Added BVH and STL loader tests (#466)

Signed-off-by: ahcorde <[email protected]>

Author: ahcorde

graphics/src/BVHLoader_TEST.cc

@@ -0,0 +1,43 @@
+/*
+ * Copyright (C) 2022 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 <gtest/gtest.h>
+
+#include "test_config.h"
+
+#include "gz/common/BVHLoader.hh"
+#include "gz/common/Skeleton.hh"
+#include "gz/common/SkeletonAnimation.hh"
+
+using namespace ignition;
+
+class BHVLoaderTest : public common::testing::AutoLogFixture { };
+
+/////////////////////////////////////////////////
+TEST_F(BHVLoaderTest, LoadBVH)
+{
+  common::BVHLoader loader;
+  auto skel = loader.Load("", 1);
+  EXPECT_EQ(nullptr, skel);
+
+  skel = loader.Load(
+      common::testing::TestFile("data", "cmu-13_26.bvh"), 1);
+  EXPECT_NE(nullptr, skel->RootNode());
+
+  EXPECT_EQ(skel->RootNode()->Name(), std::string("Hips"));
+  EXPECT_EQ(31u, skel->NodeCount());
+}

graphics/src/STLLoader_TEST.cc

@@ -0,0 +1,91 @@
+/*
+ * Copyright (C) 2022 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 <gtest/gtest.h>
+
+#include "test_config.h"
+
+#include "gz/common/Mesh.hh"
+#include "gz/common/SubMesh.hh"
+#include "gz/common/Material.hh"
+#include "gz/common/STLLoader.hh"
+
+using namespace ignition;
+
+class STLLoaderTest : public common::testing::AutoLogFixture { };
+
+/////////////////////////////////////////////////
+TEST_F(STLLoaderTest, LoadSTL)
+{
+  common::STLLoader loader;
+  auto mesh = loader.Load("");
+  EXPECT_EQ(nullptr, mesh);
+
+  mesh = loader.Load(
+      common::testing::TestFile("data", "cube.stl"));
+  EXPECT_NE(nullptr, mesh);
+
+  EXPECT_STREQ("unknown", mesh->Name().c_str());
+  EXPECT_EQ(math::Vector3d(20, 0, 20), mesh->Max());
+  EXPECT_EQ(math::Vector3d(0, -20, 0), mesh->Min());
+  // 36 vertices, 24 unique, 12 shared.
+  EXPECT_EQ(36u, mesh->VertexCount());
+  EXPECT_EQ(36u, mesh->NormalCount());
+  EXPECT_EQ(36u, mesh->IndexCount());
+  EXPECT_EQ(0u, mesh->TexCoordCount());
+  EXPECT_EQ(1u, mesh->SubMeshCount());
+  EXPECT_EQ(0u, mesh->MaterialCount());
+
+  auto sm = mesh->SubMeshByIndex(0u);
+  auto subMesh = sm.lock();
+  EXPECT_NE(nullptr, subMesh);
+  EXPECT_EQ(math::Vector3d(20, 0, 0), subMesh->Vertex(0u));
+  EXPECT_EQ(math::Vector3d(0, -20, 0), subMesh->Vertex(1u));
+  EXPECT_EQ(math::Vector3d(0, 0, 0), subMesh->Vertex(2u));
+  EXPECT_EQ(math::Vector3d(0, 0, -1), subMesh->Normal(0u));
+  EXPECT_EQ(math::Vector3d(0, 0, -1), subMesh->Normal(1u));
+  EXPECT_EQ(math::Vector3d(0, 0, -1), subMesh->Normal(2u));
+
+  EXPECT_STREQ("", mesh->SubMeshByIndex(0).lock()->Name().c_str());
+
+  mesh = loader.Load(
+      common::testing::TestFile("data", "cube_binary.stl"));
+  EXPECT_NE(nullptr, mesh);
+
+  EXPECT_STREQ("unknown", mesh->Name().c_str());
+  EXPECT_EQ(math::Vector3d(20, 0, 20), mesh->Max());
+  EXPECT_EQ(math::Vector3d(0, -20, 0), mesh->Min());
+  // 36 vertices, 24 unique, 12 shared.
+  EXPECT_EQ(36u, mesh->VertexCount());
+  EXPECT_EQ(36u, mesh->NormalCount());
+  EXPECT_EQ(36u, mesh->IndexCount());
+  EXPECT_EQ(0u, mesh->TexCoordCount());
+  EXPECT_EQ(1u, mesh->SubMeshCount());
+  EXPECT_EQ(0u, mesh->MaterialCount());
+
+  sm = mesh->SubMeshByIndex(0u);
+  subMesh = sm.lock();
+  EXPECT_NE(nullptr, subMesh);
+  EXPECT_EQ(math::Vector3d(20, 0, 0), subMesh->Vertex(0u));
+  EXPECT_EQ(math::Vector3d(0, -20, 0), subMesh->Vertex(1u));
+  EXPECT_EQ(math::Vector3d(0, 0, 0), subMesh->Vertex(2u));
+  EXPECT_EQ(math::Vector3d(0, 0, -1), subMesh->Normal(0u));
+  EXPECT_EQ(math::Vector3d(0, 0, -1), subMesh->Normal(1u));
+  EXPECT_EQ(math::Vector3d(0, 0, -1), subMesh->Normal(2u));
+
+  EXPECT_STREQ("", mesh->SubMeshByIndex(0).lock()->Name().c_str());
+}