add one unit test on warning with no model and update other tests

Author: fredroy

Sofa/Component/Collision/Detection/Algorithm/tests/CollisionPipeline_test.cpp

@@ -72,12 +72,14 @@ class TestCollisionPipeline : public BaseSimulationTest {
     void checkCollisionPipelineWithMissingBroadPhase();
     void checkCollisionPipelineWithMissingNarrowPhase();
     void checkCollisionPipelineWithMissingContactManager();
+    void checkCollisionPipelineWithMissingCollisionModel();
     int checkCollisionPipelineWithMonkeyValueForDepth(int value);
 
     void doSetUp() override
     {
         this->loadPlugins({
             Sofa.Component.StateContainer,
+            Sofa.Component.Collision.Geometry,
             Sofa.Component.Collision.Detection.Algorithm,
             Sofa.Component.Collision.Detection.Intersection,
             Sofa.Component.Collision.Response.Contact
@@ -104,6 +106,10 @@ void TestCollisionPipeline::checkCollisionPipelineWithNoAttributes()
              "  <BVHNarrowPhase/>                                                            \n"
              "  <CollisionResponse response='PenalityContactForceField'/>                    \n"
              "  <DiscreteIntersection name='interaction'/>                                   \n"
+             "  <Node name='Model'/>                                                         \n"
+             "      <MechanicalObject template='Vec3' name='Container' position='0 0 0'/>    \n"
+             "      <SphereCollisionModel name='SphereModel'/>                               \n"
+             "   </Node>                                                                     \n"
              "</Node>                                                                        \n" ;
 
     root = SceneLoaderXML::loadFromMemory ("testscene", scene.str().c_str());
@@ -127,6 +133,10 @@ void TestCollisionPipeline::checkCollisionPipelineWithMissingIntersection()
              "  <BruteForceBroadPhase/>                                                      \n"
              "  <BVHNarrowPhase/>                                                            \n"
              "  <CollisionResponse response='PenalityContactForceField'/>                    \n"
+             "  <Node name='Model'/>                                                         \n"
+             "      <MechanicalObject template='Vec3' name='Container' position='0 0 0'/>    \n"
+             "      <SphereCollisionModel name='SphereModel'/>                               \n"
+             "   </Node>                                                                     \n"
              "</Node>                                                                        \n" ;
 
     root = SceneLoaderXML::loadFromMemory ("testscene", scene.str().c_str());
@@ -149,6 +159,10 @@ void TestCollisionPipeline::checkCollisionPipelineWithMissingBroadPhase()
              "  <BVHNarrowPhase/>                                                            \n"
              "  <CollisionResponse response='PenalityContactForceField'/>                    \n"
              "  <DiscreteIntersection name='interaction'/>                                   \n"
+             "  <Node name='Model'/>                                                         \n"
+             "      <MechanicalObject template='Vec3' name='Container' position='0 0 0'/>    \n"
+             "      <SphereCollisionModel name='SphereModel'/>                               \n"
+             "   </Node>                                                                     \n"
              "</Node>                                                                        \n" ;
 
     root = SceneLoaderXML::loadFromMemory ("testscene", scene.str().c_str());
@@ -170,8 +184,12 @@ void TestCollisionPipeline::checkCollisionPipelineWithMissingNarrowPhase()
              "  <BruteForceBroadPhase/>                                                      \n"
              "  <CollisionResponse response='PenalityContactForceField'/>                    \n"
              "  <DiscreteIntersection name='interaction'/>                                   \n"
+             "  <Node name='Model'/>                                                         \n"
+             "      <MechanicalObject template='Vec3' name='Container' position='0 0 0'/>    \n"
+             "      <SphereCollisionModel name='SphereModel'/>                               \n"
+             "   </Node>                                                                     \n"
              "</Node>                                                                        \n" ;
-
+    
     root = SceneLoaderXML::loadFromMemory ("testscene", scene.str().c_str());
     ASSERT_NE(root.get(), nullptr) ;
     root->init(sofa::core::execparams::defaultInstance()) ;
@@ -191,6 +209,34 @@ void TestCollisionPipeline::checkCollisionPipelineWithMissingContactManager()
              "  <BruteForceBroadPhase/>                                                      \n"
              "  <BVHNarrowPhase/>                                                            \n"
              "  <DiscreteIntersection name='interaction'/>                                   \n"
+             "  <Node name='Model'/>                                                         \n"
+             "      <MechanicalObject template='Vec3' name='Container' position='0 0 0'/>    \n"
+             "      <SphereCollisionModel name='SphereModel'/>                               \n"
+             "   </Node>                                                                     \n"
+             "</Node>                                                                        \n" ;
+
+    root = SceneLoaderXML::loadFromMemory ("testscene", scene.str().c_str());
+    ASSERT_NE(root.get(), nullptr) ;
+    root->init(sofa::core::execparams::defaultInstance()) ;
+
+    BaseObject* clp = root->getObject("pipeline") ;
+    ASSERT_NE(clp, nullptr) ;
+
+}
+
+void TestCollisionPipeline::checkCollisionPipelineWithMissingCollisionModel()
+{
+    EXPECT_MSG_EMIT(Warning) ;
+    EXPECT_MSG_NOEMIT(Error) ;
+
+    std::stringstream scene ;
+    scene << "<?xml version='1.0'?>                                                          \n"
+             "<Node     name='Root' gravity='0 -9.81 0' time='0' animate='0' >               \n"
+             "  <CollisionPipeline name='pipeline'/>                                         \n"
+             "  <BruteForceBroadPhase/>                                                      \n"
+             "  <BVHNarrowPhase/>                                                            \n"
+             "  <CollisionResponse response='PenalityContactForceField'/>                    \n"
+             "  <DiscreteIntersection name='interaction'/>                                   \n"
              "</Node>                                                                        \n" ;
 
     root = SceneLoaderXML::loadFromMemory ("testscene", scene.str().c_str());
@@ -212,6 +258,10 @@ int TestCollisionPipeline::checkCollisionPipelineWithMonkeyValueForDepth(int dva
              "  <BVHNarrowPhase/>                                                            \n"
              "  <CollisionResponse response='PenalityContactForceField'/>                    \n"
              "  <DiscreteIntersection name='interaction'/>                                   \n"
+             "  <Node name='Model'/>                                                         \n"
+             "      <MechanicalObject template='Vec3' name='Container' position='0 0 0'/>    \n"
+             "      <SphereCollisionModel name='SphereModel'/>                               \n"
+             "   </Node>                                                                     \n"
              "</Node>                                                                        \n" ;
 
     root = SceneLoaderXML::loadFromMemory ("testscene", scene.str().c_str());
@@ -252,6 +302,12 @@ TEST_F(TestCollisionPipeline, checkCollisionPipelineWithMissingContactManager)
     this->checkCollisionPipelineWithMissingContactManager();
 }
 
+TEST_F(TestCollisionPipeline, checkCollisionPipelineWithMissingCollisionModel)
+{
+    this->checkCollisionPipelineWithMissingCollisionModel();
+}
+
+
 TEST_F(TestCollisionPipeline, checkCollisionPipelineWithMonkeyValueForDepth_OpenIssue)
 {
     const std::vector<std::pair<int, bool>> testvalues = {