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Moved ScreenToPlane and ScreenToScene from ign-gui to ign-rendering
Signed-off-by: ahcorde <ahcorde@gmail.com>
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| Original file line number | Diff line number | Diff line change |
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| /* * Copyright (C) 2021 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> | ||
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| #include <ignition/common/Console.hh> | ||
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| #include "ignition/rendering/Camera.hh" | ||
| #include "ignition/rendering/RayQuery.hh" | ||
| #include "ignition/rendering/RenderEngine.hh" | ||
| #include "ignition/rendering/RenderingIface.hh" | ||
| #include "ignition/rendering/Scene.hh" | ||
| #include "ignition/rendering/Utils.hh" | ||
| #include "ignition/rendering/Visual.hh" | ||
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| #include "test_config.h" // NOLINT(build/include) | ||
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| using namespace ignition; | ||
| using namespace rendering; | ||
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| class UtilTest : public testing::Test, | ||
| public testing::WithParamInterface<const char *> | ||
| { | ||
| // Documentation inherited | ||
| public: void SetUp() override | ||
| { | ||
| ignition::common::Console::SetVerbosity(4); | ||
| } | ||
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| public: void ClickToScene(const std::string &_renderEngine); | ||
| }; | ||
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| void UtilTest::ClickToScene(const std::string &_renderEngine) | ||
| { | ||
| RenderEngine *engine = rendering::engine(_renderEngine); | ||
| if (!engine) | ||
| { | ||
| igndbg << "Engine '" << _renderEngine | ||
| << "' is not supported" << std::endl; | ||
| return; | ||
| } | ||
| ScenePtr scene = engine->CreateScene("scene"); | ||
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| CameraPtr camera(scene->CreateCamera()); | ||
| EXPECT_TRUE(camera != nullptr); | ||
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| camera->SetLocalPosition(0.0, 0.0, 15); | ||
| camera->SetLocalRotation(0.0, 1.57, 0.0); | ||
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| unsigned int width = 640u; | ||
| unsigned int height = 480u; | ||
| camera->SetImageWidth(width); | ||
| camera->SetImageHeight(height); | ||
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| RayQueryPtr rayQuery = scene->CreateRayQuery(); | ||
| EXPECT_TRUE(rayQuery != nullptr); | ||
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| // ScreenToPlane | ||
| math::Vector3d result = ScreenToPlane( | ||
| math::Vector2i(static_cast<int>(width / 2), static_cast<int>(height / 2)), | ||
| camera, rayQuery); | ||
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| EXPECT_NEAR(0.0, result.Z(), 0.01); | ||
| EXPECT_NEAR(0.0, result.X(), 0.1); | ||
| EXPECT_NEAR(0.0, result.Y(), 0.01); | ||
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| // ScreenToScene | ||
| RayQueryResult rayResult; | ||
| result = ScreenToScene( | ||
| math::Vector2i(static_cast<int>(width / 2), static_cast<int>(height / 2)), | ||
| camera, rayQuery, rayResult); | ||
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| VisualPtr root = scene->RootVisual(); | ||
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| // create box visual to collide with the ray | ||
| VisualPtr box = scene->CreateVisual(); | ||
| box->AddGeometry(scene->CreateBox()); | ||
| box->SetOrigin(0.0, 0.0, 0.0); | ||
| box->SetLocalPosition(0.0, 0.0, 0.0); | ||
| box->SetLocalRotation(0.0, 0.0, 0.0); | ||
| box->SetLocalScale(1.0, 1.0, 1.0); | ||
| root->AddChild(box); | ||
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| // The default limit of the function is 10 meters away | ||
| EXPECT_NEAR(5.0, result.Z(), 0.01); | ||
| EXPECT_NEAR(0.0, result.X(), 0.1); | ||
| EXPECT_NEAR(0.0, result.Y(), 0.01); | ||
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| result = ScreenToScene( | ||
| math::Vector2i(static_cast<int>(width / 2), static_cast<int>(height / 2)), | ||
| camera, rayQuery, rayResult, 20.0); | ||
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| EXPECT_NEAR(0.5, result.Z(), 0.01); | ||
| EXPECT_NEAR(0.0, result.X(), 0.1); | ||
| EXPECT_NEAR(0.0, result.Y(), 0.01); | ||
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| camera->SetLocalPosition(0.0, 0.0, 7.0); | ||
| camera->SetLocalRotation(0.0, 1.57, 0.0); | ||
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| // The default limit of the function is 10 meters away | ||
| result = ScreenToScene( | ||
| math::Vector2i(static_cast<int>(width / 2), static_cast<int>(height / 2)), | ||
| camera, rayQuery, rayResult); | ||
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| EXPECT_NEAR(0.5, result.Z(), 0.01); | ||
| EXPECT_NEAR(0.0, result.X(), 0.1); | ||
| EXPECT_NEAR(0.0, result.Y(), 0.01); | ||
| } | ||
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| ///////////////////////////////////////////////// | ||
| TEST_P(UtilTest, ClickToScene) | ||
| { | ||
| ClickToScene(GetParam()); | ||
| } | ||
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| INSTANTIATE_TEST_CASE_P(ClickToScene, UtilTest, | ||
| RENDER_ENGINE_VALUES, | ||
| ignition::rendering::PrintToStringParam()); | ||
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| int main(int argc, char **argv) | ||
| { | ||
| ::testing::InitGoogleTest(&argc, argv); | ||
| return RUN_ALL_TESTS(); | ||
| } |