[Opal-commits] opal/src BlueprintInstance.cpp,1.4,1.5 BlueprintInstance.h,1.4,1.5 testBlueprint.cpp,1.2,1.3 testJoint.cpp,1.1,1.2 testopal.cpp,1.1,1.2 testsolid.cpp,1.8,1.9

[Olex <ole...@us...>]

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv26526/src

Modified Files:
	BlueprintInstance.cpp BlueprintInstance.h testBlueprint.cpp 
	testJoint.cpp testopal.cpp testsolid.cpp 
Log Message:
Enhancing BlueprintInstance. Added new unit tests.

Index: testBlueprint.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/testBlueprint.cpp,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** testBlueprint.cpp	11 Dec 2005 04:43:05 -0000	1.2
--- testBlueprint.cpp	12 Dec 2005 00:35:13 -0000	1.3
***************
*** 38,41 ****
--- 38,58 ----
  namespace testBlueprint
  {
+ 	QT_TEST( manual_addition_solid )
+ 	{
+ 		// solidmap seems to be corrups sometimes, let's test this
+ 		Simulator * sim = createSimulator();
+ 		Solid * s = sim->createSolid();
+ 		s->setName( "baba" );
+ 		BlueprintInstance * b = new BlueprintInstance();
+ 		b->internal_addSolid( s );
+ 
+ 		QT_CHECK_EQUAL( b->getSolid( "baba" ), s );
+ 		QT_CHECK_EQUAL( b->getSolid( 0 ), s );
+ 
+ 		delete b;
+ 
+ 		sim->destroy();
+ 	}
+ 
      QT_TEST( create_and_delete )
      {
***************
*** 58,69 ****
          {
              // Instantiate the Blueprint.
!             BlueprintInstance instance;
!             sim->instantiateBlueprint( instance, bp );
              QT_CHECK_EQUAL( sim->getNumSolids(), 1 );
!             unsigned int nsolids = instance.getNumSolids();
              for ( unsigned int i = 0; i < nsolids; ++i )
              {
!                 sim->destroySolid( instance.getSolid( i ) );
              }
          }
  
--- 75,89 ----
          {
              // Instantiate the Blueprint.
!             BlueprintInstance * instance = new BlueprintInstance();
!             sim->instantiateBlueprint( *instance, bp );
              QT_CHECK_EQUAL( sim->getNumSolids(), 1 );
!             unsigned int nsolids = instance->getNumSolids();
              for ( unsigned int i = 0; i < nsolids; ++i )
              {
! 				Solid * tobedetached = instance->getSolid( i );
! 				sim->destroySolid( instance->detachSolid( tobedetached->getName() ) );
              }
+ 
+ 			delete instance;
          }
  

Index: testopal.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/testopal.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** testopal.cpp	6 Nov 2005 17:41:20 -0000	1.1
--- testopal.cpp	12 Dec 2005 00:35:13 -0000	1.2
***************
*** 28,35 ****
--- 28,44 ----
  
  // system headers
+ #include <iostream>
  #include <quicktest.h>
+ #include <string>
+ 
+ using namespace std;
  
  int main( int argc, char* argv[] )
  {
      QT_RUN_TESTS;
+ 
+ 	cout << "Type any letter and then Enter to quit." << endl;
+ 
+ 	string temp;
+ 	cin >> temp;
  }

Index: testJoint.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/testJoint.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** testJoint.cpp	10 Dec 2005 22:41:06 -0000	1.1
--- testJoint.cpp	12 Dec 2005 00:35:13 -0000	1.2
***************
*** 38,41 ****
--- 38,58 ----
  namespace testJoint
  {
+ 	QT_TEST( setContacts )
+ 	{
+ 		Simulator * sim = createSimulator();
+         Joint * j = sim->createJoint();
+         JointData data;
+ 		data.contactsEnabled = false;
+ 
+         j->init( data );
+ 		QT_CHECK_EQUAL( j->areContactsEnabled(), false );
+ 
+ 		data.contactsEnabled = true;
+ 		j->init( data );
+ 		QT_CHECK_EQUAL( j->areContactsEnabled(), true );
+ 
+         sim->destroy();
+ 	}
+ 
      QT_TEST( break_settings )
      {

Index: testsolid.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/testsolid.cpp,v
retrieving revision 1.8
retrieving revision 1.9
diff -C2 -d -r1.8 -r1.9
*** testsolid.cpp	10 Dec 2005 22:41:06 -0000	1.8
--- testsolid.cpp	12 Dec 2005 00:35:13 -0000	1.9
***************
*** 250,252 ****
--- 250,338 ----
          f.sim->simulate( 1 );
      }
+ 
+ 	class TwoSolidFixture
+ 	{
+ 		public:
+ 			TwoSolidFixture()
+ 			{
+ 				sim = createSimulator();
+ 				s0 = sim->createSolid();
+ 				s1 = sim->createSolid();
+ 			}
+ 
+ 			~TwoSolidFixture()
+ 			{
+ 				sim->destroy();
+ 			}
+ 
+ 			Simulator * sim;
+ 			Solid * s0;
+ 			Solid * s1;
+ 	};
+ 
+ 	class MockCollision : public CollisionEventHandler
+ 	{
+ 		public:
+ 			MockCollision()
+ 			{
+ 				calls = 0;
+ 			}
+ 
+ 			void OPAL_CALL handleCollisionEvent( const CollisionEvent & e )
+ 			{
+ 				++calls;
+ 			}
+ 
+ 			int calls;
+ 	};
+ 
+ 	QT_TEST( same_contact_group_no_collision )
+ 	{
+ 		TwoSolidFixture f;
+ 		{
+ 			SphereShapeData data;
+ 			data.radius = 1;
+ 			data.contactGroup = 1;
+ 			f.s0->addShape( data );
+ 			f.s1->addShape( data );
+ 		}
+ 		MockCollision * c = new MockCollision( );
+ 		f.s0->setCollisionEventHandler( c );
+ 		f.s1->setCollisionEventHandler( c );
+ 
+ 		f.s0->setPosition( 0, 0, 0 );
+ 		f.s1->setPosition( 0, 0, 0 );
+ 
+ 		f.sim->setupContactGroups( 1, 1, false );
+ 
+ 		c->calls = 0;
+ 		f.sim->simulate( 1 );
+ 
+ 		QT_CHECK_EQUAL( c->calls, 0 );
+ 	}
+ 
+ 	QT_TEST( same_contact_group_with_collision )
+ 	{
+ 		TwoSolidFixture f;
+ 		{
+ 			SphereShapeData data;
+ 			data.radius = 1;
+ 			data.contactGroup = 1;
+ 			f.s0->addShape( data );
+ 			f.s1->addShape( data );
+ 		}
+ 		MockCollision * c = new MockCollision( );
+ 		f.s0->setCollisionEventHandler( c );
+ 		f.s1->setCollisionEventHandler( c );
+ 
+ 		f.s0->setPosition( 0, 0, 0 );
+ 		f.s1->setPosition( 0, 0, 0 );
+ 
+ 		f.sim->setupContactGroups( 1, 1, true );
+ 
+ 		c->calls = 0;
+ 		f.sim->simulate( 1 );
+ 
+ 		QT_CHECK_GREATER( c->calls, 0 );
+ 	}
  }

Index: BlueprintInstance.h
===================================================================
RCS file: /cvsroot/opal/opal/src/BlueprintInstance.h,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** BlueprintInstance.h	31 Mar 2005 08:47:02 -0000	1.4
--- BlueprintInstance.h	12 Dec 2005 00:35:13 -0000	1.5
***************
*** 94,97 ****
--- 94,118 ----
  		OPAL_DECL virtual Sensor* OPAL_CALL getSensor(unsigned int i)const;
  
+ 		//! Removes but does not delete the solid.
+ 		/*!
+ 		 * @note make sure i is in the range of solid list
+ 		 */
+ 		OPAL_DECL virtual Solid * OPAL_CALL detachSolid( unsigned int i );
+ 
+ 		/// Detachs a Joint by index and returns its pointer.
+ 		OPAL_DECL virtual Joint* OPAL_CALL detachJoint(unsigned int i);
+ 
+ 		/// Detachs a Motor by index and returns its pointer.
+ 		OPAL_DECL virtual Motor* OPAL_CALL detachMotor(unsigned int i);
+ 
+ 		/// Detachs a Sensor by index and returns its pointer.
+ 		OPAL_DECL virtual Sensor* OPAL_CALL detachSensor(unsigned int i);
+ 
+ 		//! Removes but does not delete the solid.
+ 		/*!
+ 		 * @note make sure solid is stored here
+ 		 */
+ 		OPAL_DECL virtual Solid * OPAL_CALL detachSolid( const std::string & name );
+ 
  		/// Adds a new Solid pointer to the list.  If the pointer is 
  		/// non-NULL and the object's name is not an empty string, this 

Index: BlueprintInstance.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/BlueprintInstance.cpp,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** BlueprintInstance.cpp	31 Mar 2005 08:47:02 -0000	1.4
--- BlueprintInstance.cpp	12 Dec 2005 00:35:13 -0000	1.5
***************
*** 26,30 ****
--- 26,33 ----
   *************************************************************************/
  
+ // class headers
  #include "BlueprintInstance.h"
+ 
+ // project headers
  #include "Solid.h"
  #include "Joint.h"
***************
*** 32,39 ****
--- 35,49 ----
  #include "Sensor.h"
  
+ // system headers
+ #include <map>
+ #include <vector>
+ 
+ using namespace std;
+ 
  namespace opal
  {
  	BlueprintInstance::BlueprintInstance()
  	{
+ 		// nothing to do
  	}
  
***************
*** 51,57 ****
  	}
  
! 	Solid* BlueprintInstance::getSolid(const std::string& name)const
  	{
! 		std::map<std::string, Solid*>::const_iterator iter = 
  			mSolidMap.find(name);
  		if (mSolidMap.end() == iter)
--- 61,156 ----
  	}
  
! 	Solid * BlueprintInstance::detachSolid(unsigned int i)
  	{
! 		assert( i < mSolidList.size() );
! 		Solid * detached = mSolidList[i];
! 
! 		// detach from list
! 		mSolidList.erase( mSolidList.begin() + i );
! 
! 		// detach from map
! 		map<string, Solid*>::iterator iter = 
! 			mSolidMap.find( detached->getName() );
! 		mSolidMap.erase( iter );
! 
! 		return detached;
! 	}
! 
! 	Joint * BlueprintInstance::detachJoint(unsigned int i)
! 	{
! 		assert( i < mJointList.size() );
! 		Joint * detached = mJointList[i];
! 
! 		// detach from list
! 		mJointList.erase( mJointList.begin() + i );
! 
! 		// detach from map
! 		map<string, Joint*>::iterator iter = 
! 			mJointMap.find( detached->getName() );
! 		mJointMap.erase( iter );
! 
! 		return detached;
! 	}
! 
! 	Sensor * BlueprintInstance::detachSensor(unsigned int i)
! 	{
! 		assert( i < mSensorList.size() );
! 		Sensor * detached = mSensorList[i];
! 
! 		// detach from list
! 		mSensorList.erase( mSensorList.begin() + i );
! 
! 		// detach from map
! 		map<string, Sensor*>::iterator iter = 
! 			mSensorMap.find( detached->getName() );
! 		mSensorMap.erase( iter );
! 
! 		return detached;
! 	}
! 
! 	Motor * BlueprintInstance::detachMotor(unsigned int i)
! 	{
! 		assert( i < mMotorList.size() );
! 		Motor * detached = mMotorList[i];
! 
! 		// detach from list
! 		mMotorList.erase( mMotorList.begin() + i );
! 
! 		// detach from map
! 		map<string, Motor*>::iterator iter = 
! 			mMotorMap.find( detached->getName() );
! 		mMotorMap.erase( iter );
! 
! 		return detached;
! 	}
! 
! 	Solid * BlueprintInstance::detachSolid( const string & name )
! 	{
! 		map<string, Solid*>::iterator iter = 
! 			mSolidMap.find( name );
! 		Solid * detached = iter->second;
! 
! 		// detach from list
! 		vector<Solid *>::iterator listIter;
! 		for ( listIter = mSolidList.begin(); 
! 			listIter != mSolidList.end(); 
! 			++listIter )
! 		{
! 			if ( ( *listIter )->getName() == name )
! 			{
! 				mSolidList.erase( listIter );
! 				break;
! 			}
! 		}
! 
! 		// detach from map		
! 		mSolidMap.erase( iter );
! 
! 		return detached;
! 	}
! 
! 	Solid* BlueprintInstance::getSolid(const string& name)const
! 	{
! 		map<string, Solid*>::const_iterator iter = 
  			mSolidMap.find(name);
  		if (mSolidMap.end() == iter)
***************
*** 65,71 ****
  	}
  
! 	Joint* BlueprintInstance::getJoint(const std::string& name)const
  	{
! 		std::map<std::string, Joint*>::const_iterator iter = 
  			mJointMap.find(name);
  		if (mJointMap.end() == iter)
--- 164,170 ----
  	}
  
! 	Joint* BlueprintInstance::getJoint(const string& name)const
  	{
! 		map<string, Joint*>::const_iterator iter = 
  			mJointMap.find(name);
  		if (mJointMap.end() == iter)
***************
*** 79,85 ****
  	}
  
! 	Motor* BlueprintInstance::getMotor(const std::string& name)const
  	{
! 		std::map<std::string, Motor*>::const_iterator iter = 
  			mMotorMap.find(name);
  		if (mMotorMap.end() == iter)
--- 178,184 ----
  	}
  
! 	Motor* BlueprintInstance::getMotor(const string& name)const
  	{
! 		map<string, Motor*>::const_iterator iter = 
  			mMotorMap.find(name);
  		if (mMotorMap.end() == iter)
***************
*** 93,99 ****
  	}
  
! 	Sensor* BlueprintInstance::getSensor(const std::string& name)const
  	{
! 		std::map<std::string, Sensor*>::const_iterator iter = 
  			mSensorMap.find(name);
  		if (mSensorMap.end() == iter)
--- 192,198 ----
  	}
  
! 	Sensor* BlueprintInstance::getSensor(const string& name)const
  	{
! 		map<string, Sensor*>::const_iterator iter = 
  			mSensorMap.find(name);
  		if (mSensorMap.end() == iter)
***************
*** 156,160 ****
  		}
  
! 		std::string name = s->getName();
  
  		if (name.empty())
--- 255,259 ----
  		}
  
! 		string name = s->getName();
  
  		if (name.empty())
***************
*** 175,179 ****
  		}
  
! 		std::string name = j->getName();
  
  		if (name.empty())
--- 274,278 ----
  		}
  
! 		string name = j->getName();
  
  		if (name.empty())
***************
*** 194,198 ****
  		}
  
! 		std::string name = m->getName();
  
  		if (name.empty())
--- 293,297 ----
  		}
  
! 		string name = m->getName();
  
  		if (name.empty())
***************
*** 213,217 ****
  		}
  
! 		std::string name = s->getName();
  
  		if (name.empty())
--- 312,316 ----
  		}
  
! 		string name = s->getName();
  
  		if (name.empty())