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/*
* Copyright (c) 2011-2022, The DART development contributors
* All rights reserved.
*
* The list of contributors can be found at:
* https://github.com/dartsim/dart/blob/master/LICENSE
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#include <iostream>
#include <gtest/gtest.h>
#include "dart/config.hpp"
#include "dart/dynamics/PlanarJoint.hpp"
#include "dart/dynamics/RevoluteJoint.hpp"
#include "dart/dynamics/Skeleton.hpp"
#include "dart/dynamics/SoftBodyNode.hpp"
#include "dart/simulation/World.hpp"
#include "dart/utils/VskParser.hpp"
#include "TestHelpers.hpp"
using namespace dart;
using namespace math;
using namespace dynamics;
using namespace simulation;
using namespace utils;
//==============================================================================
TEST(VskParser, EmptySkeleton)
{
WorldPtr world = World::create();
EXPECT_TRUE(world != nullptr);
SkeletonPtr skeleton
= VskParser::readSkeleton("dart://sample/vsk/test/empty.vsk");
EXPECT_TRUE(skeleton == nullptr);
world->addSkeleton(skeleton);
EXPECT_EQ(world->getNumSkeletons(), 0u);
world->step();
}
//==============================================================================
TEST(VskParser, LoadFromFileURI)
{
const std::string prefix = "file://" DART_DATA_LOCAL_PATH "vsk/";
EXPECT_EQ(VskParser::readSkeleton(prefix + "test/empty.vsk"), nullptr);
EXPECT_NE(VskParser::readSkeleton(prefix + "Nick01.vsk"), nullptr);
EXPECT_NE(VskParser::readSkeleton(prefix + "Yuting.vsk"), nullptr);
}
//==============================================================================
TEST(VskParser, SingleStepSimulations)
{
WorldPtr world = World::create();
EXPECT_NE(world, nullptr);
SkeletonPtr nick = VskParser::readSkeleton("dart://sample/vsk/Nick01.vsk");
EXPECT_NE(nick, nullptr);
EXPECT_EQ(nick->getNumMarkers(), 53u);
SkeletonPtr sehoon
= VskParser::readSkeleton("dart://sample/vsk/SehoonVSK3.vsk");
EXPECT_NE(sehoon, nullptr);
EXPECT_EQ(nick->getNumMarkers(), 53u);
SkeletonPtr yuting = VskParser::readSkeleton("dart://sample/vsk/Yuting.vsk");
EXPECT_NE(yuting, nullptr);
EXPECT_EQ(nick->getNumMarkers(), 53u);
world->removeAllSkeletons();
world->addSkeleton(nick);
EXPECT_EQ(world->getNumSkeletons(), 1u);
world->step();
world->removeAllSkeletons();
world->addSkeleton(sehoon);
EXPECT_EQ(world->getNumSkeletons(), 1u);
world->step();
world->removeAllSkeletons();
world->addSkeleton(yuting);
EXPECT_EQ(world->getNumSkeletons(), 1u);
world->step();
}
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