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/*
* Copyright 2020 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/Collision.hh"
#include "sdf/Element.hh"
#include "sdf/Filesystem.hh"
#include "sdf/Link.hh"
#include "sdf/Model.hh"
#include "sdf/Root.hh"
#include "sdf/Surface.hh"
#include "sdf/Types.hh"
#include "sdf/World.hh"
#include "test_config.h"
//////////////////////////////////////////////////
TEST(DOMSurface, Shapes)
{
const auto testFile =
sdf::filesystem::append(PROJECT_SOURCE_PATH, "test", "sdf",
"shapes.sdf");
sdf::Root root;
EXPECT_TRUE(root.Load(testFile).empty());
const auto model = root.ModelByIndex(0);
ASSERT_NE(nullptr, model);
const auto link = model->LinkByIndex(0);
ASSERT_NE(nullptr, link);
const auto boxCol = link->CollisionByName("box_col");
ASSERT_NE(nullptr, boxCol);
ASSERT_NE(nullptr, boxCol->Surface());
ASSERT_NE(nullptr, boxCol->Surface()->Contact());
EXPECT_EQ(boxCol->Surface()->Contact()->CollideBitmask(), 0xAB);
}
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