>
#include <gz/math/Vector3.hh>
/////////////////////////////////////////////////
TEST(DOMGeometry, Construction)
{
sdf::Geometry geom;
EXPECT_EQ(nullptr, geom.Element());
EXPECT_EQ(sdf::GeometryType::EMPTY, geom.Type());
geom.SetType(sdf::GeometryType::BOX);
EXPECT_EQ(sdf::GeometryType::BOX, geom.Type());
geom.SetType(sdf::GeometryType::CAPSULE);
EXPECT_EQ(sdf::GeometryType::CAPSULE, geom.Type());
geom.SetType(sdf::GeometryType::CYLINDER);
EXPECT_EQ(sdf::GeometryType::CYLINDER, geom.Type());
geom.SetType(sdf::GeometryType::ELLIPSOID);
EXPECT_EQ(sdf::GeometryType::ELLIPSOID, geom.Type());
geom.SetType(sdf::GeometryType::PLANE);
EXPECT_EQ(sdf::GeometryType::PLANE, geom.Type());
geom.SetType(sdf::GeometryType::SPHERE);
EXPECT_EQ(sdf::GeometryType::SPHERE, geom.Type());
geom.SetType(sdf::GeometryType::POLYLINE);
EXPECT_EQ(sdf::GeometryType::POLYLINE, geom.Type());
}
/////////////////////////////////////////////////
TEST(DOMGeometry, MoveConstructor)
{
sdf::Geometry geometry;
geometry.SetType(sdf::GeometryType::BOX);
sdf::Geometry geometry2(std::move(geometry));
EXPECT_EQ(sdf::GeometryType::BOX, geometry2.Type());
}
/////////////////////////////////////////////////
TEST(DOMGeometry, CopyConstructor)
{
sdf::Geometry geometry;
geometry.SetType(sdf::GeometryType::BOX);
sdf::Box boxShape;
boxShape.SetSize(gz::math::Vector3d(1, 2, 3));
geometry.SetBoxShape(boxShape);
sdf::Geometry geometry2(geometry);
EXPECT_EQ(sdf::GeometryType::BOX, geometry2.Type());
}
/////////////////////////////////////////////////
TEST(DOMGeometry, AssignmentOperator)
{
sdf::Geometry geometry;
geometry.SetType(sdf::GeometryType::BOX);
sdf::Box boxShape;
boxShape.SetSize(gz::math::Vector3d(1, 2, 3));
geometry.SetBoxShape(boxShape);
sdf::Geometry geometry2;
geometry2 = geometry;
EXPECT_EQ(sdf::GeometryType::BOX, geometry2.Type());
}
/////////////////////////////////////////////////
TEST(DOMGeometry, MoveAssignmentOperator)
{
sdf::Geometry geometry;
geometry.SetType(sdf::GeometryType::BOX);
sdf::Box boxShape;
boxShape.SetSize(gz::math::Vector3d(1, 2, 3));
geometry.SetBoxShape(boxShape);
sdf::Geometry geometry2;
geometry2 = std::move(geometry);
EXPECT_EQ(sdf::GeometryType::BOX, geometry2.Type());
}
/////////////////////////////////////////////////
TEST(DOMGeometry, CopyAssignmentAfterMove)
{
sdf::Geometry geometry1;
geometry1.SetType(sdf::GeometryType::BOX);
sdf::Geometry geometry2;
geometry2.SetType(sdf::GeometryType::SPHERE);
// This is similar to what std::swap does except it uses std::move for each
// assignment
sdf::Geometry tmp = std::move(geometry1);
geometry1 = geometry2;
geometry2 = tmp;
EXPECT_EQ(sdf::GeometryType::SPHERE, geometry1.Type());
EXPECT_EQ(sdf::GeometryType::BOX, geometry2.Type());
}
/////////////////////////////////////////////////
TEST(DOMGeometry, Load)
{
sdf::Geometry geom;
sdf::Errors errors;
// Null element name
errors = geom.Load(nullptr);
ASSERT_EQ(1u, errors.size());
EXPECT_EQ(sdf::ErrorCode::ELEMENT_MISSING, errors[0].Code());
EXPECT_EQ(nullptr, geom.Element());
// Bad element name
sdf::ElementPtr sdf(new sdf::Element());
sdf->SetName("bad");
errors = geom.Load(sdf);
ASSERT_EQ(1u, errors.size());
EXPECT_EQ(sdf::ErrorCode::ELEMENT_INCORRECT_TYPE, errors[0].Code());
EXPECT_NE(nullptr, geom.Element());
}
/////////////////////////////////////////////////
TEST(DOMGeometry, Box)
{
sdf::Geometry geom;
geom.SetType(sdf::GeometryType::BOX);
sdf::Box boxShape;
boxShape.SetSize(gz::math::Vector3d(1, 2, 3));
geom.SetBoxShape(boxShape);
EXPECT_EQ(sdf::GeometryType::BOX, geom.Type());
EXPECT_NE(nullptr, geom.BoxShape());
EXPECT_EQ(gz::math::Vector3d(1, 2, 3), geom.BoxShape()->Size());
}
/////////////////////////////////////////////////
TEST(DOMGeometry, Sphere)
{
sdf::Geometry geom;
geom.SetType(sdf::GeometryType::SPHERE);
sdf::Sphere sphereShape;
sphereShape.SetRadius(0.123);
geom.SetSphereShape(sphereShape);
EXPECT_EQ(sdf::GeometryType::SPHERE, geom.Type());
EXPECT_NE(nullptr, geom.SphereShape());
EXPECT_DOUBLE_EQ(0.123, geom.SphereShape()->Radius());
}
/////////////////////////////////////////////////
TEST(DOMGeometry, Capsule)
{
sdf::Geometry geom;
geom.SetType(sdf::GeometryType::CAPSULE);
sdf::Capsule capsuleShape;
capsuleShape.SetRadius(0.123);
capsuleShape.SetLength(4.56);
geom.SetCapsuleShape(capsuleShape);
EXPECT_EQ(sdf::GeometryType::CAPSULE, geom.Type());
EXPECT_NE(nullptr, geom.CapsuleShape());
EXPECT_DOUBLE_EQ(0.123, geom.CapsuleShape()->Radius());
EXPECT_DOUBLE_EQ(4.56, geom.CapsuleShape()->Length());
}
/////////////////////////////////////////////////
TEST(DOMGeometry, Cylinder)
{
sdf::Geometry geom;
geom.SetType(sdf::GeometryType::CYLINDER);
sdf::Cylinder cylinderShape;
cylinderShape.SetRadius(0.123);
cylinderShape.SetLength(4.56);
geom.SetCylinderShape(cylinderShape);
EXPECT_EQ(sdf::GeometryType::CYLINDER, geom.Type());
EXPECT_NE(nullptr, geom.CylinderShape());
EXPECT_DOUBLE_EQ(0.123, geom.CylinderShape()->Radius());
EXPECT_DOUBLE_EQ(4.56, geom.CylinderShape()->Length());
}
/////////////////////////////////////////////////
TEST(DOMGeometry, Ellipsoid)
{
sdf::Geometry geom;
geom.SetType(sdf::GeometryType::ELLIPSOID);
sdf::Ellipsoid ellipsoidShape;
const gz::math::Vector3d expectedRadii(1, 2, 3);
ellipsoidShape.SetRadii(expectedRadii);
geom.SetEllipsoidShape(ellipsoidShape);
EXPECT_EQ(sdf::GeometryType::ELLIPSOID, geom.Type());
EXPECT_NE(nullptr, geom.EllipsoidShape());
EXPECT_EQ(expectedRadii, geom.EllipsoidShape()->Radii());
}
/////////////////////////////////////////////////
TEST(DOMGeometry, Mesh)
{
sdf::Geometry geom;
geom.SetType(sdf::GeometryType::MESH);
sdf::Mesh meshShape;
meshShape.SetScale(gz::math::Vector3d(1, 2, 3));
meshShape.SetUri("banana");
meshShape.SetSubmesh("orange");
meshShape.SetCenterSubmesh(true);
geom.SetMeshShape(meshShape);
EXPECT_EQ(sdf::GeometryType::MESH, geom.Type());
EXPECT_NE(nullptr, geom.MeshShape());
EXPECT_EQ(gz::math::Vector3d(1, 2, 3), geom.MeshShape()->Scale());
EXPECT_EQ("banana", geom.MeshShape()->Uri());
EXPECT_EQ("orange", geom.MeshShape()->Submesh());
EXPECT_TRUE(geom.MeshShape()->CenterSubmesh());
}
/////////////////////////////////////////////////
TEST(DOMGeometry, Plane)
{
sdf::Geometry geom;
geom.SetType(sdf::GeometryType::PLANE);
sdf::Plane planeShape;
planeShape.SetNormal(gz::math::Vector3d::UnitX);
planeShape.SetSize(gz::math::Vector2d(9, 8));
geom.SetPlaneShape(planeShape);
EXPECT_EQ(sdf::GeometryType::PLANE, geom.Type());
EXPECT_NE(nullptr, geom.PlaneShape());
EXPECT_EQ(gz::math::Vector3d::UnitX, geom.PlaneShape()->Normal());
EXPECT_EQ(gz::math::Vector2d(9, 8), geom.PlaneShape()->Size());
}
/////////////////////////////////////////////////
TEST(DOMGeometry, Polyline)
{
sdf::Geometry geom;
geom.SetType(sdf::GeometryType::POLYLINE);
sdf::Polyline polylineShape1;
polylineShape1.SetHeight(1.2);
EXPECT_TRUE(polylineShape1.AddPoint({3.4, 5.6}));
EXPECT_TRUE(polylineShape1.AddPoint({7.8, 9.0}));
sdf::Polyline polylineShape2;
polylineShape2.SetHeight(2.1);
EXPECT_TRUE(polylineShape2.AddPoint({4.3, 6.5}));
EXPECT_TRUE(polylineShape2.AddPoint({8.7, 0.9}));
geom.SetPolylineShape({polylineShape1, polylineShape2});
EXPECT_EQ(sdf::GeometryType::POLYLINE, geom.Type());
EXPECT_FALSE(geom.PolylineShape().empty());
auto polylineShape = geom.PolylineShape();
EXPECT_EQ(2u, polylineShape.size());
EXPECT_DOUBLE_EQ(1.2, polylineShape[0].Height());
ASSERT_EQ(2u, polylineShape[0].PointCount());
EXPECT_EQ(gz::math::Vector2d(3.4, 5.6), polylineShape[0].Points()[0]);
EXPECT_EQ(gz::math::Vector2d(7.8, 9.0), polylineShape[0].Points()[1]);
EXPECT_DOUBLE_EQ(2.1, polylineShape[1].Height());
ASSERT_EQ(2u, polylineShape[1].PointCount());
EXPECT_EQ(gz::math::Vector2d(4.3, 6.5), polylineShape[1].Points()[0]);
EXPECT_EQ(gz::math::Vector2d(8.7, 0.9), polylineShape[1].Points()[1]);
}
/////////////////////////////////////////////////
TEST(DOMGeometry, CalculateInertial)
{
sdf::Geometry geom;
// Density of Aluminimum
const double density = 2170.0;
double expectedMass;
gz::math::MassMatrix3d expectedMassMat;
gz::math::Inertiald expectedInertial;
sdf::ParserConfig sdfParserConfig;
sdf::ElementPtr autoInertiaParams;
sdf::Errors errors;
// Not supported geom type
{
geom.SetType(sdf::GeometryType::EMPTY);
auto notSupportedInertial = geom.CalculateInertial(errors,
sdfParserConfig, density, autoInertiaParams);
ASSERT_EQ(notSupportedInertial, std::nullopt);
}
// Box
{
sdf::Box box;
const double l = 2;
const double w = 2;
const double h = 2;
box.SetSize(gz::math::Vector3d(l, w, h));
expectedMass = box.Shape().Volume() * density;
double ixx = (1.0/12.0) * expectedMass * (w*w + h*h);
double iyy = (1.0/12.0) * expectedMass * (l*l + h*h);
double izz = (1.0/12.0) * expectedMass * (l*l + w*w);
expectedMassMat.SetMass(expectedMass);
expectedMassMat.SetDiagonalMoments(gz::math::Vector3d(ixx, iyy, izz));
expectedMassMat.SetOffDiagonalMoments(gz::math::Vector3d::Zero);
expectedInertial.SetMassMatrix(expectedMassMat);
expectedInertial.SetPose(gz::math::Pose3d::Zero);
geom.SetType(sdf::GeometryType::BOX);
geom.SetBoxShape(box);
auto boxInertial = geom.CalculateInertial(errors,
sdfParserConfig, density, autoInertiaParams);
ASSERT_NE(std::nullopt, boxInertial);
EXPECT_EQ(expectedInertial, *boxInertial);
EXPECT_EQ(expectedInertial.MassMatrix(), expectedMassMat);
EXPECT_EQ(expectedInertial.Pose(), boxInertial->Pose());
}
// Capsule
{
sdf::Capsule capsule;
const double l = 2.0;
const double r = 0.1;
capsule.SetLength(l);
capsule.SetRadius(r);
expectedMass = capsule.Shape().Volume() * density;
const double cylinderVolume = GZ_PI * r*r * l;
const double sphereVolume = GZ_PI * 4. / 3. * r*r*r;
const double volume = cylinderVolume + sphereVolume;
const double cylinderMass = expectedMass * cylinderVolume / volume;
const double sphereMass = expectedMass * sphereVolume / volume;
double ixxIyy = (1/12.0) * cylinderMass * (3*r*r + l*l)
+ sphereMass * (0.4*r*r + 0.375*r*l + 0.25*l*l);
double izz = r*r * (0.5 * cylinderMass + 0.4 * sphereMass);
expectedMassMat.SetMass(expectedMass);
expectedMassMat.SetDiagonalMoments(gz::math::Vector3d(ixxIyy, ixxIyy, izz));
expectedMassMat.SetOffDiagonalMoments(gz::math::Vector3d::Zero);
expectedInertial.SetMassMatrix(expectedMassMat);
expectedInertial.SetPose(gz::math::Pose3d::Zero);
geom.SetType(sdf::GeometryType::CAPSULE);
geom.SetCapsuleShape(capsule);
auto capsuleInertial = geom.CalculateInertial(errors,
sdfParserConfig, density, autoInertiaParams);
ASSERT_NE(std::nullopt, capsuleInertial);
EXPECT_EQ(expectedInertial, *capsuleInertial);
EXPECT_EQ(expectedInertial.MassMatrix(), expectedMassMat);
EXPECT_EQ(expectedInertial.Pose(), capsuleInertial->Pose());
}
// Cylinder
{
sdf::Cylinder cylinder;
const double l = 2.0;
const double r = 0.1;
cylinder.SetLength(l);
cylinder.SetRadius(r);
expectedMass = cylinder.Shape().Volume() * density;
double ixxIyy = (1/12.0) * expectedMass * (3*r*r + l*l);
double izz = 0.5 * expectedMass * r * r;
expectedMassMat.SetMass(expectedMass);
expectedMassMat.SetDiagonalMoments(gz::math::Vector3d(ixxIyy, ixxIyy, izz));
expectedMassMat.SetOffDiagonalMoments(gz::math::Vector3d::Zero);
expectedInertial.SetMassMatrix(expectedMassMat);
expectedInertial.SetPose(gz::math::Pose3d::Zero);
geom.SetType(sdf::GeometryType::CYLINDER);
geom.SetCylinderShape(cylinder);
auto cylinderInertial = geom.CalculateInertial(errors,
sdfParserConfig, density, autoInertiaParams);
ASSERT_NE(std::nullopt, cylinderInertial);
EXPECT_EQ(expectedInertial, *cylinderInertial);
EXPECT_EQ(expectedInertial.MassMatrix(), expectedMassMat);
EXPECT_EQ(expectedInertial.Pose(), cylinderInertial->Pose());
}
// Ellipsoid
{
sdf::Ellipsoid ellipsoid;
const double a = 1.0;
const double b = 10.0;
const double c = 100.0;
ellipsoid.SetRadii(gz::math::Vector3d(a, b, c));
expectedMass = ellipsoid.Shape().Volume() * density;
double ixx = (expectedMass / 5.0) * (b*b + c*c);
double iyy = (expectedMass / 5.0) * (a*a + c*c);
double izz = (expectedMass / 5.0) * (a*a + b*b);
expectedMassMat.SetMass(expectedMass);
expectedMassMat.SetDiagonalMoments(gz::math::Vector3d(ixx, iyy, izz));
expectedMassMat.SetOffDiagonalMoments(gz::math::Vector3d::Zero);
expectedInertial.SetMassMatrix(expectedMassMat);
expectedInertial.SetPose(gz::math::Pose3d::Zero);
geom.SetType(sdf::GeometryType::ELLIPSOID);
geom.SetEllipsoidShape(ellipsoid);
auto ellipsoidInertial = geom.CalculateInertial(errors,
sdfParserConfig, density, autoInertiaParams);
ASSERT_NE(std::nullopt, ellipsoidInertial);
EXPECT_EQ(expectedInertial, *ellipsoidInertial);
EXPECT_EQ(expectedInertial.MassMatrix(), expectedMassMat);
EXPECT_EQ(expectedInertial.Pose(), ellipsoidInertial->Pose());
}
// Sphere
{
sdf::Sphere sphere;
const double r = 0.1;
sphere.SetRadius(r);
expectedMass = sphere.Shape().Volume() * density;
double ixxIyyIzz = 0.4 * expectedMass * r * r;
expectedMassMat.SetMass(expectedMass);
expectedMassMat.SetDiagonalMoments(
gz::math::Vector3d(ixxIyyIzz, ixxIyyIzz, ixxIyyIzz));
expectedMassMat.SetOffDiagonalMoments(gz::math::Vector3d::Zero);
expectedInertial.SetMassMatrix(expectedMassMat);
expectedInertial.SetPose(gz::math::Pose3d::Zero);
geom.SetType(sdf::GeometryType::SPHERE);
geom.SetSphereShape(sphere);
auto sphereInertial = geom.CalculateInertial(errors,
sdfParserConfig, density, autoInertiaParams);
ASSERT_NE(std::nullopt, sphereInertial);
EXPECT_EQ(expectedInertial, *sphereInertial);
EXPECT_EQ(expectedInertial.MassMatrix(), expectedMassMat);
EXPECT_EQ(expectedInertial.Pose(), sphereInertial->Pose());
}
// Mesh
{
sdf::Mesh mesh;
sdf::CustomInertiaCalcProperties inertiaCalcProps;
sdf::ElementPtr autoInertiaParamsElem(new sdf::Element());
// Test Lambda function for registering as custom inertia calculator
auto customMeshInertiaCalculator = [](
sdf::Errors &_errors,
const sdf::CustomInertiaCalcProperties &_inertiaProps
) -> std::optional<gz::math::Inertiald>
{
if (_inertiaProps.Density() <= 0)
{
_errors.push_back(
{sdf::ErrorCode::LINK_INERTIA_INVALID,
"Inertia is invalid"});
return std::nullopt;
}
gz::math::Inertiald meshInerial;
meshInerial.SetMassMatrix(
gz::math::MassMatrix3d(
1.0,
gz::math::Vector3d::One,
gz::math::Vector3d::Zero
)
);
return meshInerial;
};
// Register the lambda function as Custom Inertia Calculator
sdfParserConfig.RegisterCustomInertiaCalc(customMeshInertiaCalculator);
// File Path needs to be considered as a valid mesh
mesh.SetFilePath("/some_path");
geom.SetType(sdf::GeometryType::MESH);
geom.SetMeshShape(mesh);
auto meshInertial = geom.CalculateInertial(errors,
sdfParserConfig, density, autoInertiaParams);
EXPECT_TRUE(errors.empty());
EXPECT_DOUBLE_EQ(meshInertial->MassMatrix().Mass(), 1.0);
EXPECT_EQ(meshInertial->MassMatrix().DiagonalMoments(),
gz::math::Vector3d::One);
}
}
/////////////////////////////////////////////////
TEST(DOMGeometry, ToElement)
{
// Box
{
sdf::Geometry geom;
geom.SetType(sdf::GeometryType::BOX);
sdf::Box box;
geom.SetBoxShape(box);
sdf::ElementPtr elem = geom.ToElement();
ASSERT_NE(nullptr, elem);
sdf::Geometry geom2;
geom2.Load(elem);
EXPECT_EQ(geom.Type(), geom2.Type());
EXPECT_NE(nullptr, geom2.BoxShape());
EXPECT_EQ(nullptr, geom2.CapsuleShape());
EXPECT_EQ(nullptr, geom2.CylinderShape());
EXPECT_EQ(nullptr, geom2.EllipsoidShape());
EXPECT_EQ(nullptr, geom2.SphereShape());
EXPECT_EQ(nullptr, geom2.PlaneShape());
EXPECT_EQ(nullptr, geom2.MeshShape());
EXPECT_EQ(nullptr, geom2.HeightmapShape());
EXPECT_TRUE(geom2.PolylineShape().empty());
}
// Capsule
{
sdf::Geometry geom;
geom.SetType(sdf::GeometryType::CAPSULE);
sdf::Capsule capsule;
geom.SetCapsuleShape(capsule);
sdf::ElementPtr elem = geom.ToElement();
ASSERT_NE(nullptr, elem);
sdf::Geometry geom2;
geom2.Load(elem);
EXPECT_EQ(geom.Type(), geom2.Type());
EXPECT_EQ(nullptr, geom2.BoxShape());
EXPECT_NE(nullptr, geom2.CapsuleShape());
EXPECT_EQ(nullptr, geom2.CylinderShape());
EXPECT_EQ(nullptr, geom2.EllipsoidShape());
EXPECT_EQ(nullptr, geom2.SphereShape());
EXPECT_EQ(nullptr, geom2.PlaneShape());
EXPECT_EQ(nullptr, geom2.MeshShape());
EXPECT_EQ(nullptr, geom2.HeightmapShape());
EXPECT_TRUE(geom2.PolylineShape().empty());
}
// Cylinder
{
sdf::Geometry geom;
geom.SetType(sdf::GeometryType::CYLINDER);
sdf::Cylinder cylinder;
geom.SetCylinderShape(cylinder);
sdf::ElementPtr elem = geom.ToElement();
ASSERT_NE(nullptr, elem);
sdf::Geometry geom2;
geom2.Load(elem);
EXPECT_EQ(geom.Type(), geom2.Type());
EXPECT_EQ(nullptr, geom2.BoxShape());
EXPECT_EQ(nullptr, geom2.CapsuleShape());
EXPECT_NE(nullptr, geom2.CylinderShape());
EXPECT_EQ(nullptr, geom2.EllipsoidShape());
EXPECT_EQ(nullptr, geom2.SphereShape());
EXPECT_EQ(nullptr, geom2.PlaneShape());
EXPECT_EQ(nullptr, geom2.MeshShape());
EXPECT_EQ(nullptr, geom2.HeightmapShape());
EXPECT_TRUE(geom2.PolylineShape().empty());
}
// Ellipsoid
{
sdf::Geometry geom;
geom.SetType(sdf::GeometryType::ELLIPSOID);
sdf::Ellipsoid ellipsoid;
geom.SetEllipsoidShape(ellipsoid);
sdf::ElementPtr elem = geom.ToElement();
ASSERT_NE(nullptr, elem);
sdf::Geometry geom2;
geom2.Load(elem);
EXPECT_EQ(geom.Type(), geom2.Type());
EXPECT_EQ(nullptr, geom2.BoxShape());
EXPECT_EQ(nullptr, geom2.CapsuleShape());
EXPECT_EQ(nullptr, geom2.CylinderShape());
EXPECT_NE(nullptr, geom2.EllipsoidShape());
EXPECT_EQ(nullptr, geom2.SphereShape());
EXPECT_EQ(nullptr, geom2.PlaneShape());
EXPECT_EQ(nullptr, geom2.MeshShape());
EXPECT_EQ(nullptr, geom2.HeightmapShape());
EXPECT_TRUE(geom2.PolylineShape().empty());
}
// Sphere
{
sdf::Geometry geom;
geom.SetType(sdf::GeometryType::SPHERE);
sdf::Sphere sphere;
geom.SetSphereShape(sphere);
sdf::ElementPtr elem = geom.ToElement();
ASSERT_NE(nullptr, elem);
sdf::Geometry geom2;
geom2.Load(elem);
EXPECT_EQ(geom.Type(), geom2.Type());
EXPECT_EQ(nullptr, geom2.BoxShape());
EXPECT_EQ(nullptr, geom2.CapsuleShape());
EXPECT_EQ(nullptr, geom2.CylinderShape());
EXPECT_EQ(nullptr, geom2.EllipsoidShape());
EXPECT_NE(nullptr, geom2.SphereShape());
EXPECT_EQ(nullptr, geom2.PlaneShape());
EXPECT_EQ(nullptr, geom2.MeshShape());
EXPECT_EQ(nullptr, geom2.HeightmapShape());
EXPECT_TRUE(geom2.PolylineShape().empty());
}
// Plane
{
sdf::Geometry geom;
geom.SetType(sdf::GeometryType::PLANE);
sdf::Plane plane;
geom.SetPlaneShape(plane);
sdf::ElementPtr elem = geom.ToElement();
ASSERT_NE(nullptr, elem);
sdf::Geometry geom2;
geom2.Load(elem);
EXPECT_EQ(geom.Type(), geom2.Type());
EXPECT_EQ(nullptr, geom2.BoxShape());
EXPECT_EQ(nullptr, geom2.CapsuleShape());
EXPECT_EQ(nullptr, geom2.CylinderShape());
EXPECT_EQ(nullptr, geom2.EllipsoidShape());
EXPECT_EQ(nullptr, geom2.SphereShape());
EXPECT_NE(nullptr, geom2.PlaneShape());
EXPECT_EQ(nullptr, geom2.MeshShape());
EXPECT_EQ(nullptr, geom2.HeightmapShape());
EXPECT_TRUE(geom2.PolylineShape().empty());
}
// Mesh
{
sdf::Geometry geom;
geom.SetType(sdf::GeometryType::MESH);
sdf::Mesh mesh;
geom.SetMeshShape(mesh);
sdf::ElementPtr elem = geom.ToElement();
ASSERT_NE(nullptr, elem);
sdf::Geometry geom2;
geom2.Load(elem);
EXPECT_EQ(geom.Type(), geom2.Type());
EXPECT_EQ(nullptr, geom2.BoxShape());
EXPECT_EQ(nullptr, geom2.CapsuleShape());
EXPECT_EQ(nullptr, geom2.CylinderShape());
EXPECT_EQ(nullptr, geom2.EllipsoidShape());
EXPECT_EQ(nullptr, geom2.SphereShape());
EXPECT_EQ(nullptr, geom2.PlaneShape());
EXPECT_NE(nullptr, geom2.MeshShape());
EXPECT_EQ(nullptr, geom2.HeightmapShape());
EXPECT_TRUE(geom2.PolylineShape().empty());
}
// Heightmap
{
sdf::Geometry geom;
geom.SetType(sdf::GeometryType::HEIGHTMAP);
sdf::Heightmap heightmap;
geom.SetHeightmapShape(heightmap);
sdf::ElementPtr elem = geom.ToElement();
ASSERT_NE(nullptr, elem);
sdf::Geometry geom2;
geom2.Load(elem);
EXPECT_EQ(geom.Type(), geom2.Type());
EXPECT_EQ(nullptr, geom2.BoxShape());
EXPECT_EQ(nullptr, geom2.CapsuleShape());
EXPECT_EQ(nullptr, geom2.CylinderShape());
EXPECT_EQ(nullptr, geom2.EllipsoidShape());
EXPECT_EQ(nullptr, geom2.SphereShape());
EXPECT_EQ(nullptr, geom2.PlaneShape());
EXPECT_EQ(nullptr, geom2.MeshShape());
EXPECT_NE(nullptr, geom2.HeightmapShape());
EXPECT_TRUE(geom2.PolylineShape().empty());
}
// Polyline
{
sdf::Geometry geom;
geom.SetType(sdf::GeometryType::POLYLINE);
sdf::Polyline polyline;
geom.SetPolylineShape({polyline});
auto elem = geom.ToElement();
ASSERT_NE(nullptr, elem);
sdf::Geometry geom2;
geom2.Load(elem);
EXPECT_EQ(geom.Type(), geom2.Type());
EXPECT_EQ(nullptr, geom2.BoxShape());
EXPECT_EQ(nullptr, geom2.CapsuleShape());
EXPECT_EQ(nullptr, geom2.CylinderShape());
EXPECT_EQ(nullptr, geom2.EllipsoidShape());
EXPECT_EQ(nullptr, geom2.SphereShape());
EXPECT_EQ(nullptr, geom2.PlaneShape());
EXPECT_EQ(nullptr, geom2.MeshShape());
EXPECT_EQ(nullptr, geom2.HeightmapShape());
EXPECT_FALSE(geom2.PolylineShape().empty());
}
}
/////////////////////////////////////////////////
TEST(DOMGeometry, ToElementErrorOutput)
{
std::stringstream buffer;
sdf::testing::RedirectConsoleStream redir(
sdf::Console::Instance()->GetMsgStream(), &buffer);
#ifdef _WIN32
sdf::Console::Instance()->SetQuiet(false);
sdf::testing::ScopeExit revertSetQuiet(
[]
{
sdf::Console::Instance()->SetQuiet(true);
});
#endif
sdf::Errors errors;
// Box
{
sdf::Geometry geom;
geom.SetType(sdf::GeometryType::BOX);
sdf::Box box;
geom.SetBoxShape(box);
sdf::ElementPtr elem = geom.ToElement(errors);
EXPECT_TRUE(errors.empty());
ASSERT_NE(nullptr, elem);
sdf::Geometry geom2;
errors = geom2.Load(elem);
EXPECT_TRUE(errors.empty());
EXPECT_EQ(geom.Type(), geom2.Type());
EXPECT_NE(nullptr, geom2.BoxShape());
EXPECT_EQ(nullptr, geom2.CapsuleShape());
EXPECT_EQ(nullptr, geom2.CylinderShape());
EXPECT_EQ(nullptr, geom2.EllipsoidShape());
EXPECT_EQ(nullptr, geom2.SphereShape());
EXPECT_EQ(nullptr, geom2.PlaneShape());
EXPECT_EQ(nullptr, geom2.MeshShape());
EXPECT_EQ(nullptr, geom2.HeightmapShape());
EXPECT_TRUE(geom2.PolylineShape().empty());
}
// Capsule
{
sdf::Geometry geom;
geom.SetType(sdf::GeometryType::CAPSULE);
sdf::Capsule capsule;
geom.SetCapsuleShape(capsule);
sdf::ElementPtr elem = geom.ToElement(errors);
EXPECT_TRUE(errors.empty());
ASSERT_NE(nullptr, elem);
sdf::Geometry geom2;
errors = geom2.Load(elem);
EXPECT_TRUE(errors.empty());
EXPECT_EQ(geom.Type(), geom2.Type());
EXPECT_EQ(nullptr, geom2.BoxShape());
EXPECT_NE(nullptr, geom2.CapsuleShape());
EXPECT_EQ(nullptr, geom2.CylinderShape());
EXPECT_EQ(nullptr, geom2.EllipsoidShape());
EXPECT_EQ(nullptr, geom2.SphereShape());
EXPECT_EQ(nullptr, geom2.PlaneShape());
EXPECT_EQ(nullptr, geom2.MeshShape());
EXPECT_EQ(nullptr, geom2.HeightmapShape());
EXPECT_TRUE(geom2.PolylineShape().empty());
}
// Cylinder
{
sdf::Geometry geom;
geom.SetType(sdf::GeometryType::CYLINDER);
sdf::Cylinder cylinder;
geom.SetCylinderShape(cylinder);
sdf::ElementPtr elem = geom.ToElement(errors);
EXPECT_TRUE(errors.empty());
ASSERT_NE(nullptr, elem);
sdf::Geometry geom2;
errors = geom2.Load(elem);
EXPECT_TRUE(errors.empty());
EXPECT_EQ(geom.Type(), geom2.Type());
EXPECT_EQ(nullptr, geom2.BoxShape());
EXPECT_EQ(nullptr, geom2.CapsuleShape());
EXPECT_NE(nullptr, geom2.CylinderShape());
EXPECT_EQ(nullptr, geom2.EllipsoidShape());
EXPECT_EQ(nullptr, geom2.SphereShape());
EXPECT_EQ(nullptr, geom2.PlaneShape());
EXPECT_EQ(nullptr, geom2.MeshShape());
EXPECT_EQ(nullptr, geom2.HeightmapShape());
EXPECT_TRUE(geom2.PolylineShape().empty());
}
// Ellipsoid
{
sdf::Geometry geom;
geom.SetType(sdf::GeometryType::ELLIPSOID);
sdf::Ellipsoid ellipsoid;
geom.SetEllipsoidShape(ellipsoid);
sdf::ElementPtr elem = geom.ToElement(errors);
EXPECT_TRUE(errors.empty());
ASSERT_NE(nullptr, elem);
sdf::Geometry geom2;
errors = geom2.Load(elem);
EXPECT_TRUE(errors.empty());
EXPECT_EQ(geom.Type(), geom2.Type());
EXPECT_EQ(nullptr, geom2.BoxShape());
EXPECT_EQ(nullptr, geom2.CapsuleShape());
EXPECT_EQ(nullptr, geom2.CylinderShape());
EXPECT_NE(nullptr, geom2.EllipsoidShape());
EXPECT_EQ(nullptr, geom2.SphereShape());
EXPECT_EQ(nullptr, geom2.PlaneShape());
EXPECT_EQ(nullptr, geom2.MeshShape());
EXPECT_EQ(nullptr, geom2.HeightmapShape());
EXPECT_TRUE(geom2.PolylineShape().empty());
}
// Sphere
{
sdf::Geometry geom;
geom.SetType(sdf::GeometryType::SPHERE);
sdf::Sphere sphere;
geom.SetSphereShape(sphere);
sdf::ElementPtr elem = geom.ToElement(errors);
EXPECT_TRUE(errors.empty());
ASSERT_NE(nullptr, elem);
sdf::Geometry geom2;
errors = geom2.Load(elem);
EXPECT_TRUE(errors.empty());
EXPECT_EQ(geom.Type(), geom2.Type());
EXPECT_EQ(nullptr, geom2.BoxShape());
EXPECT_EQ(nullptr, geom2.CapsuleShape());
EXPECT_EQ(nullptr, geom2.CylinderShape());
EXPECT_EQ(nullptr, geom2.EllipsoidShape());
EXPECT_NE(nullptr, geom2.SphereShape());
EXPECT_EQ(nullptr, geom2.PlaneShape());
EXPECT_EQ(nullptr, geom2.MeshShape());
EXPECT_EQ(nullptr, geom2.HeightmapShape());
EXPECT_TRUE(geom2.PolylineShape().empty());
}
// Plane
{
sdf::Geometry geom;
geom.SetType(sdf::GeometryType::PLANE);
sdf::Plane plane;
geom.SetPlaneShape(plane);
sdf::ElementPtr elem = geom.ToElement(errors);
EXPECT_TRUE(errors.empty());
ASSERT_NE(nullptr, elem);
sdf::Geometry geom2;
errors = geom2.Load(elem);
EXPECT_TRUE(errors.empty());
EXPECT_EQ(geom.Type(), geom2.Type());
EXPECT_EQ(nullptr, geom2.BoxShape());
EXPECT_EQ(nullptr, geom2.CapsuleShape());
EXPECT_EQ(nullptr, geom2.CylinderShape());
EXPECT_EQ(nullptr, geom2.EllipsoidShape());
EXPECT_EQ(nullptr, geom2.SphereShape());
EXPECT_NE(nullptr, geom2.PlaneShape());
EXPECT_EQ(nullptr, geom2.MeshShape());
EXPECT_EQ(nullptr, geom2.HeightmapShape());
EXPECT_TRUE(geom2.PolylineShape().empty());
}
// Mesh
{
sdf::Geometry geom;
geom.SetType(sdf::GeometryType::MESH);
sdf::Mesh mesh;
geom.SetMeshShape(mesh);
sdf::ElementPtr elem = geom.ToElement(errors);
// Required uri is not set so an Error is expected
ASSERT_EQ(errors.size(), 1u);
EXPECT_NE(std::string::npos, errors[0].Message().find(
"Empty string used when setting a required parameter. Key[uri]"));
errors.clear();
ASSERT_NE(nullptr, elem);
sdf::Geometry geom2;
errors = geom2.Load(elem);
EXPECT_TRUE(errors.empty());
EXPECT_EQ(geom.Type(), geom2.Type());
EXPECT_EQ(nullptr, geom2.BoxShape());
EXPECT_EQ(nullptr, geom2.CapsuleShape());
EXPECT_EQ(nullptr, geom2.CylinderShape());
EXPECT_EQ(nullptr, geom2.EllipsoidShape());
EXPECT_EQ(nullptr, geom2.SphereShape());
EXPECT_EQ(nullptr, geom2.PlaneShape());
EXPECT_NE(nullptr, geom2.MeshShape());
EXPECT_EQ(nullptr, geom2.HeightmapShape());
EXPECT_TRUE(geom2.PolylineShape().empty());
}
// Heightmap