agxOSGUnitTestHelperFunctions.h

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/*
Copyright 2007-2025. Algoryx Simulation AB.
 
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tutorials, scene files and technical white papers, are copyrighted, proprietary
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Algoryx Simulation AB disclaims all responsibilities for loss or damage caused
from using this software, unless otherwise stated in written agreements with
Algoryx Simulation AB.
*/
 
#pragma once
 
 
#include <agxOSG/export.h>
#include <agx/agx_vector_types.h>
#include <agxUnit/UnitMacros.h>
#include <agx/RigidBody.h>
 
namespace osg
{
  class Group;
}
 
namespace agx
{
  class RigidBody;
}
namespace agxCollide
{
  class GeometryContact;
}
 
namespace agxOSG {
  class Group;
  class ExampleApplication;
}
 
namespace agxSDK {
  class Simulation;
}
 
 
namespace agxUnit {
 
  typedef void (*ScenePtr)(
    agxSDK::Simulation* simulation,
    osg::Group* root );
 
  typedef agx::RigidBody* (*OneBodyRestingScenePtr)(
    agxSDK::Simulation* simulation,
    osg::Group* root );
 
  typedef agx::RigidBodyPtrVector (*ManyBodiesRestingScenePtr)(
    agxSDK::Simulation* simulation,
    osg::Group* root );
 
 
  AGXOSG_EXPORT osg::Group* testResting(
    agxSDK::Simulation* simulation,
    agxOSG::ExampleApplication* application,
    OneBodyRestingScenePtr restingScene,
    const char* groupName,
    const char* testName,
    agx::Real preTestingTime = agx::Real(1));
 
  AGXOSG_EXPORT osg::Group* testResting(
    agxSDK::Simulation* simulation,
    agxOSG::ExampleApplication* application,
    ManyBodiesRestingScenePtr restingScene,
    const char* groupName,
    const char* testName,
    agx::Real preTestingTime = agx::Real(1));
 
  enum NormalType {
    NORMAL,
    NORMAL_AND_NEGATIVE,
    ORTHOGONAL_TO_NORMAL,
    NORMAL_NO_DEPTH,
    IGNORE_NORMAL_AND_DEPTH
  };
 
  AGXOSG_EXPORT osg::Group* testContainsContact(
    agxSDK::Simulation* simulation,
    agxOSG::ExampleApplication* application,
    ScenePtr scene,
    const char* groupName,
    const char* testName,
    agx::Vec3f normal,
    agx::Real depth,
    NormalType normalType = NORMAL,
    unsigned int minNumContacts = 1);
 
  // Utility method for passing normal as Vec3 instead of Vec3f.
  AGXOSG_EXPORT osg::Group* testContainsContact(
    agxSDK::Simulation* simulation,
    agxOSG::ExampleApplication* application,
    ScenePtr scene,
    const char* groupName,
    const char* testName,
    agx::Vec3 normal,
    agx::Real depth,
    NormalType normalType = NORMAL,
    unsigned int minNumContacts = 1);
 
 
 
  AGXOSG_EXPORT osg::Group* testContainsNoContact(
    agxSDK::Simulation* simulation,
    agxOSG::ExampleApplication* application,
    ScenePtr scene,
    const char* groupName,
    const char* testName );
}