Esempi in C++ (Cpp) per EndEffector::remove

Esempio n. 1

File: testSkeleton.cpp Progetto: jpgr87/dart

TEST(Skeleton, NodePersistence)
{
  SkeletonPtr skel = Skeleton::create();
  skel->createJointAndBodyNodePair<FreeJoint>(nullptr);

  {
    EndEffector* manip =
        skel->getBodyNode(0)->createEndEffector(Entity::Properties("manip"));

    EXPECT_TRUE(skel->getEndEffector("manip") == manip);
    EXPECT_TRUE(skel->getEndEffector(0) == manip);
    EXPECT_TRUE(skel->getBodyNode(0)->getEndEffector(0) == manip);

    WeakEndEffectorPtr weakManip = manip;

    EXPECT_FALSE(weakManip.lock() == nullptr);

    manip->remove();

    // The Node has been removed, and no strong reference to it exists, so it
    // should be gone from the Skeleton
    EXPECT_TRUE(skel->getEndEffector("manip") == nullptr);
    EXPECT_TRUE(skel->getNumEndEffectors() == 0);
    EXPECT_TRUE(skel->getBodyNode(0)->getNumEndEffectors() == 0);

    EXPECT_TRUE(weakManip.lock() == nullptr);
  }

  {
    EndEffector* manip =
        skel->getBodyNode(0)->createEndEffector(Entity::Properties("manip"));

    EXPECT_TRUE(skel->getEndEffector("manip") == manip);
    EXPECT_TRUE(skel->getEndEffector(0) == manip);
    EXPECT_TRUE(skel->getBodyNode(0)->getEndEffector(0) == manip);

    EndEffectorPtr strongManip = manip;
    WeakEndEffectorPtr weakManip = strongManip;

    EXPECT_FALSE(weakManip.lock() == nullptr);

    manip->remove();

    // The Node has been removed, but a strong reference to it still exists, so
    // it will remain in the Skeleton for now
    EXPECT_TRUE(skel->getEndEffector("manip") == manip);
    EXPECT_TRUE(skel->getEndEffector(0) == manip);
    EXPECT_TRUE(skel->getBodyNode(0)->getEndEffector(0) == manip);

    EXPECT_FALSE(weakManip.lock() == nullptr);

    strongManip = nullptr;

    // The Node has been removed, and no strong reference to it exists any
    // longer, so it should be gone from the Skeleton
    EXPECT_TRUE(skel->getEndEffector("manip") == nullptr);
    EXPECT_TRUE(skel->getNumEndEffectors() == 0);
    EXPECT_TRUE(skel->getBodyNode(0)->getNumEndEffectors() == 0);

    EXPECT_TRUE(weakManip.lock() == nullptr);
  }
}