Merge branch 'master' into PR-so3

Author: k-okada

irteus/irtcollada.l

@@ -211,13 +211,13 @@
           (cons :origin                   ;parent -> child transformation
                 (let ((parent (send link :parent)))
                   (send parent :transformation link)))
-          (cons :mesh (eusmodel-mesh-spec link))
+          (cons :mesh (eusmodel-mesh-spec link rt-cds))
           (cons :mass_frame mframe)
           (cons :mass (/ (send link :weight) 1000.0))
           (cons :inertia inertia)
           )))
 
-(defun eusmodel-mesh-spec (link)
+(defun eusmodel-mesh-spec (link rt-cds)
   ;; right?
   (let ((bs (send link :bodies)))
     (mapcar #'(lambda (b)
@@ -227,10 +227,10 @@
                                  (send (geo::body-to-triangles b nil)
                                        :faces))))
                   (send trimesh :set-color (get b :face-color))
-                  ;; move trimesh to origin...
+                  ;; move trimesh to origin(root) relative coordinates
                   (send trimesh
-                        :move-to (send (send b :copy-worldcoords)
-                                       :inverse-transformation))
+                        :move-to (send rt-cds :inverse-transformation))
+                  (send trimesh :worldcoords)
                   trimesh))
             bs)))
 

irteus/test/test-collada.l

@@ -0,0 +1,102 @@
+(require :unittest "lib/llib/unittest.l")
+
+(defclass testrobot
+  :super cascaded-link
+  :slots (j0 j1))
+(defmethod testrobot
+  (:init
+   (&key (name "testrobot") (move-root))
+   (send-super :init)
+   (let ((b (instance bodyset-link :init (make-cascoords) :name 'body
+                      :bodies (list (make-cube 100 100 100))))
+         (l0 (instance bodyset-link :init (make-cascoords) :name 'l0
+                       :bodies (list (make-cube 100 100 100))))
+         (l1 (instance bodyset-link :init (make-cascoords) :name 'l1
+                       :bodies (list (make-cube 100 100 100))))
+         )
+     (send self :assoc b)
+
+     (send l0 :locate (float-vector 0   0 100))
+     (send l1 :locate (float-vector 0 100 100))
+
+     (send b  :assoc l0)
+     (send l0 :assoc l1)
+
+     (if move-root (send b :translate (float-vector 0 0 500)))
+
+     (setq j0 (instance rotational-joint :init :name 'j0
+                        :parent-link b  :child-link l0 :axis :x))
+     (setq j1 (instance rotational-joint :init :name 'j1
+                        :parent-link l0 :child-link l1 :axis :x))
+
+     (setq links (list b l0 l1))
+     (setq joint-list (list j0 j1))
+
+     (send self :init-ending)
+     )
+   self)
+  )
+
+(init-unit-test)
+
+(deftest test-link-offset ()
+  (setq *normal-model* (instance testrobot :init :move-root nil))
+  (setq *moved-model* (instance testrobot :init :move-root t))
+  ;;
+  (let* ((desc (collada::eusmodel-description *normal-model*))
+         (c0 (send (cdr (assoc :origin (elt (car desc) 0))) :copy-worldcoords))
+         (c1 (send (cdr (assoc :origin (elt (car desc) 1))) :copy-worldcoords))
+         (c2 (send (cdr (assoc :origin (elt (car desc) 2))) :copy-worldcoords)))
+    (send c0 :transform c1)
+    (send c0 :transform c2)
+    (assert (eps-coords= c0
+                         (make-coords :pos (float-vector 0 100 100)))
+            (format nil "normal-model / coords ~A is not correct" c0))
+
+    )
+  ;;
+  (let* ((desc (collada::eusmodel-description *moved-model*))
+         (c0 (send (cdr (assoc :origin (elt (car desc) 0))) :copy-worldcoords))
+         (c1 (send (cdr (assoc :origin (elt (car desc) 1))) :copy-worldcoords))
+         (c2 (send (cdr (assoc :origin (elt (car desc) 2))) :copy-worldcoords)))
+    (send c0 :transform c1)
+    (send c0 :transform c2)
+    (assert (eps-coords= c0
+                         (make-coords :pos (float-vector 0 100 600)))
+            (format nil "moved-model / coords ~A is not correct" c0))
+
+    )
+  )
+
+(deftest test-mesh-offset ()
+  (setq *normal-model* (instance testrobot :init :move-root nil))
+  (setq *moved-model* (instance testrobot :init :move-root t))
+  ;;
+  (let* ((desc (collada::eusmodel-description *normal-model*))
+         (mesh0 (make-bounding-box (send (cadr (assoc :mesh (elt (car desc) 0))) :vertices) 0.0))
+         (mesh2 (make-bounding-box (send (cadr (assoc :mesh (elt (car desc) 2))) :vertices) 0.0))
+         )
+    (assert (eps-v= (send mesh0 :center) (float-vector 0 0 0))
+            (format nil "normal / mesh0 (~A) is not equal #f(0 0 0)"
+                    (send mesh0 :center)))
+    (assert (eps-v= (send mesh2 :center) (float-vector 0 100 100))
+            (format nil "normal / mesh2 (~A) is not equal #f(0 100 100)"
+                    (send mesh2 :center)))
+    )
+  ;;
+  (let* ((desc (collada::eusmodel-description *moved-model*))
+         (mesh0 (make-bounding-box (send (cadr (assoc :mesh (elt (car desc) 0))) :vertices) 0.0))
+         (mesh2 (make-bounding-box (send (cadr (assoc :mesh (elt (car desc) 2))) :vertices) 0.0))
+         )
+    (assert (eps-v= (send mesh0 :center) (float-vector 0 0 0))
+            (format nil "moved / mesh0 (~A) is not equal #f(0 0 0)"
+                    (send mesh0 :center)))
+    (assert (eps-v= (send mesh2 :center) (float-vector 0 100 100))
+            (format nil "moved / mesh2 (~A) is not equal #f(0 100 100)"
+                    (send mesh2 :center)))
+    )
+  )
+
+(eval-when (load eval)
+  (run-all-tests)
+  (exit))