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Fixed ellipsoid indexes #159

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merged 2 commits into from
Jan 28, 2021
Merged

Fixed ellipsoid indexes #159

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777d461
Fixed ellipsoid indexes
ahcorde Jan 27, 2021
c63829f
Add test to check that all indexes are positive
ahcorde Jan 28, 2021
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14 changes: 7 additions & 7 deletions graphics/src/MeshManager.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -849,12 +849,12 @@ void MeshManager::CreateEllipsoid(const std::string &_name,
double d_phi = (umax - umin) / (_rings - 1.0);
double d_theta = (vmax - vmin) / (_segments - 1.0);

for (i = 0, theta = vmin; i < _segments; ++i, theta += d_theta)
for (i = 0, theta = vmin; i < _rings; ++i, theta += d_theta)
{
const auto c_theta = cos(theta);
const auto s_theta = sin(theta);

for (j = 0, phi = umin; j < _rings; ++j, phi += d_phi)
for (j = 0, phi = umin; j < _segments; ++j, phi += d_phi)
{
const auto c_phi = cos(phi);
const auto s_phi = sin(phi);
Expand Down Expand Up @@ -883,17 +883,17 @@ void MeshManager::CreateEllipsoid(const std::string &_name,
{
unsigned int verticesCount = subMesh.VertexCount();
for (
unsigned int firstIndex = verticesCount - 2 * (_rings + 1);
firstIndex + _rings + 2 < verticesCount;
int firstIndex = verticesCount - 2 * (_segments + 1);
(firstIndex + _segments + 2 < verticesCount) && (firstIndex > 0);
firstIndex++)
{
subMesh.AddIndex(firstIndex + _rings + 1);
subMesh.AddIndex(firstIndex + _segments + 1);
subMesh.AddIndex(firstIndex + 1);
subMesh.AddIndex(firstIndex + 0);

subMesh.AddIndex(firstIndex + _rings + 2);
subMesh.AddIndex(firstIndex + _segments + 2);
subMesh.AddIndex(firstIndex + 1);
subMesh.AddIndex(firstIndex + _rings + 1);
subMesh.AddIndex(firstIndex + _segments + 1);
}
}
}
Expand Down
19 changes: 19 additions & 0 deletions graphics/src/SubMesh_TEST.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -346,6 +346,19 @@ TEST_F(SubMeshTest, SubMesh)
}
}

/////////////////////////////////////////////////
void checkIndexes(const common::Mesh *_mesh)
{
for (auto j = 0u; j < _mesh->SubMeshCount(); j++)
{
auto submesh = _mesh->SubMeshByIndex(j).lock();
for (auto i = 0u; i < submesh->IndexCount(); i++)
{
EXPECT_GE(submesh->Index(i), 0);
}
}
}

/////////////////////////////////////////////////
TEST_F(SubMeshTest, Volume)
{
Expand Down Expand Up @@ -398,12 +411,16 @@ TEST_F(SubMeshTest, Volume)
common::MeshManager::Instance()->MeshByName("ellipsoid");
ASSERT_TRUE(unitEllipsoid != nullptr);

checkIndexes(unitEllipsoid);

// Checking that we can not add or modify a new mesh with the name
common::MeshManager::Instance()->CreateEllipsoid("ellipsoid",
ignition::math::Vector3d(2, 1.4, 7), 100, 100);
const common::Mesh *unitEllipsoid2 =
common::MeshManager::Instance()->MeshByName("ellipsoid");

checkIndexes(unitEllipsoid2);

// The new mesh should have more vertex, but it should be introduced in the
// meshmanager. It should be the same number becuase it was not modified.
EXPECT_EQ(unitEllipsoid->VertexCount(), unitEllipsoid2->VertexCount());
Expand All @@ -416,6 +433,8 @@ TEST_F(SubMeshTest, Volume)
const common::Mesh *otherEllipsoid =
common::MeshManager::Instance()->MeshByName("other_ellipsoid");
ASSERT_TRUE(otherEllipsoid != nullptr);

checkIndexes(otherEllipsoid);
}

// Capsule mesh tests
Expand Down