Fix macOS Ogre 1.x tests (#409)

Signed-off-by: Ian Chen <[email protected]>
gazebosim · Sep 16, 2021 · 4bff736 · 4bff736
1 parent 1567c35
commit 4bff736
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Showing 5 changed files with 27 additions and 10 deletions.
diff --git a/ogre/src/OgreGpuRays.cc b/ogre/src/OgreGpuRays.cc
@@ -124,6 +124,9 @@ class ignition::rendering::OgreGpuRaysPrivate
 
   /// \brief Number of cameras needed to generate the rays.
   public: unsigned int cameraCount = 1;
+
+  /// \brief Min allowed angle in radians;
+  public: const math::Angle kMinAllowedAngle = 1e-4;
 };
 
 using namespace ignition;
@@ -245,7 +248,9 @@ void OgreGpuRays::CreateCamera()
 void OgreGpuRays::ConfigureCameras()
 {
   // horizontal gpu rays setup
-  this->SetHFOV(this->AngleMax() - this->AngleMin());
+  auto hfovAngle = this->AngleMax() - this->AngleMin();
+  hfovAngle = std::max(this->dataPtr->kMinAllowedAngle, hfovAngle);
+  this->SetHFOV(hfovAngle);
 
   if (this->HFOV().Radian() > 2.0 * IGN_PI)
   {
@@ -288,7 +293,8 @@ void OgreGpuRays::ConfigureCameras()
 
   if (this->VerticalRangeCount() > 1)
   {
-    vfovAngle = (this->VerticalAngleMax() - this->VerticalAngleMin()).Radian();
+    vfovAngle = std::max(this->dataPtr->kMinAllowedAngle.Radian(),
+        (this->VerticalAngleMax() - this->VerticalAngleMin()).Radian());
   }
   else
   {

diff --git a/ogre/src/OgreMesh.cc b/ogre/src/OgreMesh.cc
@@ -304,8 +304,11 @@ Ogre::SubEntity *OgreSubMesh::OgreSubEntity() const
 //////////////////////////////////////////////////
 void OgreSubMesh::Destroy()
 {
-  Ogre::MaterialManager::getSingleton().remove(
-        this->ogreSubEntity->getMaterialName());
+  // this causes several tests to crash on exit because MaterialManager
+  // is already deleted before this call
+  // todo(anyone) check if ogre root is deleted before removing material?
+  // Ogre::MaterialManager::getSingleton().remove(
+  //       this->ogreSubEntity->getMaterialName());
   OgreRTShaderSystem::Instance()->DetachEntity(this);
 
   BaseSubMesh::Destroy();

diff --git a/ogre/src/OgreNode.cc b/ogre/src/OgreNode.cc
@@ -59,7 +59,7 @@ void OgreNode::Destroy()
 {
   BaseNode::Destroy();
 
-  if (nullptr != this->scene)
+  if (nullptr != this->scene && nullptr != this->ogreNode)
   {
     Ogre::SceneManager *ogreSceneManager = this->scene->OgreSceneManager();
     if (nullptr != ogreSceneManager)

diff --git a/src/Utils_TEST.cc b/src/Utils_TEST.cc
@@ -117,6 +117,10 @@ void UtilTest::ClickToScene(const std::string &_renderEngine)
   box->SetLocalScale(1.0, 1.0, 1.0);
   root->AddChild(box);
 
+  // add camera and render one frame
+  root->AddChild(camera);
+  camera->Update();
+
   // API without RayQueryResult and default max distance
   result = screenToScene(centerClick, camera, rayQuery, rayResult);
 

diff --git a/test/integration/gpu_rays.cc b/test/integration/gpu_rays.cc
@@ -294,11 +294,15 @@ void GpuRaysTest::RaysUnitBox(const std::string &_renderEngine)
   EXPECT_NEAR(scan[0], expectedRangeAtMidPointBox2, LASER_TOL);
   EXPECT_FLOAT_EQ(scan[last], ignition::math::INF_F);
 
-  // rays cater should see box01 with laser retro value set to laserRetro1
-  // and box02 with laser retro value set to laserRetro2
-  EXPECT_NEAR(scan[mid+1], laserRetro1, 5.0);
-  EXPECT_NEAR(scan[0+1], laserRetro2, 5.0);
-  EXPECT_FLOAT_EQ(scan[last+1], 0.0);
+  // laser retro is currently only supported in ogre2
+  if (_renderEngine == "ogre2")
+  {
+    // rays cater should see box01 with laser retro value set to laserRetro1
+    // and box02 with laser retro value set to laserRetro2
+    EXPECT_NEAR(scan[mid+1], laserRetro1, 5.0);
+    EXPECT_NEAR(scan[0+1], laserRetro2, 5.0);
+    EXPECT_FLOAT_EQ(scan[last+1], 0.0);
+  }
 
   // Verify rays caster 2 range readings
   // listen to new gpu rays frames