GCC Code Coverage Report

Directory: ./
File: tests/nodes.cpp
Date: 2025-04-14 11:18:00
Exec Total Coverage
Lines: 40 48 83.3%
Branches: 127 300 42.3%
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1 //
2 // Copyright (c) 2019 CNRS
3 // Authors: Joseph Mirabel
4 //
5 //
6 // This file is part of gepetto-viewer
7 // gepetto-viewer is free software: you can redistribute it
8 // and/or modify it under the terms of the GNU Lesser General Public
9 // License as published by the Free Software Foundation, either version
10 // 3 of the License, or (at your option) any later version.
11 //
12 // gepetto-viewer is distributed in the hope that it will be
13 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
14 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 // General Lesser Public License for more details. You should have
16 // received a copy of the GNU Lesser General Public License along with
17 // gepetto-viewer If not, see
18 // <http://www.gnu.org/licenses/>.
19
20 #define BOOST_TEST_MODULE nodes
21 #ifndef Q_MOC_RUN
22 #include <boost/test/unit_test.hpp>
23 #include <boost/utility/binary.hpp>
24 #endif
25
26 #include <gepetto/viewer/leaf-node-box.h>
27 #include <gepetto/viewer/node.h>
28
29 #define CHECK_VECT_CLOSE(a, b, tol) \
30 BOOST_CHECK_SMALL((a - b).length2(), float(tol));
31
32 #define CHECK_QUAT_CLOSE(a, b, tol) \
33 { \
34 osgQuat qres(a.inverse() * b); \
35 osgVector3 axis; \
36 double angle; \
37 qres.getRotate(angle, axis); \
38 if (std::fabs(angle - 2 * M_PI) < std::fabs(angle)) \
39 BOOST_CHECK_CLOSE(angle, 2 * M_PI, (double)tol); \
40 else \
41 BOOST_CHECK_SMALL(angle, (double)tol); \
42 }
43
44 namespace osg {
45 ✗ std::ostream& operator<<(std::ostream& os, const Matrix& m) {
46 ✗ const char* s = ", ";
47 ✗ const char* l = "\n";
48 ✗ os << m(0, 0) << s << m(0, 1) << s << m(0, 2) << s << m(0, 3) << l << m(1, 0)
49 ✗ << s << m(1, 1) << s << m(1, 2) << s << m(1, 3) << l << m(2, 0) << s
50 ✗ << m(2, 1) << s << m(2, 2) << s << m(2, 3) << l << m(3, 0) << s << m(3, 1)
51 ✗ << s << m(3, 2) << s << m(3, 3);
52 ✗ return os;
53 }
54 } // namespace osg
55
56 namespace gepetto {
57 namespace viewer {
58 struct NodeTest {
59 1 static void checkAbstractClass(NodePtr_t node) {
60 1 osgQuat q, so;
61 1 osgVector3 t, s;
62
63 // Check transforms
64
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 1 osgVector3 _ts = node->getStaticPosition();
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 1 osgQuat _qs = node->getStaticRotation();
66 1 osgVector3 ts(1.f, 1.f, 1.f);
67 1 osgQuat qs(1.f, 0.f, 0.f, 0.f);
68
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 1 node->setDirty(false);
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 1 node->setStaticTransform(ts, qs);
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 1 BOOST_CHECK(node->isDirty());
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 1 CHECK_VECT_CLOSE(node->getStaticPosition(), ts, 1e-4);
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 1 CHECK_QUAT_CLOSE(node->getStaticRotation(), qs, 1e-4);
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 1 node->setDirty(false);
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 2 node->applyConfiguration(osgVector3(0.f, 0.f, 0.f),
78 2 osgQuat(0.f, 0.f, 0.f, 1.f));
79 // Not dirty since configuration did not change.
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 1 BOOST_CHECK(!node->isDirty());
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 2 node->applyConfiguration(osgVector3(0.f, 0.f, 1.f),
82 2 osgQuat(0.f, 0.f, 0.f, 1.f));
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 1 BOOST_CHECK(node->isDirty());
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 2 node->applyConfiguration(osgVector3(0.f, 0.f, 0.f),
85 1 osgQuat(0.f, 0.f, 0.f, 1.f));
86
87 const osg::MatrixTransform* matrixTransform =
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 1 dynamic_cast<osg::MatrixTransform*>(node->asQueue().get());
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 1 BOOST_REQUIRE(matrixTransform != NULL);
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 1 matrixTransform->getMatrix().decompose(t, q, s, so);
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 1 CHECK_VECT_CLOSE(t, ts, 1e-4);
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 1 CHECK_QUAT_CLOSE(q, qs, 1e-4);
95
96 1 osgVector3 t1(0.f, 0.f, 1.f);
97 1 osgQuat q1(0.5f, 0.5f, 0.5f, 0.5f);
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 1 node->applyConfiguration(t1, q1);
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 1 CHECK_VECT_CLOSE(node->getGlobalTransform().position, t1, 1e-4);
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 1 CHECK_QUAT_CLOSE(node->getGlobalTransform().quat, q1, 1e-4);
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 1 matrixTransform->getMatrix().decompose(t, q, s, so);
103 // This is very counter intuitive...
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 1 CHECK_VECT_CLOSE(t, (t1 + q1 * ts), 1e-4);
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 1 CHECK_QUAT_CLOSE(q, (qs * q1), 1e-4);
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 1 node->setStaticTransform(_ts, _qs);
108 1 }
109 };
110 } /* namespace viewer */
111 } // namespace gepetto
112
113 using namespace gepetto::viewer;
114
115 BOOST_AUTO_TEST_SUITE(node)
116
117
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 4 BOOST_AUTO_TEST_CASE(box) {
118 LeafNodeBoxPtr_t box =
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 4 LeafNodeBox::create("box", osgVector3(0.1f, 0.2f, 0.3f));
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 2 NodeTest::checkAbstractClass(box);
121 2 }
122
123 BOOST_AUTO_TEST_SUITE_END()
124