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Conversions_TEST.cc
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Conversions_TEST.cc
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/*
* Copyright (C) 2018 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:https://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 <chrono>
#include <sdf/Actor.hh>
#include <sdf/Altimeter.hh>
#include <sdf/Atmosphere.hh>
#include <sdf/Box.hh>
#include <sdf/Capsule.hh>
#include <sdf/Cylinder.hh>
#include <sdf/Element.hh>
#include <sdf/Ellipsoid.hh>
#include <sdf/Gui.hh>
#include <sdf/Heightmap.hh>
#include <sdf/Light.hh>
#include <sdf/Magnetometer.hh>
#include <sdf/Mesh.hh>
#include <sdf/Pbr.hh>
#include <sdf/Physics.hh>
#include <sdf/Plane.hh>
#include <sdf/Polyline.hh>
#include <sdf/Projector.hh>
#include <sdf/Root.hh>
#include <sdf/Scene.hh>
#include <sdf/Sphere.hh>
#include <sdf/World.hh>
#include <gz/msgs/Utility.hh>
#include "gz/sim/Conversions.hh"
using namespace gz;
using namespace sim;
using namespace std::chrono_literals;
/////////////////////////////////////////////////
TEST(Conversions, Light)
{
sdf::Light light;
light.SetName("test_convert_light");
light.SetType(sdf::LightType::DIRECTIONAL);
light.SetRawPose({3, 2, 1, 0, GZ_PI, 0});
light.SetPoseRelativeTo("world");
light.SetCastShadows(true);
light.SetVisualize(true);
light.SetDiffuse(math::Color(0.4f, 0.5f, 0.6f, 1.0));
light.SetSpecular(math::Color(0.8f, 0.9f, 0.1f, 1.0));
light.SetAttenuationRange(3.2);
light.SetConstantAttenuationFactor(0.5);
light.SetLinearAttenuationFactor(0.1);
light.SetQuadraticAttenuationFactor(0.01);
light.SetDirection({0.1, 0.2, 1});
light.SetSpotInnerAngle(1.9);
light.SetSpotOuterAngle(3.3);
light.SetSpotFalloff(0.9);
light.SetIntensity(1.7);
light.SetLightOn(true);
msgs::Light lightMsg;
lightMsg = convert<msgs::Light>(light);
EXPECT_EQ("test_convert_light", lightMsg.name());
EXPECT_EQ(msgs::Light_LightType_DIRECTIONAL, lightMsg.type());
EXPECT_EQ(math::Pose3d(3, 2, 1, 0, GZ_PI, 0),
msgs::Convert(lightMsg.pose()));
/// \todo(anyone) add pose frame fields in gz-msgs?
// EXPECT_EQ("world", lightMsg.pose_frame());
EXPECT_TRUE(lightMsg.cast_shadows());
EXPECT_FALSE(lightMsg.is_light_off());
EXPECT_TRUE(lightMsg.visualize_visual());
EXPECT_EQ(math::Color(0.4f, 0.5f, 0.6f, 1),
msgs::Convert(lightMsg.diffuse()));
EXPECT_EQ(math::Color(0.8f, 0.9f, 0.1f, 1),
msgs::Convert(lightMsg.specular()));
EXPECT_FLOAT_EQ(3.2f, lightMsg.range());
EXPECT_FLOAT_EQ(0.5f, lightMsg.attenuation_constant());
EXPECT_FLOAT_EQ(0.1f, lightMsg.attenuation_linear());
EXPECT_FLOAT_EQ(0.01f, lightMsg.attenuation_quadratic());
EXPECT_EQ(math::Vector3d(0.1, 0.2, 1), msgs::Convert(lightMsg.direction()));
EXPECT_EQ(math::Angle(1.9), lightMsg.spot_inner_angle());
EXPECT_EQ(math::Angle(3.3), lightMsg.spot_outer_angle());
EXPECT_FLOAT_EQ(0.9f, lightMsg.spot_falloff());
EXPECT_FLOAT_EQ(1.7f, lightMsg.intensity());
auto newLight = convert<sdf::Light>(lightMsg);
EXPECT_EQ("test_convert_light", newLight.Name());
EXPECT_EQ(sdf::LightType::DIRECTIONAL, newLight.Type());
EXPECT_EQ(math::Pose3d(3, 2, 1, 0, GZ_PI, 0), newLight.RawPose());
/// \todo(anyone) add pose frame fields in gz-msgs?
// EXPECT_EQ("world", newLight.PoseRelativeTo());
EXPECT_TRUE(newLight.CastShadows());
EXPECT_TRUE(newLight.Visualize());
EXPECT_EQ(math::Color(0.4f, 0.5f, 0.6f, 1.0f), newLight.Diffuse());
EXPECT_EQ(math::Color(0.8f, 0.9f, 0.1f, 1.0f), newLight.Specular());
EXPECT_FLOAT_EQ(3.2f, newLight.AttenuationRange());
EXPECT_FLOAT_EQ(0.5f, newLight.ConstantAttenuationFactor());
EXPECT_FLOAT_EQ(0.1f, newLight.LinearAttenuationFactor());
EXPECT_FLOAT_EQ(0.01f, newLight.QuadraticAttenuationFactor());
EXPECT_EQ(math::Vector3d(0.1, 0.2, 1), newLight.Direction());
EXPECT_EQ(math::Angle(1.9), newLight.SpotInnerAngle());
EXPECT_EQ(math::Angle(3.3), newLight.SpotOuterAngle());
EXPECT_FLOAT_EQ(0.9f, newLight.SpotFalloff());
EXPECT_FLOAT_EQ(1.7f, newLight.Intensity());
EXPECT_EQ("", convert(sdf::LightType::INVALID));
EXPECT_EQ("point", convert(sdf::LightType::POINT));
EXPECT_EQ("directional", convert(sdf::LightType::DIRECTIONAL));
EXPECT_EQ("spot", convert(sdf::LightType::SPOT));
EXPECT_EQ(sdf::LightType::POINT, convert("POINT"));
EXPECT_EQ(sdf::LightType::DIRECTIONAL, convert("DireCtiOnal"));
EXPECT_EQ(sdf::LightType::SPOT, convert("spot"));
EXPECT_EQ(sdf::LightType::INVALID, convert("gazebo"));
}
/////////////////////////////////////////////////
TEST(Conversions, Gui)
{
sdf::Root root;
root.LoadSdfString("<?xml version='1.0'?><sdf version='1.6'>"
"<world name='default'>"
" <gui fullscreen='true'>"
" <plugin filename='plugin-file-1' name='plugin-1'>"
" <banana>3</banana>"
" </plugin>"
" <plugin filename='plugin-file-2' name='plugin-2'>"
" <watermelon>0.5</watermelon>"
" </plugin>"
" </gui>"
"</world></sdf>");
auto world = root.WorldByIndex(0);
ASSERT_NE(nullptr, world);
auto gui = world->Gui();
ASSERT_NE(nullptr, gui);
auto guiMsg = convert<msgs::GUI>(*gui);
EXPECT_TRUE(guiMsg.fullscreen());
ASSERT_EQ(2, guiMsg.plugin_size());
const auto &plugin1 = guiMsg.plugin(0);
EXPECT_EQ("plugin-file-1", plugin1.filename());
EXPECT_EQ("plugin-1", plugin1.name());
EXPECT_NE(plugin1.innerxml().find(
"<banana>3</banana>"),
std::string::npos);
const auto &plugin2 = guiMsg.plugin(1);
EXPECT_EQ("plugin-file-2", plugin2.filename());
EXPECT_EQ("plugin-2", plugin2.name());
EXPECT_NE(plugin2.innerxml().find(
"<watermelon>0.5</watermelon>"),
std::string::npos);
}
/////////////////////////////////////////////////
TEST(Conversions, Entity)
{
std::string model = "model";
auto entityType = convert<msgs::Entity_Type>(model);
EXPECT_EQ(msgs::Entity_Type_MODEL, entityType);
std::string empty = "";
auto entityType2 = convert<msgs::Entity_Type>(empty);
EXPECT_EQ(msgs::Entity_Type_NONE, entityType2);
}
/////////////////////////////////////////////////
TEST(Conversions, Physics)
{
// Test conversion from msg to sdf
msgs::Physics msg;
msg.set_real_time_factor(1.23);
msg.set_max_step_size(0.12);
auto physics = convert<sdf::Physics>(msg);
EXPECT_DOUBLE_EQ(1.23, physics.RealTimeFactor());
EXPECT_DOUBLE_EQ(0.12, physics.MaxStepSize());
// Test conversion from sdf to msg
sdf::Physics physSdf;
physSdf.SetMaxStepSize(0.34);
physSdf.SetRealTimeFactor(2.34);
auto physMsg = convert<msgs::Physics>(physSdf);
EXPECT_DOUBLE_EQ(2.34, physMsg.real_time_factor());
EXPECT_DOUBLE_EQ(0.34, physMsg.max_step_size());
}
/////////////////////////////////////////////////
TEST(Conversions, Pose)
{
msgs::Pose msg;
msg.mutable_position()->set_x(1);
msg.mutable_position()->set_y(2);
msg.mutable_position()->set_z(3);
msg.mutable_orientation()->set_w(0.1);
msg.mutable_orientation()->set_x(0.2);
msg.mutable_orientation()->set_y(0.3);
msg.mutable_orientation()->set_z(0.4);
auto pose = convert<math::Pose3d>(msg);
EXPECT_EQ(math::Pose3d(1, 2, 3, 0.1, 0.2, 0.3, 0.4), pose);
// Test empty orientation.
msgs::Pose msg2;
msg2.mutable_position()->set_x(1);
msg2.mutable_position()->set_y(2);
msg2.mutable_position()->set_z(3);
pose = convert<math::Pose3d>(msg2);
EXPECT_EQ(math::Pose3d(1, 2, 3, 1.0, 0, 0, 0), pose);
}
/////////////////////////////////////////////////
TEST(Conversions, Time)
{
std::chrono::steady_clock::duration duration{2ms};
auto msg = convert<msgs::Time>(duration);
EXPECT_EQ(0, msg.sec());
EXPECT_EQ(2000000, msg.nsec());
auto duration2 = convert<std::chrono::steady_clock::duration>(msg);
EXPECT_EQ(duration, duration2);
EXPECT_EQ(2000000, duration2.count());
}
/////////////////////////////////////////////////
TEST(Conversions, Material)
{
sdf::Material material;
material.SetDiffuse(math::Color(0.1f, 0.2f, 0.3f, 0.4f));
material.SetSpecular(math::Color(0.5f, 0.6f, 0.7f, 0.8f));
material.SetAmbient(math::Color(0.9f, 1.0f, 1.1f, 1.2f));
material.SetShininess(0.5);
material.SetEmissive(math::Color(1.3f, 1.4f, 1.5f, 1.6f));
material.SetLighting(true);
material.SetRenderOrder(2.5);
material.SetDoubleSided(true);
sdf::Pbr pbr;
sdf::PbrWorkflow workflow;
workflow.SetType(sdf::PbrWorkflowType::METAL);
workflow.SetAlbedoMap("albedo_map.png");
workflow.SetNormalMap("normal_map.png");
workflow.SetEnvironmentMap("environment_map.png");
workflow.SetAmbientOcclusionMap("ambient_occlusion_map.png");
workflow.SetMetalnessMap("metalness_map.png");
workflow.SetRoughnessMap("roughness_map.png");
workflow.SetEmissiveMap("emissive_map.png");
workflow.SetGlossinessMap("dummy_glossiness_map.png");
workflow.SetSpecularMap("dummy_specular_map.png");
workflow.SetLightMap("light_map.png", 1u);
workflow.SetMetalness(0.3);
workflow.SetRoughness(0.9);
workflow.SetGlossiness(0.1);
pbr.SetWorkflow(workflow.Type(), workflow);
material.SetPbrMaterial(pbr);
auto materialMsg = convert<msgs::Material>(material);
EXPECT_EQ(math::Color(0.1f, 0.2f, 0.3f, 0.4f),
msgs::Convert(materialMsg.diffuse()));
EXPECT_EQ(math::Color(0.5f, 0.6f, 0.7f, 0.8f),
msgs::Convert(materialMsg.specular()));
EXPECT_EQ(math::Color(0.9f, 1.0f, 1.1f, 1.2f),
msgs::Convert(materialMsg.ambient()));
EXPECT_DOUBLE_EQ(0.5, materialMsg.shininess());
EXPECT_EQ(math::Color(1.3f, 1.4f, 1.5f, 1.6f),
msgs::Convert(materialMsg.emissive()));
EXPECT_TRUE(materialMsg.lighting());
EXPECT_DOUBLE_EQ(2.5, materialMsg.render_order());
EXPECT_TRUE(materialMsg.double_sided());
EXPECT_TRUE(materialMsg.has_pbr());
const auto &pbrMsg = materialMsg.pbr();
EXPECT_EQ(msgs::Material_PBR_WorkflowType_METAL, pbrMsg.type());
EXPECT_EQ("albedo_map.png", pbrMsg.albedo_map());
EXPECT_EQ("normal_map.png", pbrMsg.normal_map());
EXPECT_EQ("roughness_map.png", pbrMsg.roughness_map());
EXPECT_EQ("metalness_map.png", pbrMsg.metalness_map());
EXPECT_EQ("environment_map.png", pbrMsg.environment_map());
EXPECT_EQ("emissive_map.png", pbrMsg.emissive_map());
EXPECT_EQ("ambient_occlusion_map.png", pbrMsg.ambient_occlusion_map());
EXPECT_EQ("dummy_glossiness_map.png", pbrMsg.glossiness_map());
EXPECT_EQ("dummy_specular_map.png", pbrMsg.specular_map());
EXPECT_EQ("light_map.png", pbrMsg.light_map());
EXPECT_EQ(1u, pbrMsg.light_map_texcoord_set());
EXPECT_DOUBLE_EQ(0.3, pbrMsg.metalness());
EXPECT_DOUBLE_EQ(0.9, pbrMsg.roughness());
EXPECT_DOUBLE_EQ(0.1, pbrMsg.glossiness());
auto newMaterial = convert<sdf::Material>(materialMsg);
EXPECT_EQ(math::Color(0.1f, 0.2f, 0.3f, 0.4f), newMaterial.Diffuse());
EXPECT_EQ(math::Color(0.5f, 0.6f, 0.7f, 0.8f), newMaterial.Specular());
EXPECT_EQ(math::Color(0.9f, 1.0f, 1.1f, 1.2f), newMaterial.Ambient());
EXPECT_DOUBLE_EQ(0.5, newMaterial.Shininess());
EXPECT_EQ(math::Color(1.3f, 1.4f, 1.5f, 1.6f), newMaterial.Emissive());
EXPECT_TRUE(newMaterial.Lighting());
EXPECT_TRUE(newMaterial.DoubleSided());
EXPECT_DOUBLE_EQ(2.5, newMaterial.RenderOrder());
auto newPbrMaterial = newMaterial.PbrMaterial();
ASSERT_NE(nullptr, newPbrMaterial);
auto newWorkflow = newPbrMaterial->Workflow(sdf::PbrWorkflowType::METAL);
ASSERT_NE(nullptr, newWorkflow);
EXPECT_EQ("albedo_map.png", newWorkflow->AlbedoMap());
EXPECT_EQ("normal_map.png", newWorkflow->NormalMap());
EXPECT_EQ("roughness_map.png", newWorkflow->RoughnessMap());
EXPECT_EQ("metalness_map.png", newWorkflow->MetalnessMap());
EXPECT_EQ("environment_map.png", newWorkflow->EnvironmentMap());
EXPECT_EQ("emissive_map.png", newWorkflow->EmissiveMap());
EXPECT_EQ("ambient_occlusion_map.png", newWorkflow->AmbientOcclusionMap());
EXPECT_EQ("dummy_glossiness_map.png", newWorkflow->GlossinessMap());
EXPECT_EQ("dummy_specular_map.png", newWorkflow->SpecularMap());
EXPECT_EQ("light_map.png", newWorkflow->LightMap());
EXPECT_EQ(1u, newWorkflow->LightMapTexCoordSet());
EXPECT_DOUBLE_EQ(0.3, newWorkflow->Metalness());
EXPECT_DOUBLE_EQ(0.9, newWorkflow->Roughness());
EXPECT_DOUBLE_EQ(0.1, newWorkflow->Glossiness());
}
/////////////////////////////////////////////////
TEST(Conversions, GeometryBox)
{
sdf::Geometry geometry;
geometry.SetType(sdf::GeometryType::BOX);
sdf::Box boxShape;
boxShape.SetSize(math::Vector3d(1, 2, 3));
geometry.SetBoxShape(boxShape);
auto geometryMsg = convert<msgs::Geometry>(geometry);
EXPECT_EQ(msgs::Geometry::BOX, geometryMsg.type());
EXPECT_TRUE(geometryMsg.has_box());
EXPECT_EQ(math::Vector3d(1, 2, 3),
msgs::Convert(geometryMsg.box().size()));
auto newGeometry = convert<sdf::Geometry>(geometryMsg);
EXPECT_EQ(sdf::GeometryType::BOX, newGeometry.Type());
ASSERT_NE(nullptr, newGeometry.BoxShape());
EXPECT_EQ(math::Vector3d(1, 2, 3), newGeometry.BoxShape()->Size());
}
/////////////////////////////////////////////////
TEST(Conversions, GeometrySphere)
{
sdf::Geometry geometry;
geometry.SetType(sdf::GeometryType::SPHERE);
sdf::Sphere sphereShape;
sphereShape.SetRadius(1.23);
geometry.SetSphereShape(sphereShape);
auto geometryMsg = convert<msgs::Geometry>(geometry);
EXPECT_EQ(msgs::Geometry::SPHERE, geometryMsg.type());
EXPECT_TRUE(geometryMsg.has_sphere());
EXPECT_DOUBLE_EQ(1.23, geometryMsg.sphere().radius());
auto newGeometry = convert<sdf::Geometry>(geometryMsg);
EXPECT_EQ(sdf::GeometryType::SPHERE, newGeometry.Type());
ASSERT_NE(nullptr, newGeometry.SphereShape());
EXPECT_DOUBLE_EQ(1.23, newGeometry.SphereShape()->Radius());
}
/////////////////////////////////////////////////
TEST(Conversions, GeometryCapsule)
{
sdf::Geometry geometry;
geometry.SetType(sdf::GeometryType::CAPSULE);
sdf::Capsule capsuleShape;
capsuleShape.SetRadius(1.23);
capsuleShape.SetLength(4.56);
geometry.SetCapsuleShape(capsuleShape);
auto geometryMsg = convert<msgs::Geometry>(geometry);
EXPECT_EQ(msgs::Geometry::CAPSULE, geometryMsg.type());
EXPECT_TRUE(geometryMsg.has_capsule());
EXPECT_DOUBLE_EQ(1.23, geometryMsg.capsule().radius());
EXPECT_DOUBLE_EQ(4.56, geometryMsg.capsule().length());
auto newGeometry = convert<sdf::Geometry>(geometryMsg);
EXPECT_EQ(sdf::GeometryType::CAPSULE, newGeometry.Type());
ASSERT_NE(nullptr, newGeometry.CapsuleShape());
EXPECT_DOUBLE_EQ(1.23, newGeometry.CapsuleShape()->Radius());
EXPECT_DOUBLE_EQ(4.56, newGeometry.CapsuleShape()->Length());
}
/////////////////////////////////////////////////
TEST(Conversions, GeometryCylinder)
{
sdf::Geometry geometry;
geometry.SetType(sdf::GeometryType::CYLINDER);
sdf::Cylinder cylinderShape;
cylinderShape.SetRadius(1.23);
cylinderShape.SetLength(4.56);
geometry.SetCylinderShape(cylinderShape);
auto geometryMsg = convert<msgs::Geometry>(geometry);
EXPECT_EQ(msgs::Geometry::CYLINDER, geometryMsg.type());
EXPECT_TRUE(geometryMsg.has_cylinder());
EXPECT_DOUBLE_EQ(1.23, geometryMsg.cylinder().radius());
EXPECT_DOUBLE_EQ(4.56, geometryMsg.cylinder().length());
auto newGeometry = convert<sdf::Geometry>(geometryMsg);
EXPECT_EQ(sdf::GeometryType::CYLINDER, newGeometry.Type());
ASSERT_NE(nullptr, newGeometry.CylinderShape());
EXPECT_DOUBLE_EQ(1.23, newGeometry.CylinderShape()->Radius());
EXPECT_DOUBLE_EQ(4.56, newGeometry.CylinderShape()->Length());
}
/////////////////////////////////////////////////
TEST(Conversions, GeometryEllipsoid)
{
sdf::Geometry geometry;
geometry.SetType(sdf::GeometryType::ELLIPSOID);
sdf::Ellipsoid ellipsoidShape;
ellipsoidShape.SetRadii(gz::math::Vector3d(1.2, 3.2, 2.4));
geometry.SetEllipsoidShape(ellipsoidShape);
auto geometryMsg = convert<msgs::Geometry>(geometry);
EXPECT_EQ(msgs::Geometry::ELLIPSOID, geometryMsg.type());
EXPECT_TRUE(geometryMsg.has_ellipsoid());
EXPECT_EQ(gz::math::Vector3d(1.2, 3.2, 2.4),
msgs::Convert(geometryMsg.ellipsoid().radii()));
auto newGeometry = convert<sdf::Geometry>(geometryMsg);
EXPECT_EQ(sdf::GeometryType::ELLIPSOID, newGeometry.Type());
ASSERT_NE(nullptr, newGeometry.EllipsoidShape());
EXPECT_EQ(gz::math::Vector3d(1.2, 3.2, 2.4),
newGeometry.EllipsoidShape()->Radii());
}
/////////////////////////////////////////////////
TEST(Conversions, GeometryMesh)
{
sdf::Geometry geometry;
geometry.SetType(sdf::GeometryType::MESH);
sdf::Mesh meshShape;
meshShape.SetScale(math::Vector3d(1, 2, 3));
meshShape.SetUri("file:https://watermelon");
meshShape.SetSubmesh("grape");
meshShape.SetCenterSubmesh(true);
meshShape.SetOptimization("convex_decomposition");
sdf::ConvexDecomposition convexDecomp;
convexDecomp.SetMaxConvexHulls(4);
convexDecomp.SetVoxelResolution(10000);
meshShape.SetConvexDecomposition(convexDecomp);
geometry.SetMeshShape(meshShape);
auto geometryMsg = convert<msgs::Geometry>(geometry);
EXPECT_EQ(msgs::Geometry::MESH, geometryMsg.type());
EXPECT_TRUE(geometryMsg.has_mesh());
EXPECT_EQ(math::Vector3d(1, 2, 3),
msgs::Convert(geometryMsg.mesh().scale()));
EXPECT_EQ("file:https://watermelon", geometryMsg.mesh().filename());
EXPECT_EQ("grape", geometryMsg.mesh().submesh());
EXPECT_TRUE(geometryMsg.mesh().center_submesh());
auto header = geometryMsg.header().data(0);
EXPECT_EQ("optimization", header.key());
EXPECT_EQ("convex_decomposition", header.value(0));
header = geometryMsg.header().data(1);
EXPECT_EQ("max_convex_hulls", header.key());
EXPECT_EQ("4", header.value(0));
header = geometryMsg.header().data(2);
EXPECT_EQ("voxel_resolution", header.key());
EXPECT_EQ("10000", header.value(0));
auto newGeometry = convert<sdf::Geometry>(geometryMsg);
EXPECT_EQ(sdf::GeometryType::MESH, newGeometry.Type());
ASSERT_NE(nullptr, newGeometry.MeshShape());
EXPECT_EQ(math::Vector3d(1, 2, 3), newGeometry.MeshShape()->Scale());
EXPECT_EQ("file:https://watermelon", newGeometry.MeshShape()->Uri());
EXPECT_EQ("grape", newGeometry.MeshShape()->Submesh());
EXPECT_TRUE(newGeometry.MeshShape()->CenterSubmesh());
EXPECT_EQ("convex_decomposition", newGeometry.MeshShape()->OptimizationStr());
auto newConvexDecomp = newGeometry.MeshShape()->ConvexDecomposition();
ASSERT_NE(nullptr, newConvexDecomp);
EXPECT_EQ(4, newConvexDecomp->MaxConvexHulls());
EXPECT_EQ(10000, newConvexDecomp->VoxelResolution());
}
/////////////////////////////////////////////////
TEST(Conversions, GeometryPlane)
{
sdf::Geometry geometry;
geometry.SetType(sdf::GeometryType::PLANE);
sdf::Plane planeShape;
planeShape.SetSize(math::Vector2d(1, 2));
planeShape.SetNormal(math::Vector3d::UnitY);
geometry.SetPlaneShape(planeShape);
auto geometryMsg = convert<msgs::Geometry>(geometry);
EXPECT_EQ(msgs::Geometry::PLANE, geometryMsg.type());
EXPECT_TRUE(geometryMsg.has_plane());
EXPECT_EQ(math::Vector2d(1, 2),
msgs::Convert(geometryMsg.plane().size()));
EXPECT_EQ(math::Vector3d::UnitY,
msgs::Convert(geometryMsg.plane().normal()));
auto newGeometry = convert<sdf::Geometry>(geometryMsg);
EXPECT_EQ(sdf::GeometryType::PLANE, newGeometry.Type());
ASSERT_NE(nullptr, newGeometry.PlaneShape());
EXPECT_EQ(math::Vector2d(1, 2), newGeometry.PlaneShape()->Size());
EXPECT_EQ(math::Vector3d::UnitY, newGeometry.PlaneShape()->Normal());
}
/////////////////////////////////////////////////
TEST(Conversions, GeometryHeightmap)
{
sdf::Geometry geometry;
geometry.SetType(sdf::GeometryType::HEIGHTMAP);
sdf::Heightmap heightmap;
heightmap.SetUri("file:https://heights.png");
heightmap.SetSize(gz::math::Vector3d(1, 2, 3));
heightmap.SetPosition(gz::math::Vector3d(4, 5, 6));
heightmap.SetUseTerrainPaging(true);
heightmap.SetSampling(16u);
sdf::HeightmapTexture texture;
texture.SetDiffuse("file:https://diffuse.png");
texture.SetNormal("file:https://normal.png");
texture.SetSize(1.23);
heightmap.AddTexture(texture);
sdf::HeightmapBlend blend;
blend.SetMinHeight(123.456);
blend.SetFadeDistance(456.789);
heightmap.AddBlend(blend);
geometry.SetHeightmapShape(heightmap);
auto geometryMsg = convert<msgs::Geometry>(geometry);
EXPECT_EQ(msgs::Geometry::HEIGHTMAP, geometryMsg.type());
EXPECT_TRUE(geometryMsg.has_heightmap());
EXPECT_EQ(math::Vector3d(1, 2, 3),
msgs::Convert(geometryMsg.heightmap().size()));
EXPECT_EQ("file:https://heights.png", geometryMsg.heightmap().filename());
EXPECT_TRUE(geometryMsg.heightmap().use_terrain_paging());
EXPECT_EQ(16u, geometryMsg.heightmap().sampling());
ASSERT_EQ(1, geometryMsg.heightmap().texture().size());
EXPECT_DOUBLE_EQ(1.23, geometryMsg.heightmap().texture(0).size());
EXPECT_EQ("file:https://diffuse.png", geometryMsg.heightmap().texture(0).diffuse());
EXPECT_EQ("file:https://normal.png", geometryMsg.heightmap().texture(0).normal());
ASSERT_EQ(1, geometryMsg.heightmap().blend().size());
EXPECT_DOUBLE_EQ(123.456, geometryMsg.heightmap().blend(0).min_height());
EXPECT_DOUBLE_EQ(456.789, geometryMsg.heightmap().blend(0).fade_dist());
auto newGeometry = convert<sdf::Geometry>(geometryMsg);
EXPECT_EQ(sdf::GeometryType::HEIGHTMAP, newGeometry.Type());
auto newHeightmap = newGeometry.HeightmapShape();
ASSERT_NE(nullptr, newHeightmap);
EXPECT_EQ(math::Vector3d(1, 2, 3), newHeightmap->Size());
EXPECT_EQ("file:https://heights.png", newHeightmap->Uri());
EXPECT_TRUE(newHeightmap->UseTerrainPaging());
EXPECT_EQ(16u, newHeightmap->Sampling());
ASSERT_EQ(1u, newHeightmap->TextureCount());
EXPECT_DOUBLE_EQ(1.23, newHeightmap->TextureByIndex(0)->Size());
EXPECT_EQ("file:https://diffuse.png", newHeightmap->TextureByIndex(0)->Diffuse());
EXPECT_EQ("file:https://normal.png", newHeightmap->TextureByIndex(0)->Normal());
ASSERT_EQ(1u, newHeightmap->BlendCount());
EXPECT_DOUBLE_EQ(123.456, newHeightmap->BlendByIndex(0)->MinHeight());
EXPECT_DOUBLE_EQ(456.789, newHeightmap->BlendByIndex(0)->FadeDistance());
}
/////////////////////////////////////////////////
TEST(Conversions, GeometryPolyline)
{
sdf::Geometry geometry;
geometry.SetType(sdf::GeometryType::POLYLINE);
sdf::Polyline polylineShape;
polylineShape.SetHeight(1.23);
polylineShape.AddPoint({4.5, 6.7});
polylineShape.AddPoint({8.9, 10.11});
geometry.SetPolylineShape({polylineShape});
auto geometryMsg = convert<msgs::Geometry>(geometry);
EXPECT_EQ(msgs::Geometry::POLYLINE, geometryMsg.type());
ASSERT_EQ(1, geometryMsg.polyline_size());
EXPECT_DOUBLE_EQ(1.23, geometryMsg.polyline(0).height());
ASSERT_EQ(2, geometryMsg.polyline(0).point_size());
EXPECT_DOUBLE_EQ(4.5, geometryMsg.polyline(0).point(0).x());
EXPECT_DOUBLE_EQ(6.7, geometryMsg.polyline(0).point(0).y());
EXPECT_DOUBLE_EQ(8.9, geometryMsg.polyline(0).point(1).x());
EXPECT_DOUBLE_EQ(10.11, geometryMsg.polyline(0).point(1).y());
auto newGeometry = convert<sdf::Geometry>(geometryMsg);
EXPECT_EQ(sdf::GeometryType::POLYLINE, newGeometry.Type());
ASSERT_FALSE(newGeometry.PolylineShape().empty());
ASSERT_EQ(1u, newGeometry.PolylineShape().size());
EXPECT_DOUBLE_EQ(1.23, newGeometry.PolylineShape()[0].Height());
ASSERT_EQ(2u, newGeometry.PolylineShape()[0].PointCount());
EXPECT_DOUBLE_EQ(4.5, newGeometry.PolylineShape()[0].PointByIndex(0)->X());
EXPECT_DOUBLE_EQ(6.7, newGeometry.PolylineShape()[0].PointByIndex(0)->Y());
EXPECT_DOUBLE_EQ(8.9, newGeometry.PolylineShape()[0].PointByIndex(1)->X());
EXPECT_DOUBLE_EQ(10.11, newGeometry.PolylineShape()[0].PointByIndex(1)->Y());
}
/////////////////////////////////////////////////
TEST(Conversions, Inertial)
{
math::MassMatrix3d massMatrix;
massMatrix.SetMass(1.1);
massMatrix.SetIxx(2.2);
massMatrix.SetIyy(3.3);
massMatrix.SetIzz(4.4);
massMatrix.SetIxy(5.5);
massMatrix.SetIxz(6.6);
massMatrix.SetIyz(7.7);
math::Inertiald inertial;
inertial.SetPose(math::Pose3d(1, 2, 3, 0.1, 0.2, 0.3));
inertial.SetMassMatrix(massMatrix);
auto inertialMsg = convert<msgs::Inertial>(inertial);
EXPECT_EQ(math::Pose3d(1, 2, 3, 0.1, 0.2, 0.3),
msgs::Convert(inertialMsg.pose()));
EXPECT_DOUBLE_EQ(1.1, inertialMsg.mass());
EXPECT_DOUBLE_EQ(2.2, inertialMsg.ixx());
EXPECT_DOUBLE_EQ(3.3, inertialMsg.iyy());
EXPECT_DOUBLE_EQ(4.4, inertialMsg.izz());
EXPECT_DOUBLE_EQ(5.5, inertialMsg.ixy());
EXPECT_DOUBLE_EQ(6.6, inertialMsg.ixz());
EXPECT_DOUBLE_EQ(7.7, inertialMsg.iyz());
auto newInertial = convert<math::Inertiald>(inertialMsg);
EXPECT_EQ(math::Pose3d(1, 2, 3, 0.1, 0.2, 0.3), newInertial.Pose());
EXPECT_DOUBLE_EQ(1.1, newInertial.MassMatrix().Mass());
EXPECT_DOUBLE_EQ(2.2, newInertial.MassMatrix().Ixx());
EXPECT_DOUBLE_EQ(3.3, newInertial.MassMatrix().Iyy());
EXPECT_DOUBLE_EQ(4.4, newInertial.MassMatrix().Izz());
EXPECT_DOUBLE_EQ(5.5, newInertial.MassMatrix().Ixy());
EXPECT_DOUBLE_EQ(6.6, newInertial.MassMatrix().Ixz());
EXPECT_DOUBLE_EQ(7.7, newInertial.MassMatrix().Iyz());
}
/////////////////////////////////////////////////
TEST(Conversions, JointAxis)
{
sdf::JointAxis jointAxis;
EXPECT_TRUE(jointAxis.SetXyz(math::Vector3d(1, 2, 3)).empty());
jointAxis.SetXyzExpressedIn("__model__");
jointAxis.SetDamping(0.1);
jointAxis.SetFriction(0.2);
jointAxis.SetLower(0.3);
jointAxis.SetUpper(0.4);
jointAxis.SetEffort(0.5);
jointAxis.SetMaxVelocity(0.6);
auto axisMsg = convert<msgs::Axis>(jointAxis);
EXPECT_EQ(math::Vector3d(1, 2, 3).Normalized(), msgs::Convert(axisMsg.xyz()));
EXPECT_DOUBLE_EQ(0.1, axisMsg.damping());
EXPECT_DOUBLE_EQ(0.2, axisMsg.friction());
EXPECT_DOUBLE_EQ(0.3, axisMsg.limit_lower());
EXPECT_DOUBLE_EQ(0.4, axisMsg.limit_upper());
EXPECT_DOUBLE_EQ(0.5, axisMsg.limit_effort());
EXPECT_DOUBLE_EQ(0.6, axisMsg.limit_velocity());
EXPECT_EQ(axisMsg.xyz_expressed_in(), "__model__");
auto newJointAxis = convert<sdf::JointAxis>(axisMsg);
EXPECT_EQ(math::Vector3d(1, 2, 3).Normalized(), newJointAxis.Xyz());
EXPECT_DOUBLE_EQ(0.1, newJointAxis.Damping());
EXPECT_DOUBLE_EQ(0.2, newJointAxis.Friction());
EXPECT_DOUBLE_EQ(0.3, newJointAxis.Lower());
EXPECT_DOUBLE_EQ(0.4, newJointAxis.Upper());
EXPECT_DOUBLE_EQ(0.5, newJointAxis.Effort());
EXPECT_DOUBLE_EQ(0.6, newJointAxis.MaxVelocity());
EXPECT_EQ(newJointAxis.XyzExpressedIn(), "__model__");
}
/////////////////////////////////////////////////
TEST(Conversions, Scene)
{
sdf::Scene scene;
scene.SetAmbient(math::Color(0.1f, 0.2f, 0.3f, 0.4f));
scene.SetBackground(math::Color(0.5f, 0.6f, 0.7f, 0.8f));
scene.SetShadows(true);
scene.SetGrid(true);
scene.SetOriginVisual(true);
auto sceneMsg = convert<msgs::Scene>(scene);
EXPECT_EQ(math::Color(0.1f, 0.2f, 0.3f, 0.4f),
msgs::Convert(sceneMsg.ambient()));
EXPECT_EQ(math::Color(0.5f, 0.6f, 0.7f, 0.8f),
msgs::Convert(sceneMsg.background()));
EXPECT_TRUE(sceneMsg.shadows());
EXPECT_TRUE(sceneMsg.grid());
EXPECT_TRUE(sceneMsg.origin_visual());
EXPECT_FALSE(sceneMsg.has_sky());
auto newScene = convert<sdf::Scene>(sceneMsg);
EXPECT_EQ(math::Color(0.1f, 0.2f, 0.3f, 0.4f), newScene.Ambient());
EXPECT_EQ(math::Color(0.5f, 0.6f, 0.7f, 0.8f), newScene.Background());
EXPECT_TRUE(newScene.Shadows());
EXPECT_TRUE(newScene.Grid());
EXPECT_TRUE(newScene.OriginVisual());
EXPECT_EQ(nullptr, newScene.Sky());
// sky
sdf::Sky sky;
sky.SetTime(10);
sky.SetSunrise(4.0);
sky.SetSunset(15.0);
sky.SetCloudSpeed(5.0);
sky.SetCloudDirection(math::Angle(3.14));
sky.SetCloudHumidity(0.11);
sky.SetCloudMeanSize(0.88);
sky.SetCloudAmbient(math::Color::Red);
sky.SetCubemapUri("test.dds");
scene.SetSky(sky);
auto sceneSkyMsg = convert<msgs::Scene>(scene);
EXPECT_TRUE(sceneSkyMsg.has_sky());
EXPECT_DOUBLE_EQ(10.0, sceneSkyMsg.sky().time());
EXPECT_DOUBLE_EQ(4.0, sceneSkyMsg.sky().sunrise());
EXPECT_DOUBLE_EQ(15.0, sceneSkyMsg.sky().sunset());
EXPECT_DOUBLE_EQ(5.0, sceneSkyMsg.sky().wind_speed());
EXPECT_DOUBLE_EQ(3.14, sceneSkyMsg.sky().wind_direction());
EXPECT_DOUBLE_EQ(0.11, sceneSkyMsg.sky().humidity());
EXPECT_DOUBLE_EQ(0.88, sceneSkyMsg.sky().mean_cloud_size());
EXPECT_EQ(math::Color::Red,
msgs::Convert(sceneSkyMsg.sky().cloud_ambient()));
EXPECT_EQ("test.dds", sceneSkyMsg.sky().cubemap_uri());
auto newSceneSky = convert<sdf::Scene>(sceneSkyMsg);
ASSERT_NE(nullptr, newSceneSky.Sky());
EXPECT_DOUBLE_EQ(10.0, newSceneSky.Sky()->Time());
EXPECT_DOUBLE_EQ(4.0, newSceneSky.Sky()->Sunrise());
EXPECT_DOUBLE_EQ(15.0, newSceneSky.Sky()->Sunset());
EXPECT_DOUBLE_EQ(5.0, newSceneSky.Sky()->CloudSpeed());
EXPECT_EQ(math::Angle(3.14), newSceneSky.Sky()->CloudDirection());
EXPECT_DOUBLE_EQ(0.11, newSceneSky.Sky()->CloudHumidity());
EXPECT_DOUBLE_EQ(0.88, newSceneSky.Sky()->CloudMeanSize());
EXPECT_EQ(math::Color::Red, newSceneSky.Sky()->CloudAmbient());
EXPECT_EQ("test.dds", newSceneSky.Sky()->CubemapUri());
}
/////////////////////////////////////////////////
TEST(Conversions, Atmosphere)
{
sdf::Atmosphere atmosphere;
atmosphere.SetType(sdf::AtmosphereType::ADIABATIC);
atmosphere.SetTemperature(math::Temperature(234.5));
atmosphere.SetPressure(88.6);
auto atmosphereMsg = convert<msgs::Atmosphere>(atmosphere);
EXPECT_EQ(msgs::Atmosphere::ADIABATIC, atmosphereMsg.type());
EXPECT_DOUBLE_EQ(234.5, atmosphereMsg.temperature());
EXPECT_DOUBLE_EQ(88.6, atmosphereMsg.pressure());
auto newAtmosphere = convert<sdf::Atmosphere>(atmosphereMsg);
EXPECT_EQ(sdf::AtmosphereType::ADIABATIC, newAtmosphere.Type());
EXPECT_EQ(math::Temperature(234.5), newAtmosphere.Temperature());
EXPECT_DOUBLE_EQ(88.6, newAtmosphere.Pressure());
}
/////////////////////////////////////////////////
TEST(Conversions, MagnetometerSensor)
{
sdf::Sensor sensor;
sensor.SetName("my_sensor");
sensor.SetType(sdf::SensorType::MAGNETOMETER);
sensor.SetUpdateRate(12.4);
sensor.SetTopic("my_topic");
sensor.SetRawPose(math::Pose3d(1, 2, 3, 0, 0, 0));
sdf::Noise noise;
noise.SetType(sdf::NoiseType::GAUSSIAN);
noise.SetMean(1.2);
noise.SetStdDev(2.6);
noise.SetBiasMean(0.2);
noise.SetBiasStdDev(12.16);
noise.SetPrecision(0.01);
sdf::Magnetometer mag;
mag.SetXNoise(noise);
sensor.SetMagnetometerSensor(mag);
msgs::Sensor msg = convert<msgs::Sensor>(sensor);
EXPECT_EQ(sensor.Name(), msg.name());
EXPECT_EQ(sensor.TypeStr(), msg.type());
EXPECT_DOUBLE_EQ(sensor.UpdateRate(), msg.update_rate());
EXPECT_EQ(sensor.Topic(), msg.topic());
EXPECT_EQ(sensor.RawPose(), msgs::Convert(msg.pose()));
ASSERT_TRUE(msg.has_magnetometer());
sdf::Noise defaultNoise;
sdf::Noise convertedNoise;
convertedNoise = convert<sdf::Noise>(msg.magnetometer().x_noise());
EXPECT_EQ(noise, convertedNoise);
EXPECT_FALSE(msg.magnetometer().has_y_noise());
EXPECT_FALSE(msg.magnetometer().has_z_noise());
}
/////////////////////////////////////////////////
TEST(Conversions, AltimeterSensor)
{
sdf::Sensor sensor;
sensor.SetName("my_sensor");
sensor.SetType(sdf::SensorType::ALTIMETER);
sensor.SetUpdateRate(12.4);
sensor.SetTopic("my_topic");
sensor.SetRawPose(math::Pose3d(1, 2, 3, 0, 0, 0));
sdf::Noise noise;
noise.SetType(sdf::NoiseType::GAUSSIAN);
noise.SetMean(1.2);
noise.SetStdDev(2.6);
noise.SetBiasMean(0.2);
noise.SetBiasStdDev(12.16);
noise.SetPrecision(0.01);
sdf::Altimeter alt;
alt.SetVerticalPositionNoise(noise);
sensor.SetAltimeterSensor(alt);
msgs::Sensor msg = convert<msgs::Sensor>(sensor);
EXPECT_EQ(sensor.Name(), msg.name());
EXPECT_EQ(sensor.TypeStr(), msg.type());
EXPECT_DOUBLE_EQ(sensor.UpdateRate(), msg.update_rate());
EXPECT_EQ(sensor.Topic(), msg.topic());
EXPECT_EQ(sensor.RawPose(), msgs::Convert(msg.pose()));
ASSERT_TRUE(msg.has_altimeter());
sdf::Noise defaultNoise;
sdf::Noise convertedNoise;
convertedNoise = convert<sdf::Noise>(
msg.altimeter().vertical_position_noise());
EXPECT_EQ(noise, convertedNoise);
EXPECT_FALSE(msg.altimeter().has_vertical_velocity_noise());
}
/////////////////////////////////////////////////
TEST(Conversions, UpdateInfo)
{
UpdateInfo info;
info.simTime = 1234ms;
info.realTime = 2345ms;
info.dt = 3456ms;
info.iterations = 1234;
info.paused = true;
auto statsMsg = convert<msgs::WorldStatistics>(info);
EXPECT_EQ(1, statsMsg.sim_time().sec());
EXPECT_EQ(234000000, statsMsg.sim_time().nsec());
EXPECT_EQ(2, statsMsg.real_time().sec());
EXPECT_EQ(345000000, statsMsg.real_time().nsec());
EXPECT_EQ(3, statsMsg.step_size().sec());
EXPECT_EQ(456000000, statsMsg.step_size().nsec());
EXPECT_EQ(1234u, statsMsg.iterations());
EXPECT_TRUE(statsMsg.paused());
msgs::WorldStatistics statsMsg2;
set(&statsMsg2, info);
EXPECT_EQ(1, statsMsg2.sim_time().sec());
EXPECT_EQ(234000000, statsMsg2.sim_time().nsec());
EXPECT_EQ(2, statsMsg2.real_time().sec());
EXPECT_EQ(345000000, statsMsg2.real_time().nsec());
EXPECT_EQ(3, statsMsg2.step_size().sec());
EXPECT_EQ(456000000, statsMsg2.step_size().nsec());
EXPECT_EQ(1234u, statsMsg2.iterations());
EXPECT_TRUE(statsMsg2.paused());
auto newInfo = convert<UpdateInfo>(statsMsg);
EXPECT_EQ(1234000000, newInfo.simTime.count());
EXPECT_TRUE(newInfo.paused);
}
/////////////////////////////////////////////////
TEST(Conversions, AxisAlignedbox)
{
math::AxisAlignedBox aabb;
aabb.Min() = math::Vector3d(-1, -2, -3);
aabb.Max() = math::Vector3d(1, 2, 3);
auto aabbMsg = convert<msgs::AxisAlignedBox>(aabb);
auto min = msgs::Convert(aabbMsg.min_corner());
auto max = msgs::Convert(aabbMsg.max_corner());
EXPECT_EQ(math::Vector3d(-1, -2, -3), min);
EXPECT_EQ(math::Vector3d(1, 2, 3), max);
msgs::AxisAlignedBox aabbMsg2;
msgs::Set(aabbMsg2.mutable_min_corner(), math::Vector3d(2, 3, 4));
msgs::Set(aabbMsg2.mutable_max_corner(), math::Vector3d(20, 30, 40));
auto aabb2 = convert<math::AxisAlignedBox>(aabbMsg2);
EXPECT_EQ(math::Vector3d(2, 3, 4), aabb2.Min());
EXPECT_EQ(math::Vector3d(20, 30, 40), aabb2.Max());
}
/////////////////////////////////////////////////
TEST(Conversions, Actor)
{
sdf::Animation anim;
anim.SetName("animation");
anim.SetFilename("animation_filename");
anim.SetScale(1.23);
anim.SetInterpolateX(true);
sdf::Waypoint way;
way.SetTime(0.123);
way.SetPose({6, 5, 4, 0, 0, 0});
sdf::Trajectory traj;
traj.SetId(456);
traj.SetType("traj_type");
traj.SetTension(7.89);
traj.AddWaypoint(way);
sdf::Actor actor;
actor.SetName("test_convert_actor");
actor.SetRawPose({3, 2, 1, 0, 0, 0});
actor.SetSkinFilename("walk.dae");
actor.SetSkinScale(2.0);
actor.SetScriptLoop(true);
actor.SetScriptDelayStart(2.8);
actor.SetScriptAutoStart(true);
actor.AddAnimation(anim);
actor.AddTrajectory(traj);
msgs::Actor actorMsg = convert<msgs::Actor>(actor);
EXPECT_TRUE(actorMsg.has_entity());
EXPECT_EQ("test_convert_actor", actorMsg.entity().name());
EXPECT_EQ(math::Pose3d(3, 2, 1, 0, 0, 0),
msgs::Convert(actorMsg.pose()));
EXPECT_EQ("walk.dae", actorMsg.skin_filename());
EXPECT_FLOAT_EQ(2.0f, actorMsg.skin_scale());
EXPECT_TRUE(actorMsg.script_loop());
EXPECT_FLOAT_EQ(2.8f, actorMsg.script_delay_start());
EXPECT_TRUE(actorMsg.script_auto_start());
ASSERT_EQ(1, actorMsg.animations_size());
EXPECT_EQ("animation", actorMsg.animations(0).name());
EXPECT_EQ("animation_filename", actorMsg.animations(0).filename());
EXPECT_FLOAT_EQ(1.23f, actorMsg.animations(0).scale());
EXPECT_TRUE(actorMsg.animations(0).interpolate_x());
ASSERT_EQ(1, actorMsg.trajectories_size());
EXPECT_EQ(456u, actorMsg.trajectories(0).id());
EXPECT_EQ("traj_type", actorMsg.trajectories(0).type());
EXPECT_FLOAT_EQ(7.89f, actorMsg.trajectories(0).tension());
ASSERT_EQ(1, actorMsg.trajectories(0).waypoints_size());
EXPECT_FLOAT_EQ(0.123f, actorMsg.trajectories(0).waypoints(0).time());
EXPECT_EQ(math::Pose3d(6, 5, 4, 0, 0, 0),
msgs::Convert(actorMsg.trajectories(0).waypoints(0).pose()));
auto newActor = convert<sdf::Actor>(actorMsg);
EXPECT_EQ("test_convert_actor", newActor.Name());
EXPECT_EQ(math::Pose3d(3, 2, 1, 0, 0, 0), newActor.RawPose());
EXPECT_EQ("walk.dae", newActor.SkinFilename());
EXPECT_FLOAT_EQ(2.0f, newActor.SkinScale());
EXPECT_TRUE(newActor.ScriptLoop());
EXPECT_FLOAT_EQ(2.8f, newActor.ScriptDelayStart());
EXPECT_TRUE(newActor.ScriptAutoStart());
ASSERT_EQ(1u, newActor.AnimationCount());
EXPECT_EQ("animation", newActor.AnimationByIndex(0)->Name());
EXPECT_EQ("animation_filename", newActor.AnimationByIndex(0)->Filename());
EXPECT_FLOAT_EQ(1.23f, newActor.AnimationByIndex(0)->Scale());
EXPECT_TRUE(newActor.AnimationByIndex(0)->InterpolateX());
ASSERT_EQ(1u, newActor.TrajectoryCount());