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();
+}