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test
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@chapulina
chapulina committed Jul 16, 2018
1 parent 6945217 commit 3021add
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2 changes: 1 addition & 1 deletion gz3d/src/gzobjloader.js
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@
* @param {} _submesh
* @param {} _centerSubmesh
* @param {function} _callback
* @param {array} _files -optional- the obj [0] and the mtl [1] files as a strings
* @param {array} _files -optional- the obj [0] and the mtl [1] files as strings
* to be parsed by the loaders, if provided the uri will not be used just
* as a url, no XMLHttpRequest will be made.
*/
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3 changes: 2 additions & 1 deletion gz3d/src/gzscene.js
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Original file line number Diff line number Diff line change
Expand Up @@ -1488,7 +1488,7 @@ GZ3D.Scene.prototype.loadMeshFromUri = function(uri, submesh, centerSubmesh,
return;
}

// load urdf model
// load meshes
if (uriFile.substr(-4).toLowerCase() === '.dae')
{
return this.loadCollada(uri, submesh, centerSubmesh, callback);
Expand All @@ -1505,6 +1505,7 @@ GZ3D.Scene.prototype.loadMeshFromUri = function(uri, submesh, centerSubmesh,
}
else if (uriFile.substr(-5).toLowerCase() === '.urdf')
{
console.error('Attempting to load URDF file, but it\'s not supported.');
/*var urdfModel = new ROSLIB.UrdfModel({
string : uri
});
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17 changes: 15 additions & 2 deletions gz3d/src/gzsdfparser.js
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Original file line number Diff line number Diff line change
Expand Up @@ -578,10 +578,23 @@ GZ3D.SdfParser.prototype.createGeom = function(geom, mat, parent)
if (!this.usingFilesUrls)
{
var meshFile = this.meshes[meshFileName];
if (!meshFile)
{
console.error('Missing mesh file [' + meshFileName + ']');
return;
}

if (ext === '.obj')
{
var mtlFile = this.mtls[meshFileName.split('.')[0]+'.mtl'];
that.scene.loadMeshFromString(modelUri, submesh,centerSubmesh,
var mtlFileName = meshFileName.split('.')[0]+'.mtl';
var mtlFile = this.mtls[mtlFileName];
if (!mtlFile)
{
console.error('Missing MTL file [' + mtlFileName + ']');
return;
}

that.scene.loadMeshFromString(modelUri, submesh, centerSubmesh,
function(obj)
{
if (!obj)
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214 changes: 116 additions & 98 deletions gz3d/test/gzscene_test.js
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,19 @@ describe('Gzscene tests', function() {

const utilsPath = 'http://localhost:9876/base/gz3d/test/utils/';

// Returns a file from the utils directory as text
function fileAsText(_path)
{
var fullPath = utilsPath + _path;

var xhttp = new XMLHttpRequest();
xhttp.overrideMimeType('text/plain');
xhttp.open('GET', fullPath, false);
xhttp.send();

return xhttp.responseText;
}

let shaders;
let scene;
let gui;
Expand Down Expand Up @@ -328,14 +341,11 @@ describe('Gzscene tests', function() {

describe('Spawn a model', function() {
it('should add a model to the scene and then removes it', function() {
var sdf, model;
var xhttp = new XMLHttpRequest();
xhttp.overrideMimeType('text/xml');
xhttp.open('GET',
utilsPath + 'beer/model.sdf', false);
xhttp.send();
sdf = xhttp.responseXML;
model = sdfparser.spawnFromSDF(sdf);

var sdf = fileAsText('beer/model.sdf');
expect(sdf).not.toEqual(null);

var model = sdfparser.spawnFromSDF(sdf);
scene.add(model);

model = scene.getByName('beer');
Expand All @@ -347,37 +357,56 @@ describe('Gzscene tests', function() {
});
});

describe('Spawn a model with an obj mesh', function() {
it('should add a model to the scene and then removes it', function() {
var sdf, model;
var xhttp = new XMLHttpRequest();
xhttp.overrideMimeType('text/xml');
xhttp.open('GET',
utilsPath + 'walkway_metal_straight/model.sdf', false);
xhttp.send();
sdf = xhttp.responseXML;
model = sdfparser.spawnFromSDF(sdf);
describe('Spawn a model with an obj mesh using sdfparser.spawnFromSDF',
function() {
it('should add a model to the scene and then remove it', function() {

// Get files
var sdf = fileAsText('walkway_metal_straight/model.sdf');
expect(sdf).not.toEqual(null);

var obj = fileAsText('walkway_metal_straight/meshes/mesh.obj');
expect(obj).not.toEqual(null);

var mtl = fileAsText('walkway_metal_straight/meshes/mesh.mtl');
expect(mtl).not.toEqual(null);

// Add to parser
sdfparser.meshes['mesh.obj'] = obj;
sdfparser.mtls['mesh.mtl'] = mtl;

// Check model doesn't exist yet
model = scene.getByName('walkway_metal_straight');
expect(model).toEqual(undefined);

// Create model
var model = sdfparser.spawnFromSDF(sdf);
scene.add(model);

model = scene.getByName('walkway_metal_straight');
expect(model).not.toEqual(undefined);

var mesh = scene.getByName('Walkway_Straight');
expect(mesh).not.toEqual(undefined);

// Remove model
scene.remove(model);

model = scene.getByName('walkway_metal_straight');
expect(model).toEqual(undefined);

// Clean up
sdfparser.meshes = {};
sdfparser.mtls = {};
});
});

describe('Spawn a model with a collada mesh', function() {
it('should add a model to the scene and then removes it', function() {
var sdf, model;
var xhttp = new XMLHttpRequest();
xhttp.overrideMimeType('text/xml');
xhttp.open('GET',
utilsPath + 'house_2/model.sdf', false);
xhttp.send();
sdf = xhttp.responseXML;
model = sdfparser.spawnFromSDF(sdf);
var sdf = fileAsText('house_2/model.sdf');
expect(sdf).not.toEqual(null);

var model = sdfparser.spawnFromSDF(sdf);
scene.add(model);

model = scene.getByName('House 2');
Expand All @@ -392,17 +421,13 @@ describe('Gzscene tests', function() {
describe('Spawn a model with no mesh using the file api', function() {
it('should add a model to the scene using its files and then remove it',
function() {
var sdf, model, obj;
var xhttp = new XMLHttpRequest();
xhttp.overrideMimeType('text/xml');
xhttp.open('GET', utilsPath + 'beer/model.sdf', false);
xhttp.send();
sdf = xhttp.responseXML;
var sdf = fileAsText('beer/model.sdf');
expect(sdf).not.toEqual(null);

model = scene.getByName('beer');
var model = scene.getByName('beer');
expect(model).toEqual(undefined);

obj = scene.createFromSdf(sdf);
var obj = scene.createFromSdf(sdf);
scene.add(obj);
model = scene.getByName('beer');

Expand All @@ -413,61 +438,59 @@ describe('Gzscene tests', function() {
});
});

describe('Spawn a model with obj mesh using the file api', function() {
describe('Spawn a model with obj mesh using scene.createFromSdf', function() {
it('should add a model to the scene using its files and then remove it',
function() {
var sdf, obj, mtl, model, modelName, xhttp_1, xhttp_2, xhttp_3;
xhttp_1 = new XMLHttpRequest();
xhttp_1.overrideMimeType('text/xml');
xhttp_1.open('GET',
utilsPath + 'walkway_metal_straight/model.sdf', false);
xhttp_1.send();
sdf = xhttp_1.responseXML;

xhttp_2 = new XMLHttpRequest();
xhttp_2.overrideMimeType('text/plain');
xhttp_2.open('GET', utilsPath + 'walkway_metal_straight/meshes/mesh.obj',
false);
xhttp_2.send();
obj = xhttp_2.responseText;
sdfparser.meshes['mesh.obj'] = obj;

xhttp_3 = new XMLHttpRequest();
xhttp_3.overrideMimeType('text/xml');
xhttp_3.open('GET', utilsPath + 'walkway_metal_straight/meshes/mesh.mtl',
false);
xhttp_3.send();
mtl = xhttp_3.responseText;
sdfparser.meshes['mesh.mtl'] = mtl;
// Get files
var sdf = fileAsText('walkway_metal_straight/model.sdf');
expect(sdf).not.toEqual(null);

model = scene.getByName('walkway_metal_straight');
var obj = fileAsText('walkway_metal_straight/meshes/mesh.obj');
expect(obj).not.toEqual(null);

var mtl = fileAsText('walkway_metal_straight/meshes/mesh.mtl');
expect(mtl).not.toEqual(null);

// Add to parser
sdfparser.meshes['mesh.obj'] = obj;
sdfparser.mtls['mesh.mtl'] = mtl;

// Check model doesn't exist yet
var model = scene.getByName('walkway_metal_straight');
expect(model).toEqual(undefined);

obj = scene.createFromSdf(sdf);
// Create model
var obj = scene.createFromSdf(sdf);
scene.add(obj);
model = scene.getByName('walkway_metal_straight');

model = scene.getByName('walkway_metal_straight');
expect(model).not.toEqual(undefined);

var mesh = scene.getByName('Walkway_Straight');
expect(mesh).not.toEqual(undefined);

// Remove model
scene.remove(model);

model = scene.getByName('walkway_metal_straight');
expect(model).toEqual(undefined);

// Clean up
sdfparser.meshes = {};
sdfparser.mtls = {};
});
});

describe('Spawn a model where the mesh files are undefined', function() {
it('should add a model to the scene using its files and then remove it',
function() {
var sdf, model, xhttp_1;
xhttp_1 = new XMLHttpRequest();
xhttp_1.overrideMimeType('text/xml');
xhttp_1.open('GET', utilsPath + 'walkway_metal_straight/model.sdf',
false);
xhttp_1.send();
sdf = xhttp_1.responseXML;

sdfparser.meshes['mesh.obj'] = undefined;
var sdf = fileAsText('walkway_metal_straight/model.sdf');
expect(sdf).not.toEqual(null);

sdfparser.meshes['mesh.mtl'] = undefined;
sdfparser.meshes['mesh.obj'] = undefined;
sdfparser.mtls['mesh.mtl'] = undefined;

model = scene.getByName('walkway_metal_straight');
expect(model).toEqual(undefined);
Expand All @@ -485,55 +508,50 @@ describe('Gzscene tests', function() {

describe('Spawn a model where all the files are undefined', function() {
it('shouldnt add amodel to the scene', function() {
var model;

sdfparser.meshes['mesh.obj'] = undefined;

sdfparser.meshes['mesh.mtl'] = undefined;

model = scene.getByName('walkway_metal_straight');
var model = scene.getByName('walkway_metal_straight');
expect(model).toEqual(undefined);

obj = scene.createFromSdf(undefined);
var obj = scene.createFromSdf(undefined);

expect(obj).toEqual(undefined);
});
});

describe('Spawn a model with a collada mesh', function() {
it('should add a model to the scene and then removes it', function() {
var sdf, model;
var xhttp = new XMLHttpRequest();
xhttp.overrideMimeType('text/xml');
xhttp.open('GET', utilsPath + 'house_2/model.sdf', false);
xhttp.send();
sdf = xhttp.responseXML;
model = sdfparser.spawnFromSDF(sdf);
scene.add(model);

model = scene.getByName('House 2');
expect(model).not.toEqual(undefined);

scene.remove(model);
model = scene.getByName('House 2');
expect(model).toEqual(undefined);
});
describe('Spawn a model with a collada mesh', function() {
it('should add a model to the scene and then removes it', function() {

var sdf = fileAsText('house_2/model.sdf');
expect(sdf).not.toEqual(null);

var model = sdfparser.spawnFromSDF(sdf);
scene.add(model);

model = scene.getByName('House 2');
expect(model).not.toEqual(undefined);

scene.remove(model);
model = scene.getByName('House 2');
expect(model).toEqual(undefined);
});
});

// Test inertia visualizations
describe('Test inertia visuals', function() {
it('Should toggle inertia visualizations', function() {
var sdf, object, visual, model, xhttp;
xhttp = new XMLHttpRequest();
xhttp.overrideMimeType('text/xml');
xhttp.open('GET', utilsPath + 'beer/model.sdf', false);
xhttp.send();
sdf = xhttp.responseXML;
model = sdfparser.spawnFromSDF(sdf);

var sdf = fileAsText('beer/model.sdf');
expect(sdf).not.toEqual(null);

var model = sdfparser.spawnFromSDF(sdf);
scene.add(model);

// no visuals intially
visual = model.getObjectByName('INERTIA_VISUAL');
var visual = model.getObjectByName('INERTIA_VISUAL');
expect(visual).toEqual(undefined);

// if there was no selected entity it shouldn't break
Expand Down

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