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

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//----------------------------------------------------------------------------//
// //
// ozz-animation is hosted at http://github.com/guillaumeblanc/ozz-animation //
// and distributed under the MIT License (MIT). //
// //
// Copyright (c) Guillaume Blanc //
// //
// Permission is hereby granted, free of charge, to any person obtaining a //
// copy of this software and associated documentation files (the "Software"), //
// to deal in the Software without restriction, including without limitation //
// the rights to use, copy, modify, merge, publish, distribute, sublicense, //
// and/or sell copies of the Software, and to permit persons to whom the //
// Software is furnished to do so, subject to the following conditions: //
// //
// The above copyright notice and this permission notice shall be included in //
// all copies or substantial portions of the Software. //
// //
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR //
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, //
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL //
// THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER //
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING //
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER //
// DEALINGS IN THE SOFTWARE. //
// //
//----------------------------------------------------------------------------//
#include "ozz/animation/offline/raw_skeleton.h"
#include "ozz/animation/offline/skeleton_builder.h"
#include <algorithm>
#include <cstring>
#include "gtest/gtest.h"
#include "ozz/base/gtest_helper.h"
#include "ozz/base/maths/gtest_math_helper.h"
#include "ozz/animation/runtime/skeleton.h"
#include "ozz/animation/runtime/skeleton_utils.h"
#include "ozz/base/memory/unique_ptr.h"
using ozz::animation::Skeleton;
using ozz::animation::offline::RawSkeleton;
using ozz::animation::offline::SkeletonBuilder;
TEST(JointBindPose, 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(GetJointLocalBindPose(*skeleton, 3),
"Joint index out of range.");
const ozz::math::Transform bind_pose0 = GetJointLocalBindPose(*skeleton, 0);
EXPECT_FLOAT3_EQ(bind_pose0.translation, 1.f, 0.f, 0.f);
EXPECT_QUATERNION_EQ(bind_pose0.rotation, 0.f, 0.f, 0.f, 1.f);
EXPECT_FLOAT3_EQ(bind_pose0.scale, 0.f, 0.f, 0.f);
const ozz::math::Transform bind_pose1 = GetJointLocalBindPose(*skeleton, 1);
EXPECT_FLOAT3_EQ(bind_pose1.translation, 0.f, 1.f, 0.f);
EXPECT_QUATERNION_EQ(bind_pose1.rotation, 0.f, 0.f, 0.f, -1.f);
EXPECT_FLOAT3_EQ(bind_pose1.scale, -1.f, -1.f, -1.f);
const ozz::math::Transform bind_pose2 = GetJointLocalBindPose(*skeleton, 2);
EXPECT_FLOAT3_EQ(bind_pose2.translation, 0.f, 0.f, 1.f);
EXPECT_QUATERNION_EQ(bind_pose2.rotation, -0.f, -0.f, -0.f, 1.f);
EXPECT_FLOAT3_EQ(bind_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));
}
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