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[Gazebo 9] Added test to check collisions equal to zero #2788

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Jul 23, 2020
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[Gazebo 9] Added test to check collisions equal to zero #2788

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67b81bf
Added test to check collisions equal to zero
ahcorde Jul 13, 2020
5666778
Included feedback
ahcorde Jul 21, 2020
8a62494
make linters happy
ahcorde Jul 22, 2020
859121b
Update Visual_TEST.cc
ahcorde Jul 22, 2020
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36 changes: 36 additions & 0 deletions gazebo/rendering/Visual_TEST.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -1588,6 +1588,42 @@ TEST_F(Visual_TEST, ConvertVisualType)
rendering::Visual::ConvertVisualType(msgs::Visual::PHYSICS));
}

TEST_F(Visual_TEST, CollisionZero)
{
// This test checks that there isn't a segmentation fault when inserting
// zero collision geometries.
// Load a world containing 3 simple shapes with collision geometry equals
// to zero.
Load("worlds/collision_zero.world");

// Get the scene
gazebo::rendering::ScenePtr scene = gazebo::rendering::get_scene();
ASSERT_NE(scene, nullptr);

// Wait until all models are inserted
int sleep = 0;
int maxSleep = 10;
rendering::VisualPtr box, sphere, cylinder;
while ((!box || !sphere || !cylinder) && sleep < maxSleep)
{
event::Events::preRender();
event::Events::render();
event::Events::postRender();

box = scene->GetVisual("box");
cylinder = scene->GetVisual("cylinder");
sphere = scene->GetVisual("sphere");
common::Time::MSleep(1000);
sleep++;
}
scene->ShowCollisions(true);
// box
ASSERT_NE(box, nullptr);
// cylinder
ASSERT_NE(cylinder, nullptr);
// sphere
ASSERT_NE(sphere, nullptr);
}
/////////////////////////////////////////////////
TEST_F(Visual_TEST, Scale)
{
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79 changes: 79 additions & 0 deletions worlds/collision_zero.world
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@@ -0,0 +1,79 @@
<?xml version="1.0" ?>
<sdf version="1.5">
<world name="default">
<include>
<uri>model://ground_plane</uri>
</include>
<include>
<uri>model://sun</uri>
</include>
<model name="box">
<pose>0 0 0.5 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry>
<box>
<size>0 0 0</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<script>Gazebo/WoodPallet</script>
</material>
</visual>
</link>
</model>
<model name="sphere">
<pose>0 1.5 0.5 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry>
<sphere>
<radius>0</radius>
</sphere>
</geometry>
</collision>
<visual name="visual">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<material>
<script>Gazebo/WoodPallet</script>
</material>
</visual>
</link>
</model>
<model name="cylinder">
<pose>0 -1.5 0.5 0 1.5707 0</pose>
<link name="link">
<collision name="collision">
<geometry>
<cylinder>
<radius>0</radius>
<length>0</length>
</cylinder>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder>
<radius>0.5</radius>
<length>1.0</length>
</cylinder>
</geometry>
<material>
<script>Gazebo/WoodPallet</script>
</material>
</visual>
</link>
</model>
</world>
</sdf>