Add MujocoMeshTest (from MujocoX)

VirtualRobot/tests/CMakeLists.txt

@@ -36,6 +36,8 @@ ADD_VR_TEST( VirtualRobotRuntimeEnvironmentTest )
 ADD_VR_TEST( VirtualRobotJsonEigenConversionTest )
 ADD_VR_TEST( VirtualRobotMjcfTest )
 
+ADD_VR_TEST( VirtualRobotMujocoMeshTest )
+
 ADD_VR_TEST( MathFitPlaneTest )
 ADD_VR_TEST( MathGaussianImplicitSurface3DNormalsTest )
 ADD_VR_TEST( MathGaussianImplicitSurface3DTest )

VirtualRobot/tests/VirtualRobotMujocoMeshTest.cpp

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    MujocoX::ArmarXObjects::Mesh
+ * @author     Rainer Kartmann ( rainer dot kartmann at student dot kit dot edu )
+ * @date       2019
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#define BOOST_TEST_MODULE VirtualRobot_VirtualRobotMujocoMeshTest
+
+#define ARMARX_BOOST_TEST
+
+#include <VirtualRobot/VirtualRobotTest.h>
+
+#include <VirtualRobot/XML/mujoco/Mesh.h>
+
+#include <filesystem>
+
+
+namespace fs = std::filesystem;
+
+static const fs::path meshFileName = "VirtualRobotMujocoMeshTestMesh.msh";
+
+
+struct Fixture
+{
+    Fixture()
+    {
+        BOOST_CHECK(fs::exists(meshFileName) && fs::is_regular_file(meshFileName));
+        mesh.read(meshFileName);
+    }
+
+    VirtualRobot::mujoco::Mesh mesh;
+};
+
+
+BOOST_FIXTURE_TEST_CASE(test_consistency_after_read, Fixture)
+{
+    BOOST_CHECK_GE(mesh.nvertex(), 0);
+    BOOST_CHECK_GE(mesh.nnormal(), 0);
+    BOOST_CHECK_GE(mesh.ntexcoord(), 0);
+    BOOST_CHECK_GE(mesh.nface(), 0);
+
+    BOOST_CHECK_EQUAL(mesh.vertexPositions().size(), 3 * mesh.nvertex());
+    BOOST_CHECK_EQUAL(mesh.vertexNormals().size(), 3 * mesh.nnormal());
+    BOOST_CHECK_EQUAL(mesh.vertexTexcoords().size(), 2 * mesh.ntexcoord());
+    BOOST_CHECK_EQUAL(mesh.faceVertexIndices().size(), 3 * mesh.nface());
+}
+
+
+BOOST_FIXTURE_TEST_CASE(test_write_consistency, Fixture)
+{
+    Eigen::Matrix<float, 3, 2> bb;
+    BOOST_CHECK_NO_THROW(bb = mesh.getVertexPositionsBoundingBox());
+
+    Eigen::Vector3f min = bb.col(0);
+    Eigen::Vector3f max = bb.col(1);
+
+    BOOST_CHECK_GE(mesh.nvertex(), 0);
+
+    for (int i = 0; i < mesh.nvertex(); ++i)
+    {
+        Eigen::Vector3f pos = mesh.vertexPosition(i);
+        for (int i = 0; i < 3; ++i)
+        {
+            BOOST_CHECK_LE(min(0), pos(0));
+            BOOST_CHECK_GE(max(0), pos(0));
+        }
+    }
+}
+