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/*
* Copyright 2019 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#include <string>
#include <gtest/gtest.h>
#include "sdf/sdf.hh"
#include "sdf/Pbr.hh"
#include "test_config.h"
//////////////////////////////////////////////////
TEST(Material, PbrDOM)
{
const std::string testFile =
sdf::filesystem::append(PROJECT_SOURCE_PATH, "test", "sdf",
"material_pbr.sdf");
// Load the SDF file into DOM
sdf::Root root;
EXPECT_TRUE(root.Load(testFile).empty());
// Get the first model
const sdf::Model *model = root.ModelByIndex(0);
ASSERT_NE(nullptr, model);
// Get the first link
const sdf::Link *link = model->LinkByIndex(0);
ASSERT_NE(nullptr, link);
EXPECT_EQ("link", link->Name());
// checkt visual materials
EXPECT_EQ(3u, link->VisualCount());
// visual metal workflow
{
EXPECT_TRUE(link->VisualNameExists("visual_metal_workflow"));
const sdf::Visual *visual = link->VisualByIndex(0);
ASSERT_NE(nullptr, visual);
EXPECT_EQ("visual_metal_workflow", visual->Name());
// material
const sdf::Material *material = visual->Material();
ASSERT_NE(nullptr, material);
// diffuse
EXPECT_EQ(ignition::math::Color(0.2f, 0.5f, 0.1f, 1.0f),
material->Diffuse());
// pbr
const sdf::Pbr *pbr = material->PbrMaterial();
ASSERT_NE(nullptr, pbr);
// metal
const sdf::PbrWorkflow *workflow =
pbr->Workflow(sdf::PbrWorkflowType::METAL);
ASSERT_NE(nullptr, workflow);
EXPECT_EQ(sdf::PbrWorkflowType::METAL, workflow->Type());
EXPECT_EQ(nullptr, pbr->Workflow(sdf::PbrWorkflowType::SPECULAR));
// albedo map
EXPECT_EQ("albedo_map.png", workflow->AlbedoMap());
// normal map
EXPECT_EQ("normal_map.png", workflow->NormalMap());
// metalness map
EXPECT_EQ("metalness_map.png", workflow->MetalnessMap());
// metalness
EXPECT_DOUBLE_EQ(0.3, workflow->Metalness());
// roughness map
EXPECT_EQ("roughness_map.png", workflow->RoughnessMap());
// roughness
EXPECT_DOUBLE_EQ(0.4, workflow->Roughness());
// environment map
EXPECT_EQ("environment_map.png", workflow->EnvironmentMap());
// ambient occlusion map
EXPECT_EQ("ambient_occlusion_map.png", workflow->AmbientOcclusionMap());
// emissive map
EXPECT_EQ("emissive_map.png", workflow->EmissiveMap());
}
// visual specular workflow
{
EXPECT_TRUE(link->VisualNameExists("visual_specular_workflow"));
const sdf::Visual *visual = link->VisualByIndex(1);
ASSERT_NE(nullptr, visual);
EXPECT_EQ("visual_specular_workflow", visual->Name());
// material
const sdf::Material *material = visual->Material();
ASSERT_NE(nullptr, material);
// diffuse
EXPECT_EQ(ignition::math::Color(0.2f, 0.5f, 0.1f, 1.0f),
material->Diffuse());
// pbr
const sdf::Pbr *pbr = material->PbrMaterial();
ASSERT_NE(nullptr, pbr);
// specular
const sdf::PbrWorkflow *workflow =
pbr->Workflow(sdf::PbrWorkflowType::SPECULAR);
ASSERT_NE(nullptr, workflow);
EXPECT_EQ(sdf::PbrWorkflowType::SPECULAR, workflow->Type());
EXPECT_EQ(nullptr, pbr->Workflow(sdf::PbrWorkflowType::METAL));
// albedo map
EXPECT_EQ("albedo_map.png", workflow->AlbedoMap());
// normal map
EXPECT_EQ("normal_map.png", workflow->NormalMap());
// metalness map
EXPECT_EQ("glossiness_map.png", workflow->GlossinessMap());
// glossiness
EXPECT_DOUBLE_EQ(0.2, workflow->Glossiness());
// specular map
EXPECT_EQ("specular_map.png", workflow->SpecularMap());
// environment map
EXPECT_EQ("environment_map.png", workflow->EnvironmentMap());
// ambient occlusion map
EXPECT_EQ("ambient_occlusion_map.png", workflow->AmbientOcclusionMap());
// emissive map
EXPECT_EQ("emissive_map.png", workflow->EmissiveMap());
}
// visual all
{
EXPECT_TRUE(link->VisualNameExists("visual_all"));
const sdf::Visual *visual = link->VisualByIndex(2);
ASSERT_NE(nullptr, visual);
EXPECT_EQ("visual_all", visual->Name());
// material
const sdf::Material *material = visual->Material();
ASSERT_NE(nullptr, material);
// diffuse
EXPECT_EQ(ignition::math::Color(0.2f, 0.5f, 0.1f, 1.0f),
material->Diffuse());
// pbr
const sdf::Pbr *pbr = material->PbrMaterial();
ASSERT_NE(nullptr, pbr);
// specular
{
// specular
const sdf::PbrWorkflow *workflow =
pbr->Workflow(sdf::PbrWorkflowType::SPECULAR);
ASSERT_NE(nullptr, workflow);
EXPECT_EQ(sdf::PbrWorkflowType::SPECULAR, workflow->Type());
// specular
EXPECT_EQ(sdf::PbrWorkflowType::SPECULAR, workflow->Type());
// albedo map
EXPECT_EQ("albedo_map.png", workflow->AlbedoMap());
// normal map
EXPECT_EQ("normal_map_tangent.png", workflow->NormalMap());
// metalness map
EXPECT_EQ("glossiness_map.png", workflow->GlossinessMap());
// glossiness
EXPECT_DOUBLE_EQ(0.2, workflow->Glossiness());
// specular map
EXPECT_EQ("specular_map.png", workflow->SpecularMap());
// environment map
EXPECT_EQ("environment_map.png", workflow->EnvironmentMap());
// ambient occlusion map
EXPECT_EQ("ambient_occlusion_map.png", workflow->AmbientOcclusionMap());
// emissive map
EXPECT_EQ("emissive_map.png", workflow->EmissiveMap());
}
// metal
{
const sdf::PbrWorkflow *workflow =
pbr->Workflow(sdf::PbrWorkflowType::METAL);
ASSERT_NE(nullptr, workflow);
EXPECT_EQ(sdf::PbrWorkflowType::METAL, workflow->Type());
// albedo map
EXPECT_EQ("albedo_map.png", workflow->AlbedoMap());
// normal map
EXPECT_EQ("normal_map_object.png", workflow->NormalMap());
// metalness map
EXPECT_EQ("metalness_map.png", workflow->MetalnessMap());
// metalness
EXPECT_DOUBLE_EQ(0.3, workflow->Metalness());
// roughness map
EXPECT_EQ("roughness_map.png", workflow->RoughnessMap());
// roughness
EXPECT_DOUBLE_EQ(0.4, workflow->Roughness());
// environment map
EXPECT_EQ("environment_map.png", workflow->EnvironmentMap());
// ambient occlusion map
EXPECT_EQ("ambient_occlusion_map.png", workflow->AmbientOcclusionMap());
// emissive map
EXPECT_EQ("emissive_map.png", workflow->EmissiveMap());
}
}
}
//////////////////////////////////////////////////
TEST(Material, MaterialPBR)
{
const std::string testFile =
sdf::filesystem::append(PROJECT_SOURCE_PATH, "test", "sdf",
"material_pbr.sdf");
// load material pbr sdf file
sdf::Errors errors;
sdf::SDFPtr sdfParsed = sdf::readFile(testFile, errors);
ASSERT_TRUE(errors.empty());
ASSERT_NE(nullptr, sdfParsed);
ASSERT_NE(nullptr, sdfParsed->Root());
EXPECT_EQ(testFile, sdfParsed->FilePath());
// model
EXPECT_TRUE(sdfParsed->Root()->HasElement("model"));
sdf::ElementPtr modelElem = sdfParsed->Root()->GetElement("model");
EXPECT_TRUE(modelElem->HasAttribute("name"));
EXPECT_EQ(modelElem->Get<std::string>("name"), "model");
EXPECT_EQ(testFile, modelElem->FilePath());
// link
EXPECT_TRUE(modelElem->HasElement("link"));
sdf::ElementPtr linkElem = modelElem->GetElement("link");
EXPECT_TRUE(linkElem->HasAttribute("name"));
EXPECT_EQ(linkElem->Get<std::string>("name"), "link");
EXPECT_EQ(testFile, linkElem->FilePath());
EXPECT_TRUE(linkElem->HasElement("visual"));
sdf::ElementPtr visualElem = linkElem->GetElement("visual");
// visual metal workflow
{
EXPECT_TRUE(visualElem->HasAttribute("name"));
EXPECT_EQ("visual_metal_workflow", visualElem->Get<std::string>("name"));
EXPECT_EQ(testFile, visualElem->FilePath());
// material
EXPECT_TRUE(visualElem->HasElement("material"));
sdf::ElementPtr materialElem = visualElem->GetElement("material");
// diffuse
EXPECT_TRUE(materialElem->HasElement("diffuse"));
sdf::ElementPtr diffuseElem = materialElem->GetElement("diffuse");
EXPECT_EQ(ignition::math::Color(0.2f, 0.5f, 0.1f, 1.0f),
diffuseElem->Get<ignition::math::Color>());
// pbr
EXPECT_TRUE(materialElem->HasElement("pbr"));
sdf::ElementPtr pbrElem = materialElem->GetElement("pbr");
// metal
EXPECT_TRUE(pbrElem->HasElement("metal"));
sdf::ElementPtr metalElem = pbrElem->GetElement("metal");
// albedo map
EXPECT_TRUE(metalElem->HasElement("albedo_map"));
sdf::ElementPtr albedoMapElem = metalElem->GetElement("albedo_map");
EXPECT_EQ("albedo_map.png", albedoMapElem->Get<std::string>());
// normal map
EXPECT_TRUE(metalElem->HasElement("normal_map"));
sdf::ElementPtr normalMapElem = metalElem->GetElement("normal_map");
EXPECT_TRUE(normalMapElem->HasAttribute("type"));
EXPECT_EQ("tangent", normalMapElem->Get<std::string>("type"));
EXPECT_EQ("normal_map.png", normalMapElem->Get<std::string>());
// metalness map
EXPECT_TRUE(metalElem->HasElement("metalness_map"));
sdf::ElementPtr metalnessMapElem = metalElem->GetElement("metalness_map");
EXPECT_EQ("metalness_map.png", metalnessMapElem->Get<std::string>());
// metalness
EXPECT_TRUE(metalElem->HasElement("metalness"));
sdf::ElementPtr metalnessElem = metalElem->GetElement("metalness");
EXPECT_DOUBLE_EQ(0.3, metalnessElem->Get<double>());
// roughness map
EXPECT_TRUE(metalElem->HasElement("roughness_map"));
sdf::ElementPtr roughnessMapElem = metalElem->GetElement("roughness_map");
EXPECT_EQ("roughness_map.png", roughnessMapElem->Get<std::string>());
// roughness
EXPECT_TRUE(metalElem->HasElement("roughness"));
sdf::ElementPtr roughnessElem = metalElem->GetElement("roughness");
EXPECT_DOUBLE_EQ(0.4, roughnessElem->Get<double>());
// environment map
EXPECT_TRUE(metalElem->HasElement("environment_map"));
sdf::ElementPtr envMapElem = metalElem->GetElement("environment_map");
EXPECT_EQ("environment_map.png", envMapElem->Get<std::string>());
// ambient occlusion map
EXPECT_TRUE(metalElem->HasElement("ambient_occlusion_map"));
sdf::ElementPtr aoMapElem = metalElem->GetElement("ambient_occlusion_map");
EXPECT_EQ("ambient_occlusion_map.png", aoMapElem->Get<std::string>());
// emissive map
EXPECT_TRUE(metalElem->HasElement("emissive_map"));
sdf::ElementPtr emissiveMapElem = metalElem->GetElement("emissive_map");
EXPECT_EQ("emissive_map.png", emissiveMapElem->Get<std::string>());
}
// visual specular workflow
{
visualElem = visualElem->GetNextElement("visual");
EXPECT_TRUE(visualElem->HasAttribute("name"));
EXPECT_EQ("visual_specular_workflow", visualElem->Get<std::string>("name"));
// material
EXPECT_TRUE(visualElem->HasElement("material"));
sdf::ElementPtr materialElem = visualElem->GetElement("material");
// diffuse
EXPECT_TRUE(materialElem->HasElement("diffuse"));
sdf::ElementPtr diffuseElem = materialElem->GetElement("diffuse");
EXPECT_EQ(ignition::math::Color(0.2f, 0.5f, 0.1f, 1.0f),
diffuseElem->Get<ignition::math::Color>());
// pbr
EXPECT_TRUE(materialElem->HasElement("pbr"));
sdf::ElementPtr pbrElem = materialElem->GetElement("pbr");
// specular
EXPECT_TRUE(pbrElem->HasElement("specular"));
sdf::ElementPtr specularElem = pbrElem->GetElement("specular");
// albedo map
EXPECT_TRUE(specularElem->HasElement("albedo_map"));
sdf::ElementPtr albedoMapElem = specularElem->GetElement("albedo_map");
EXPECT_EQ("albedo_map.png", albedoMapElem->Get<std::string>());
// normal map
EXPECT_TRUE(specularElem->HasElement("normal_map"));
sdf::ElementPtr normalMapElem = specularElem->GetElement("normal_map");
EXPECT_TRUE(normalMapElem->HasAttribute("type"));
EXPECT_EQ("tangent", normalMapElem->Get<std::string>("type"));
EXPECT_EQ("normal_map.png", normalMapElem->Get<std::string>());
// specular map
EXPECT_TRUE(specularElem->HasElement("specular_map"));
sdf::ElementPtr specularMapElem = specularElem->GetElement("specular_map");
EXPECT_EQ("specular_map.png", specularMapElem->Get<std::string>());
// glossiness map
EXPECT_TRUE(specularElem->HasElement("glossiness_map"));
sdf::ElementPtr glossinessMapElem =
specularElem->GetElement("glossiness_map");
EXPECT_EQ("glossiness_map.png", glossinessMapElem->Get<std::string>());
// glossiness
EXPECT_TRUE(specularElem->HasElement("glossiness"));
sdf::ElementPtr glossinessElem = specularElem->GetElement("glossiness");
EXPECT_DOUBLE_EQ(0.2, glossinessElem->Get<double>());
// environment map
EXPECT_TRUE(specularElem->HasElement("environment_map"));
sdf::ElementPtr envMapElem = specularElem->GetElement("environment_map");
EXPECT_EQ("environment_map.png", envMapElem->Get<std::string>());
// ambient occlusion map
EXPECT_TRUE(specularElem->HasElement("ambient_occlusion_map"));
sdf::ElementPtr aoMapElem =
specularElem->GetElement("ambient_occlusion_map");
EXPECT_EQ("ambient_occlusion_map.png", aoMapElem->Get<std::string>());
// emissive map
EXPECT_TRUE(specularElem->HasElement("emissive_map"));
sdf::ElementPtr emissiveMapElem = specularElem->GetElement("emissive_map");
EXPECT_EQ("emissive_map.png", emissiveMapElem->Get<std::string>());
}
// visual all
{
visualElem = visualElem->GetNextElement("visual");
EXPECT_TRUE(visualElem->HasAttribute("name"));
EXPECT_EQ("visual_all", visualElem->Get<std::string>("name"));
// material
EXPECT_TRUE(visualElem->HasElement("material"));
sdf::ElementPtr materialElem = visualElem->GetElement("material");
// diffuse
EXPECT_TRUE(materialElem->HasElement("diffuse"));
sdf::ElementPtr diffuseElem = materialElem->GetElement("diffuse");
EXPECT_EQ(ignition::math::Color(0.2f, 0.5f, 0.1f, 1.0f),
diffuseElem->Get<ignition::math::Color>());
// pbr
EXPECT_TRUE(materialElem->HasElement("pbr"));
sdf::ElementPtr pbrElem = materialElem->GetElement("pbr");
{
// specular
EXPECT_TRUE(pbrElem->HasElement("specular"));
sdf::ElementPtr specularElem = pbrElem->GetElement("specular");
// albedo map
EXPECT_TRUE(specularElem->HasElement("albedo_map"));
sdf::ElementPtr albedoMapElem = specularElem->GetElement("albedo_map");
EXPECT_EQ("albedo_map.png", albedoMapElem->Get<std::string>());
// normal map
EXPECT_TRUE(specularElem->HasElement("normal_map"));
sdf::ElementPtr normalMapElem = specularElem->GetElement("normal_map");
EXPECT_TRUE(normalMapElem->HasAttribute("type"));
EXPECT_EQ("tangent", normalMapElem->Get<std::string>("type"));
EXPECT_EQ("normal_map_tangent.png", normalMapElem->Get<std::string>());
// specular map
EXPECT_TRUE(specularElem->HasElement("specular_map"));
sdf::ElementPtr specularMapElem =
specularElem->GetElement("specular_map");
EXPECT_EQ("specular_map.png", specularMapElem->Get<std::string>());
// glossiness map
EXPECT_TRUE(specularElem->HasElement("glossiness_map"));
sdf::ElementPtr glossinessMapElem =
specularElem->GetElement("glossiness_map");
EXPECT_EQ("glossiness_map.png", glossinessMapElem->Get<std::string>());
// glossiness
EXPECT_TRUE(specularElem->HasElement("glossiness"));
sdf::ElementPtr glossinessElem = specularElem->GetElement("glossiness");
EXPECT_DOUBLE_EQ(0.2, glossinessElem->Get<double>());
// environment map
EXPECT_TRUE(specularElem->HasElement("environment_map"));
sdf::ElementPtr envMapElem = specularElem->GetElement("environment_map");
EXPECT_EQ("environment_map.png", envMapElem->Get<std::string>());
// ambient occlusion map
EXPECT_TRUE(specularElem->HasElement("ambient_occlusion_map"));
sdf::ElementPtr aoMapElem =
specularElem->GetElement("ambient_occlusion_map");
EXPECT_EQ("ambient_occlusion_map.png", aoMapElem->Get<std::string>());
// emissive map
EXPECT_TRUE(specularElem->HasElement("emissive_map"));
sdf::ElementPtr emissiveMapElem =
specularElem->GetElement("emissive_map");
EXPECT_EQ("emissive_map.png", emissiveMapElem->Get<std::string>());
}
{
// metal
EXPECT_TRUE(pbrElem->HasElement("metal"));
sdf::ElementPtr metalElem = pbrElem->GetElement("metal");
// albedo map
EXPECT_TRUE(metalElem->HasElement("albedo_map"));
sdf::ElementPtr albedoMapElem = metalElem->GetElement("albedo_map");
EXPECT_EQ("albedo_map.png", albedoMapElem->Get<std::string>());
// normal map
EXPECT_TRUE(metalElem->HasElement("normal_map"));
sdf::ElementPtr normalMapElem = metalElem->GetElement("normal_map");
EXPECT_TRUE(normalMapElem->HasAttribute("type"));
EXPECT_EQ("object", normalMapElem->Get<std::string>("type"));
EXPECT_EQ("normal_map_object.png", normalMapElem->Get<std::string>());
// metalness map
EXPECT_TRUE(metalElem->HasElement("metalness_map"));
sdf::ElementPtr metalnessMapElem = metalElem->GetElement("metalness_map");
EXPECT_EQ("metalness_map.png", metalnessMapElem->Get<std::string>());
// metalness
EXPECT_TRUE(metalElem->HasElement("metalness"));
sdf::ElementPtr metalnessElem = metalElem->GetElement("metalness");
EXPECT_DOUBLE_EQ(0.3, metalnessElem->Get<double>());
// roughness map
EXPECT_TRUE(metalElem->HasElement("roughness_map"));
sdf::ElementPtr roughnessMapElem = metalElem->GetElement("roughness_map");
EXPECT_EQ("roughness_map.png", roughnessMapElem->Get<std::string>());
// roughness
EXPECT_TRUE(metalElem->HasElement("roughness"));
sdf::ElementPtr roughnessElem = metalElem->GetElement("roughness");
EXPECT_DOUBLE_EQ(0.4, roughnessElem->Get<double>());
// environment map
EXPECT_TRUE(metalElem->HasElement("environment_map"));
sdf::ElementPtr envMapElem = metalElem->GetElement("environment_map");
EXPECT_EQ("environment_map.png", envMapElem->Get<std::string>());
// ambient occlusion map
EXPECT_TRUE(metalElem->HasElement("ambient_occlusion_map"));
sdf::ElementPtr aoMapElem =
metalElem->GetElement("ambient_occlusion_map");
EXPECT_EQ("ambient_occlusion_map.png", aoMapElem->Get<std::string>());
// emissive map
EXPECT_TRUE(metalElem->HasElement("emissive_map"));
sdf::ElementPtr emissiveMapElem = metalElem->GetElement("emissive_map");
EXPECT_EQ("emissive_map.png", emissiveMapElem->Get<std::string>());
}
}
}
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