Improved coverage Arrow and Axis visuals and fixed some warnings (#736)

* Improved coverage Arrow and Axis visuals and fixed some warnings

Signed-off-by: ahcorde <[email protected]>

include/ignition/rendering/base/BaseArrowVisual.hh

@@ -58,14 +58,14 @@ namespace ignition
  template <class T>
  VisualPtr BaseArrowVisual<T>::Head() const
  {
- return nullptr;
+ return std::dynamic_pointer_cast<Visual>(this->ChildByIndex(0));
  }
 
  //////////////////////////////////////////////////
  template <class T>
  VisualPtr BaseArrowVisual<T>::Shaft() const
  {
- return nullptr;
+ return std::dynamic_pointer_cast<Visual>(this->ChildByIndex(1));
  }
 
  //////////////////////////////////////////////////

ogre/src/OgreMaterial.cc

@@ -337,7 +337,7 @@ void OgreMaterial::UpdateShaderParams()
 void OgreMaterial::UpdateShaderParams(ConstShaderParamsPtr _params,
  Ogre::GpuProgramParametersSharedPtr _ogreParams)
 {
- for (const auto name_param : *_params)
+ for (const auto & name_param : *_params)
  {
  if (ShaderParam::PARAM_FLOAT == name_param.second.Type())
  {

ogre2/include/ignition/rendering/ogre2/Ogre2ArrowVisual.hh

@@ -0,0 +1,44 @@
+/*
+ * Copyright (C) 2022 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.
+ *
+ */
+#ifndef IGNITION_RENDERING_OGRE2_OGRE2ARROWVISUAL_HH_
+#define IGNITION_RENDERING_OGRE2_OGRE2ARROWVISUAL_HH_
+
+#include "ignition/rendering/base/BaseArrowVisual.hh"
+#include "ignition/rendering/ogre2/Ogre2Visual.hh"
+
+namespace ignition
+{
+ namespace rendering
+ {
+ inline namespace IGNITION_RENDERING_VERSION_NAMESPACE {
+ //
+ class IGNITION_RENDERING_OGRE2_VISIBLE Ogre2ArrowVisual :
+ public BaseArrowVisual<Ogre2Visual>
+ {
+ /// \brief Constructor
+ protected: Ogre2ArrowVisual();
+
+ /// \brief Destructor
+ public: virtual ~Ogre2ArrowVisual();
+
+ /// \brief Only the ogre scene can instanstiate this class
+ private: friend class Ogre2Scene;
+ };
+ }
+ }
+}
+#endif

ogre2/include/ignition/rendering/ogre2/Ogre2AxisVisual.hh

@@ -0,0 +1,44 @@
+/*
+ * Copyright (C) 2022 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.
+ *
+ */
+#ifndef IGNITION_RENDERING_OGRE2_OGRE2AXISVISUAL_HH_
+#define IGNITION_RENDERING_OGRE2_OGRE2AXISVISUAL_HH_
+
+#include "ignition/rendering/base/BaseAxisVisual.hh"
+#include "ignition/rendering/ogre2/Ogre2Visual.hh"
+
+namespace ignition
+{
+ namespace rendering
+ {
+ inline namespace IGNITION_RENDERING_VERSION_NAMESPACE {
+ //
+ class IGNITION_RENDERING_OGRE2_VISIBLE Ogre2AxisVisual :
+ public BaseAxisVisual<Ogre2Visual>
+ {
+ /// \brief Constructor
+ protected: Ogre2AxisVisual();
+
+ /// \brief Destructor
+ public: virtual ~Ogre2AxisVisual();
+
+ /// \brief Only the ogre scene can instanstiate this class
+ private: friend class Ogre2Scene;
+ };
+ }
+ }
+}
+#endif

ogre2/include/ignition/rendering/ogre2/Ogre2RenderTypes.hh

@@ -28,6 +28,8 @@ namespace ignition
  {
  inline namespace IGNITION_RENDERING_VERSION_NAMESPACE {
  //
+ class Ogre2ArrowVisual;
+ class Ogre2AxisVisual;
  class Ogre2Camera;
  class Ogre2DepthCamera;
  class Ogre2DirectionalLight;
@@ -66,6 +68,8 @@ namespace ignition
 
  typedef BaseMaterialMap<Ogre2Material> Ogre2MaterialMap;
 
+ typedef shared_ptr<Ogre2ArrowVisual> Ogre2ArrowVisualPtr;
+ typedef shared_ptr<Ogre2AxisVisual> Ogre2AxisVisualPtr;
  typedef shared_ptr<Ogre2Camera> Ogre2CameraPtr;
  typedef shared_ptr<Ogre2DepthCamera> Ogre2DepthCameraPtr;
  typedef shared_ptr<Ogre2DirectionalLight> Ogre2DirectionalLightPtr;

ogre2/src/Ogre2ArrowVisual.cc

@@ -0,0 +1,30 @@
+/*
+ * Copyright (C) 2022 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 "ignition/rendering/ogre2/Ogre2ArrowVisual.hh"
+
+using namespace ignition;
+using namespace rendering;
+
+//////////////////////////////////////////////////
+Ogre2ArrowVisual::Ogre2ArrowVisual()
+{
+}
+
+//////////////////////////////////////////////////
+Ogre2ArrowVisual::~Ogre2ArrowVisual()
+{
+}

ogre2/src/Ogre2AxisVisual.cc

@@ -0,0 +1,30 @@
+/*
+ * Copyright (C) 2022 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 "ignition/rendering/ogre2/Ogre2AxisVisual.hh"
+
+using namespace ignition;
+using namespace rendering;
+
+//////////////////////////////////////////////////
+Ogre2AxisVisual::Ogre2AxisVisual()
+{
+}
+
+//////////////////////////////////////////////////
+Ogre2AxisVisual::~Ogre2AxisVisual()
+{
+}

ogre2/src/Ogre2Scene.cc

@@ -18,6 +18,8 @@
 #include <ignition/common/Console.hh>
 
 #include "ignition/rendering/RenderTypes.hh"
+#include "ignition/rendering/ogre2/Ogre2ArrowVisual.hh"
+#include "ignition/rendering/ogre2/Ogre2AxisVisual.hh"
 #include "ignition/rendering/ogre2/Ogre2Camera.hh"
 #include "ignition/rendering/ogre2/Ogre2Conversions.hh"
 #include "ignition/rendering/ogre2/Ogre2DepthCamera.hh"
@@ -278,19 +280,21 @@ VisualPtr Ogre2Scene::CreateVisualImpl(unsigned int _id,
 }
 
 //////////////////////////////////////////////////
-ArrowVisualPtr Ogre2Scene::CreateArrowVisualImpl(unsigned int /*_id*/,
- const std::string &/*_name*/)
+ArrowVisualPtr Ogre2Scene::CreateArrowVisualImpl(unsigned int _id,
+ const std::string &_name)
 {
- // TODO(anyone)
- return ArrowVisualPtr();
+ Ogre2ArrowVisualPtr visual(new Ogre2ArrowVisual);
+ bool result = this->InitObject(visual, _id, _name);
+ return (result) ? visual : nullptr;
 }
 
 //////////////////////////////////////////////////
-AxisVisualPtr Ogre2Scene::CreateAxisVisualImpl(unsigned int /*_id*/,
- const std::string &/*_name*/)
+AxisVisualPtr Ogre2Scene::CreateAxisVisualImpl(unsigned int _id,
+ const std::string &_name)
 {
- // TODO(anyone)
- return AxisVisualPtr();
+ Ogre2AxisVisualPtr visual(new Ogre2AxisVisual);
+ bool result = this->InitObject(visual, _id, _name);
+ return (result) ? visual : nullptr;
 }
 
 //////////////////////////////////////////////////

src/ArrowVisual_TEST.cc

@@ -0,0 +1,93 @@
+/*
+ * Copyright (C) 2022 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 <gtest/gtest.h>
+#include <string>
+
+#include <ignition/common/Console.hh>
+
+#include "test_config.h" // NOLINT(build/include)
+
+#include "ignition/rendering/ArrowVisual.hh"
+#include "ignition/rendering/RenderEngine.hh"
+#include "ignition/rendering/RenderingIface.hh"
+#include "ignition/rendering/Scene.hh"
+
+using namespace ignition;
+using namespace rendering;
+
+class ArrowVisualTest : public testing::Test,
+ public testing::WithParamInterface<const char *>
+{
+ /// \brief Test basic API
+ public: void ArrowVisual(const std::string &_renderEngine);
+
+ /// \brief Test gizmo material
+ public: void Material(const std::string &_renderEngine);
+};
+
+/////////////////////////////////////////////////
+void ArrowVisualTest::ArrowVisual(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");
+
+ // create visual
+ ArrowVisualPtr arrow = scene->CreateArrowVisual();
+ EXPECT_NE(nullptr, arrow);
+ EXPECT_EQ(2u, arrow->ChildCount());
+
+ EXPECT_NE(nullptr, arrow->Head());
+ EXPECT_NE(nullptr, arrow->Shaft());
+
+ EXPECT_NE(arrow->Head(), arrow->Shaft());
+
+ ArrowVisualPtr arrow_name = scene->CreateArrowVisual("arrow_name");
+ EXPECT_NE(nullptr, arrow_name);
+ EXPECT_EQ(2u, arrow_name->ChildCount());
+
+ ArrowVisualPtr arrow_id = scene->CreateArrowVisual(98);
+ EXPECT_NE(nullptr, arrow_id);
+ EXPECT_EQ(2u, arrow_id->ChildCount());
+
+ // Clean up
+ engine->DestroyScene(scene);
+ rendering::unloadEngine(engine->Name());
+}
+
+/////////////////////////////////////////////////
+TEST_P(ArrowVisualTest, ArrowVisual)
+{
+ ArrowVisual(GetParam());
+}
+
+INSTANTIATE_TEST_CASE_P(Visual, ArrowVisualTest,
+ RENDER_ENGINE_VALUES,
+ ignition::rendering::PrintToStringParam());
+
+int main(int argc, char **argv)
+{
+ ::testing::InitGoogleTest(&argc, argv);
+ return RUN_ALL_TESTS();
+}