diff --git a/src/Mesh_TEST.cc b/src/Mesh_TEST.cc index 2bd47c369..c2cf2f431 100644 --- a/src/Mesh_TEST.cc +++ b/src/Mesh_TEST.cc @@ -19,6 +19,9 @@ #include #include +#include +#include +#include #include "test_config.h" // NOLINT(build/include) #include "ignition/rendering/Camera.hh" @@ -35,6 +38,13 @@ class MeshTest : public testing::Test, { /// \brief Test mesh and submesh basic API public: void MeshSubMesh(const std::string &_renderEngine); + + /// \brief Test mesh skeleton + public: void MeshSkeleton(const std::string &_renderEngine); + + public: const std::string TEST_MEDIA_PATH = + common::joinPaths(std::string(PROJECT_SOURCE_PATH), + "test", "media", "skeleton"); }; ///////////////////////////////////////////////// @@ -67,6 +77,8 @@ void MeshTest::MeshSubMesh(const std::string &_renderEngine) EXPECT_EQ(submesh, mesh->SubMeshByName(submesh->Name())); + EXPECT_FALSE(mesh->HasSkeleton()); + // test submesh API MaterialPtr mat = submesh->Material(); ASSERT_TRUE(mat != nullptr); @@ -90,12 +102,102 @@ void MeshTest::MeshSubMesh(const std::string &_renderEngine) unloadEngine(engine->Name()); } +///////////////////////////////////////////////// +void MeshTest::MeshSkeleton(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"); + ASSERT_NE(nullptr, scene); + + VisualPtr root = scene->RootVisual(); + + // create a visual for the actor, attach mesh and get skeleton + // Skeleton will be animated by GlutWindow + VisualPtr actorVisual = scene->CreateVisual("actor"); + actorVisual->SetLocalPosition(0, 0, 0); + actorVisual->SetLocalRotation(0, 0, 0); + + MeshDescriptor descriptor; + descriptor.meshName = common::joinPaths(TEST_MEDIA_PATH, "walk.dae"); + common::MeshManager *meshManager = common::MeshManager::Instance(); + descriptor.mesh = meshManager->Load(descriptor.meshName); + + MeshPtr mesh = scene->CreateMesh(descriptor); + actorVisual->AddGeometry(mesh); + root->AddChild(actorVisual); + + common::SkeletonPtr skel; + + if (mesh && descriptor.mesh->HasSkeleton()) + { + skel = descriptor.mesh->MeshSkeleton(); + + if (!skel || skel->AnimationCount() == 0) + { + FAIL(); + } + } + else + { + FAIL(); + } + + EXPECT_TRUE(mesh->HasSkeleton()); + + std::string bvhFile = common::joinPaths(TEST_MEDIA_PATH, "cmu-13_26.bvh"); + + double scale = 0.055; + skel->AddBvhAnimation(bvhFile, scale); + + int g_animIdx = 1; + auto * skelAnim = skel->Animation(g_animIdx); + for (double i = 0; i < 10; i+=0.01) + { + std::map animFrames; + animFrames = skelAnim->PoseAt(i, true); + + std::map skinFrames; + + for (auto pair : animFrames) + { + std::string animName = pair.first; + auto animTf = pair.second; + + std::string skinName = skel->NodeNameAnimToSkin(g_animIdx, animName); + ignition::math::Matrix4d skinTf = + skel->AlignTranslation(g_animIdx, animName) + * animTf * skel->AlignRotation(g_animIdx, animName); + + skinFrames[skinName] = skinTf; + } + + mesh->SetSkeletonLocalTransforms(skinFrames); + } + + // Clean up + engine->DestroyScene(scene); + unloadEngine(engine->Name()); +} + ///////////////////////////////////////////////// TEST_P(MeshTest, MeshSubMesh) { MeshSubMesh(GetParam()); } +///////////////////////////////////////////////// +TEST_P(MeshTest, MeshSkeleton) +{ + MeshSkeleton(GetParam()); +} + INSTANTIATE_TEST_CASE_P(Mesh, MeshTest, RENDER_ENGINE_VALUES, PrintToStringParam()); diff --git a/src/RenderEngine_TEST.cc b/src/RenderEngine_TEST.cc index 9842de19b..b6d1bccab 100644 --- a/src/RenderEngine_TEST.cc +++ b/src/RenderEngine_TEST.cc @@ -46,6 +46,11 @@ void RenderEngineTest::RenderEngine(const std::string &_renderEngine) return; } + EXPECT_EQ(_renderEngine, engine->Name()); + EXPECT_TRUE(engine->IsEnabled()); + + engine->AddResourcePath("none"); + // Check there are no scenes EXPECT_EQ(0u, engine->SceneCount()); EXPECT_FALSE(engine->HasSceneName("scene1")); diff --git a/test/media/skeleton/cmu-13_26.bvh b/test/media/skeleton/cmu-13_26.bvh new file mode 100644 index 000000000..aa94f23e8 --- /dev/null +++ b/test/media/skeleton/cmu-13_26.bvh @@ -0,0 +1,3216 @@ +HIERARCHY +ROOT Hips +{ + OFFSET 0.00000 0.00000 0.00000 + CHANNELS 6 Xposition Yposition Zposition Zrotation Yrotation Xrotation + JOINT LHipJoint + { + OFFSET 0 0 0 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT LeftUpLeg + { + OFFSET 1.57338 -1.94743 0.52196 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT LeftLeg + { + OFFSET 2.60333 -7.15259 0.00000 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT LeftFoot + { + OFFSET 2.77855 -7.63400 0.00000 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT LeftToeBase + { + OFFSET 0.19847 -0.54529 2.28466 + CHANNELS 3 Zrotation Yrotation Xrotation + End Site + { + OFFSET 0.00000 -0.00000 1.17993 + } + } + } + } + } + } + JOINT RHipJoint + { + OFFSET 0 0 0 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT RightUpLeg + { + OFFSET -1.61527 -1.94743 0.52196 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT RightLeg + { + OFFSET -2.53829 -6.97390 0.00000 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT RightFoot + { + OFFSET -2.80762 -7.71387 0.00000 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT RightToeBase + { + OFFSET -0.30536 -0.83898 2.28801 + CHANNELS 3 Zrotation Yrotation Xrotation + End Site + { + OFFSET -0.00000 -0.00000 1.21323 + } + } + } + } + } + } + JOINT LowerBack + { + OFFSET 0 0 0 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT Spine + { + OFFSET -0.04381 1.99497 -0.19778 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT Spine1 + { + OFFSET -0.01959 2.01295 -0.04372 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT Neck + { + OFFSET 0 0 0 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT Neck1 + { + OFFSET -0.05459 1.76913 0.09708 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT Head + { + OFFSET 0.09461 1.77368 -0.11172 + CHANNELS 3 Zrotation Yrotation Xrotation + End Site + { + OFFSET 0.03812 1.78157 -0.04834 + } + } + } + } + JOINT LeftShoulder + { + OFFSET 0 0 0 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT LeftArm + { + OFFSET 3.50922 1.24034 -0.28866 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT LeftForeArm + { + OFFSET 5.40188 -0.00000 0.00000 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT LeftHand + { + OFFSET 3.68559 -0.00000 0.00000 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT LeftFingerBase + { + OFFSET 0 0 0 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT LeftHandIndex1 + { + OFFSET 0.61753 -0.00000 0.00000 + CHANNELS 3 Zrotation Yrotation Xrotation + End Site + { + OFFSET 0.49787 -0.00000 0.00000 + } + } + } + JOINT LThumb + { + OFFSET 0 0 0 + CHANNELS 3 Zrotation Yrotation Xrotation + End Site + { + OFFSET 0.50547 -0.00000 0.50547 + } + } + } + } + } + } + JOINT RightShoulder + { + OFFSET 0 0 0 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT RightArm + { + OFFSET -2.95373 1.39649 -0.27346 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT RightForeArm + { + OFFSET -6.10670 -0.00000 -0.00000 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT RightHand + { + OFFSET -3.63052 -0.00000 0.00000 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT RightFingerBase + { + OFFSET 0 0 0 + CHANNELS 3 Zrotation Yrotation Xrotation + JOINT RightHandIndex1 + { + OFFSET -0.58385 -0.00000 0.00000 + CHANNELS 3 Zrotation Yrotation Xrotation + End Site + { + OFFSET -0.47071 -0.00000 0.00000 + } + } + } + JOINT RThumb + { + OFFSET 0 0 0 + CHANNELS 3 Zrotation Yrotation Xrotation + End Site + { + OFFSET -0.47790 -0.00000 0.47790 + } + } + } + } + } + } + } + } + } +} +MOTION +Frames: 3029 +Frame Time: .0083333 +-0.2009 18.6574 0.9823 0 0 0 0 0 0 -21 0 0 0 0 0 0 0 0 0 0 0 0 0 0 21 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -16 0 0 21 0 0 11 0 0 0 -8 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 8 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 +-0.2009 18.6574 0.9823 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3164 5260 20114 1890 5253 20115 2292 5075 20116 3174 5105 20117 3175 5251 20118 2294 5261 20119 3161 5076 20120 2292 5075 20121 2294 5261 20122 3164 5260 20123 2294 5261 20124 3175 5251 20125 3176 5245 20126 2295 5262 20127 1890 5253 20128 3164 5260 20129 3165 5263 20130 1888 5254 20131 2297 5258 20132 3167 5255 20133 3180 5264 20134 3179 5236 20135 3164 5260 20136 2294 5261 20137 2295 5262 20138 3165 5263 20139 1885 5249 20140 3180 5264 20141 3167 5255 20142 1886 5250 20143 1888 5254 20144 3182 5265 20145 3183 5216 20146 1889 5215 20147 3166 5256 20148 2296 5259 20149 2293 5072 20150 3163 5071 20151 1888 5254 20152 3165 5263 20153 3181 5266 20154 3182 5265 20155 3177 5248 20156 6310 5247 20157 6311 5235 20158 3187 5243 20159 3202 5228 20160 3203 5240 20161 6316 5242 20162 6315 5229 20163 2295 5262 20164 3186 5267 20165 3181 5266 20166 3165 5263 20167 2295 5262 20168 3176 5245 20169 3177 5248 20170 3186 5267 20171 1887 5244 20172 3166 5256 20173 3163 5071 20174 1907 5099 20175 3183 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