AnimTestbed/3rdparty/ozz-animation/test/animation/runtime/skeleton_utils_tests.cc

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#include <algorithm>
#include <cstring>

#include "gtest/gtest.h"
#include "ozz/animation/offline/raw_skeleton.h"
#include "ozz/animation/offline/skeleton_builder.h"
#include "ozz/animation/runtime/skeleton.h"
#include "ozz/animation/runtime/skeleton_utils.h"
#include "ozz/base/gtest_helper.h"
#include "ozz/base/maths/gtest_math_helper.h"
#include "ozz/base/memory/unique_ptr.h"

using ozz::animation::Skeleton;
using ozz::animation::offline::RawSkeleton;
using ozz::animation::offline::SkeletonBuilder;

TEST(JointRestPose, SkeletonUtils) {
  // Instantiates a builder objects with default parameters.
  SkeletonBuilder builder;

  RawSkeleton raw_skeleton;
  raw_skeleton.roots.resize(1);
  RawSkeleton::Joint& r = raw_skeleton.roots[0];
  r.name = "r0";
  r.transform.translation = ozz::math::Float3::x_axis();
  r.transform.rotation = ozz::math::Quaternion::identity();
  r.transform.scale = ozz::math::Float3::zero();

  r.children.resize(2);
  RawSkeleton::Joint& c0 = r.children[0];
  c0.name = "j0";
  c0.transform.translation = ozz::math::Float3::y_axis();
  c0.transform.rotation = -ozz::math::Quaternion::identity();
  c0.transform.scale = -ozz::math::Float3::one();

  RawSkeleton::Joint& c1 = r.children[1];
  c1.name = "j1";
  c1.transform.translation = ozz::math::Float3::z_axis();
  c1.transform.rotation = Conjugate(ozz::math::Quaternion::identity());
  c1.transform.scale = ozz::math::Float3::one();

  EXPECT_TRUE(raw_skeleton.Validate());
  EXPECT_EQ(raw_skeleton.num_joints(), 3);

  ozz::unique_ptr<Skeleton> skeleton(builder(raw_skeleton));
  ASSERT_TRUE(skeleton);
  EXPECT_EQ(skeleton->num_joints(), 3);

  // Out of range.
  EXPECT_ASSERTION(GetJointLocalRestPose(*skeleton, 3),
                   "Joint index out of range.");

  const ozz::math::Transform rest_pose0 = GetJointLocalRestPose(*skeleton, 0);
  EXPECT_FLOAT3_EQ(rest_pose0.translation, 1.f, 0.f, 0.f);
  EXPECT_QUATERNION_EQ(rest_pose0.rotation, 0.f, 0.f, 0.f, 1.f);
  EXPECT_FLOAT3_EQ(rest_pose0.scale, 0.f, 0.f, 0.f);

  const ozz::math::Transform rest_pose1 = GetJointLocalRestPose(*skeleton, 1);
  EXPECT_FLOAT3_EQ(rest_pose1.translation, 0.f, 1.f, 0.f);
  EXPECT_QUATERNION_EQ(rest_pose1.rotation, 0.f, 0.f, 0.f, -1.f);
  EXPECT_FLOAT3_EQ(rest_pose1.scale, -1.f, -1.f, -1.f);

  const ozz::math::Transform rest_pose2 = GetJointLocalRestPose(*skeleton, 2);
  EXPECT_FLOAT3_EQ(rest_pose2.translation, 0.f, 0.f, 1.f);
  EXPECT_QUATERNION_EQ(rest_pose2.rotation, -0.f, -0.f, -0.f, 1.f);
  EXPECT_FLOAT3_EQ(rest_pose2.scale, 1.f, 1.f, 1.f);
}

/* Definition of the skeleton used by the tests.
 10 joints, 2 roots

      *
    /   \
   j0    j8
 /   \     \
 j1   j4    j9
 |   / \
 j2 j5 j6
 |     |
 j3    j7
 */

namespace {

class IterateDFFailTester {
 public:
  void operator()(int, int) { ASSERT_TRUE(false); }
};

class IterateDFTester {
 public:
  IterateDFTester(const ozz::animation::Skeleton* _skeleton, int _start)
      : skeleton_(_skeleton), start_(_start), num_iterations_(0) {}

  void operator()(int _current, int _parent) {
    const int joint = start_ + num_iterations_;
    EXPECT_EQ(joint, _current);
    EXPECT_EQ(skeleton_->joint_parents()[joint], _parent);
    ++num_iterations_;
  }

  int num_iterations() const { return num_iterations_; }

 private:
  // Iterated skeleton.
  const ozz::animation::Skeleton* skeleton_;

  // First joint to explore.
  int start_;

  // Number of iterations completed.
  int num_iterations_;
};
}  // namespace

TEST(InterateDF, SkeletonUtils) {
  // Instantiates a builder objects with default parameters.
  SkeletonBuilder builder;

  RawSkeleton raw_skeleton;
  raw_skeleton.roots.resize(2);
  RawSkeleton::Joint& j0 = raw_skeleton.roots[0];
  j0.name = "j0";
  RawSkeleton::Joint& j8 = raw_skeleton.roots[1];
  j8.name = "j8";

  j0.children.resize(2);
  j0.children[0].name = "j1";
  j0.children[1].name = "j4";

  j0.children[0].children.resize(1);
  j0.children[0].children[0].name = "j2";

  j0.children[0].children[0].children.resize(1);
  j0.children[0].children[0].children[0].name = "j3";

  j0.children[1].children.resize(2);
  j0.children[1].children[0].name = "j5";
  j0.children[1].children[1].name = "j6";

  j0.children[1].children[1].children.resize(1);
  j0.children[1].children[1].children[0].name = "j7";

  j8.children.resize(1);
  j8.children[0].name = "j9";

  EXPECT_TRUE(raw_skeleton.Validate());
  EXPECT_EQ(raw_skeleton.num_joints(), 10);

  ozz::unique_ptr<Skeleton> skeleton(builder(raw_skeleton));
  ASSERT_TRUE(skeleton);
  EXPECT_EQ(skeleton->num_joints(), 10);

  {
    IterateDFTester fct =
        IterateJointsDF(*skeleton, IterateDFTester(skeleton.get(), 0), -12);
    EXPECT_EQ(fct.num_iterations(), 10);
  }
  {
    IterateDFTester fct =
        IterateJointsDF(*skeleton, IterateDFTester(skeleton.get(), 0));
    EXPECT_EQ(fct.num_iterations(), 10);
  }
  {
    IterateDFTester fct = IterateJointsDF(
        *skeleton, IterateDFTester(skeleton.get(), 0), Skeleton::kNoParent);
    EXPECT_EQ(fct.num_iterations(), 10);
  }
  {
    IterateDFTester fct =
        IterateJointsDF(*skeleton, IterateDFTester(skeleton.get(), 0), 0);
    EXPECT_EQ(fct.num_iterations(), 8);
  }
  {
    IterateDFTester fct =
        IterateJointsDF(*skeleton, IterateDFTester(skeleton.get(), 1), 1);
    EXPECT_EQ(fct.num_iterations(), 3);
  }
  {
    IterateDFTester fct =
        IterateJointsDF(*skeleton, IterateDFTester(skeleton.get(), 2), 2);
    EXPECT_EQ(fct.num_iterations(), 2);
  }
  {
    IterateDFTester fct =
        IterateJointsDF(*skeleton, IterateDFTester(skeleton.get(), 3), 3);
    EXPECT_EQ(fct.num_iterations(), 1);
  }
  {
    IterateDFTester fct =
        IterateJointsDF(*skeleton, IterateDFTester(skeleton.get(), 4), 4);
    EXPECT_EQ(fct.num_iterations(), 4);
  }
  {
    IterateDFTester fct =
        IterateJointsDF(*skeleton, IterateDFTester(skeleton.get(), 5), 5);
    EXPECT_EQ(fct.num_iterations(), 1);
  }
  {
    IterateDFTester fct =
        IterateJointsDF(*skeleton, IterateDFTester(skeleton.get(), 6), 6);
    EXPECT_EQ(fct.num_iterations(), 2);
  }
  {
    IterateDFTester fct =
        IterateJointsDF(*skeleton, IterateDFTester(skeleton.get(), 7), 7);
    EXPECT_EQ(fct.num_iterations(), 1);
  }
  {
    IterateDFTester fct =
        IterateJointsDF(*skeleton, IterateDFTester(skeleton.get(), 8), 8);
    EXPECT_EQ(fct.num_iterations(), 2);
  }
  {
    IterateDFTester fct =
        IterateJointsDF(*skeleton, IterateDFTester(skeleton.get(), 9), 9);
    EXPECT_EQ(fct.num_iterations(), 1);
  }
  IterateJointsDF(*skeleton, IterateDFFailTester(), 10);
  IterateJointsDF(*skeleton, IterateDFFailTester(), 99);
}

TEST(InterateDFEmpty, SkeletonUtils) {
  ozz::animation::Skeleton empty;
  IterateJointsDF(empty, IterateDFFailTester(),
                  ozz::animation::Skeleton::kNoParent);
  IterateJointsDF(empty, IterateDFFailTester(), 0);
}

namespace {

class IterateDFReverseTester {
 public:
  IterateDFReverseTester(const ozz::animation::Skeleton* _skeleton)
      : skeleton_(_skeleton), num_iterations_(0) {}

  void operator()(int _current, int _parent) {
    if (num_iterations_ == 0) {
      EXPECT_TRUE(ozz::animation::IsLeaf(*skeleton_, _current));
    }

    // A joint is traversed once.
    ozz::vector<int>::const_iterator itc =
        std::find(processed_joints_.begin(), processed_joints_.end(), _current);
    EXPECT_TRUE(itc == processed_joints_.end());

    // A parent can't be traversed before a child.
    ozz::vector<int>::const_iterator itp =
        std::find(processed_joints_.begin(), processed_joints_.end(), _parent);
    EXPECT_TRUE(itp == processed_joints_.end());

    // joint processed
    processed_joints_.push_back(_current);

    // Validates parent id.
    EXPECT_EQ(skeleton_->joint_parents()[_current], _parent);

    ++num_iterations_;
  }

  int num_iterations() const { return num_iterations_; }

 private:
  // Iterated skeleton.
  const ozz::animation::Skeleton* skeleton_;

  // Number of iterations completed.
  int num_iterations_;

  // Already processed joints
  ozz::vector<int> processed_joints_;
};
}  // namespace

TEST(InterateDFReverse, SkeletonUtils) {
  // Instantiates a builder objects with default parameters.
  SkeletonBuilder builder;

  RawSkeleton raw_skeleton;
  raw_skeleton.roots.resize(2);
  RawSkeleton::Joint& j0 = raw_skeleton.roots[0];
  j0.name = "j0";
  RawSkeleton::Joint& j8 = raw_skeleton.roots[1];
  j8.name = "j8";

  j0.children.resize(2);
  j0.children[0].name = "j1";
  j0.children[1].name = "j4";

  j0.children[0].children.resize(1);
  j0.children[0].children[0].name = "j2";

  j0.children[0].children[0].children.resize(1);
  j0.children[0].children[0].children[0].name = "j3";

  j0.children[1].children.resize(2);
  j0.children[1].children[0].name = "j5";
  j0.children[1].children[1].name = "j6";

  j0.children[1].children[1].children.resize(1);
  j0.children[1].children[1].children[0].name = "j7";

  j8.children.resize(1);
  j8.children[0].name = "j9";

  EXPECT_TRUE(raw_skeleton.Validate());
  EXPECT_EQ(raw_skeleton.num_joints(), 10);

  ozz::unique_ptr<Skeleton> skeleton(builder(raw_skeleton));
  ASSERT_TRUE(skeleton);
  EXPECT_EQ(skeleton->num_joints(), 10);

  {
    IterateDFReverseTester fct = IterateJointsDFReverse(
        *skeleton, IterateDFReverseTester(skeleton.get()));
    EXPECT_EQ(fct.num_iterations(), 10);
  }
}

/* Definition of the skeleton used by the tests.
 10 joints, 2 roots

      *
    /   \
   j0    j8
 /   \     \
 j1   j4    j9
 |   / \
 j2 j5 j6
 |     |
 j3    j7
 */

TEST(IsLeaf, SkeletonUtils) {
  // Instantiates a builder objects with default parameters.
  SkeletonBuilder builder;

  RawSkeleton raw_skeleton;
  raw_skeleton.roots.resize(2);
  RawSkeleton::Joint& j0 = raw_skeleton.roots[0];
  j0.name = "j0";
  RawSkeleton::Joint& j8 = raw_skeleton.roots[1];
  j8.name = "j8";

  j0.children.resize(2);
  j0.children[0].name = "j1";
  j0.children[1].name = "j4";

  j0.children[0].children.resize(1);
  j0.children[0].children[0].name = "j2";

  j0.children[0].children[0].children.resize(1);
  j0.children[0].children[0].children[0].name = "j3";

  j0.children[1].children.resize(2);
  j0.children[1].children[0].name = "j5";
  j0.children[1].children[1].name = "j6";

  j0.children[1].children[1].children.resize(1);
  j0.children[1].children[1].children[0].name = "j7";

  j8.children.resize(1);
  j8.children[0].name = "j9";

  EXPECT_TRUE(raw_skeleton.Validate());
  EXPECT_EQ(raw_skeleton.num_joints(), 10);

  ozz::unique_ptr<Skeleton> skeleton(builder(raw_skeleton));
  ASSERT_TRUE(skeleton);
  EXPECT_EQ(skeleton->num_joints(), 10);

  // Out of bound
  EXPECT_ASSERTION(IsLeaf(*skeleton, 10), "_joint index out of range");
  EXPECT_ASSERTION(IsLeaf(*skeleton, 93), "_joint index out of range");
  EXPECT_ASSERTION(IsLeaf(*skeleton, ozz::animation::Skeleton::kNoParent),
                   "_joint index out of range");

  EXPECT_FALSE(IsLeaf(*skeleton, 0));
  EXPECT_FALSE(IsLeaf(*skeleton, 1));
  EXPECT_FALSE(IsLeaf(*skeleton, 2));
  EXPECT_TRUE(IsLeaf(*skeleton, 3));
  EXPECT_FALSE(IsLeaf(*skeleton, 4));
  EXPECT_TRUE(IsLeaf(*skeleton, 5));
  EXPECT_FALSE(IsLeaf(*skeleton, 6));
  EXPECT_TRUE(IsLeaf(*skeleton, 7));
  EXPECT_FALSE(IsLeaf(*skeleton, 8));
  EXPECT_TRUE(IsLeaf(*skeleton, 9));
}

TEST(Name, SkeletonUtils) {
  // Instantiates a builder objects with default parameters.
  SkeletonBuilder builder;

  RawSkeleton raw_skeleton;
  raw_skeleton.roots.resize(4);
  raw_skeleton.roots[0].name = "j0";
  raw_skeleton.roots[1].name = "j10";
  raw_skeleton.roots[2].name = "j1";
  raw_skeleton.roots[3].name = "J0";

  ozz::unique_ptr<Skeleton> skeleton(builder(raw_skeleton));
  ASSERT_TRUE(skeleton);

  EXPECT_EQ(FindJoint(*skeleton, "j0"), 0);
  EXPECT_EQ(FindJoint(*skeleton, "j10"), 1);
  EXPECT_EQ(FindJoint(*skeleton, "j1"), 2);
  EXPECT_EQ(FindJoint(*skeleton, "J0"), 3);

  EXPECT_TRUE(FindJoint(*skeleton, "aj0") < 0);
  EXPECT_TRUE(FindJoint(*skeleton, "j0a") < 0);
}