Refactor unit tests for generateBVHModel

Includes response to PR review, with minor comment fixes
as well as a major refactor in the unit test function.

include/fcl/geometry/geometric_shape_to_BVH_model-inl.h

@@ -43,6 +43,27 @@
 namespace fcl
 {
 
+//==============================================================================
+// Local helper function to ease conditional adding of triangles to a BVHModel
+template<typename BV>
+int addTriangles(BVHModel<BV>& model, const std::vector<Vector3<typename BV::S>>& points, const std::vector<Triangle>& tri_indices, FinalizeModel finalize_model)
+{
+  int retval = BVH_OK;
+  if(model.build_state == BVH_BUILD_STATE_EMPTY){
+    retval = model.beginModel();
+  }
+
+  if(retval == BVH_OK){
+    retval = model.addSubModel(points, tri_indices);
+  }
+
+  if(retval == BVH_OK && finalize_model == FinalizeModel::DO){
+    retval = model.endModel();
+    model.computeLocalAABB();
+  }
+  return retval;
+}
+
 //==============================================================================
 template<typename BV>
 int generateBVHModel(BVHModel<BV>& model, const Box<typename BV::S>& shape, const Transform3<typename BV::S>& pose, FinalizeModel finalize_model)
@@ -421,27 +442,6 @@ int generateBVHModel(BVHModel<BV>& model, const Cone<typename BV::S>& shape, con
   return generateBVHModel(model, shape, pose, circle_split_tot, h_num, finalize_model);
 }
 
-//==============================================================================
-template<typename BV>
-int addTriangles(BVHModel<BV>& model, const std::vector<Vector3<typename BV::S>>& points, const std::vector<Triangle>& tri_indices, FinalizeModel finalize_model)
-{
-  int retval = BVH_OK;
-  if(model.build_state == BVH_BUILD_STATE_EMPTY){
-    retval = model.beginModel();
-  }
-
-  if(retval == BVH_OK){
-    retval = model.addSubModel(points, tri_indices);
-  }
-
-  if(retval == BVH_OK && finalize_model == FinalizeModel::DO){
-    retval = model.endModel();
-    model.computeLocalAABB();
-  }
-  return retval;
-}
-
-
 } // namespace fcl
 
 #endif

include/fcl/geometry/geometric_shape_to_BVH_model.h

@@ -65,13 +65,19 @@ enum class FinalizeModel{
 /**
 @defgroup generateBVHModel
 @brief       Create a BVHModel using geometric primitives
-@details    The functions in this group can be used to add geometric primitives (Box, Sphere, Ellipsoid, Cylinder, Cone)
+@details     The functions in this group can be used to add geometric primitives (Box, Sphere, Ellipsoid, Cylinder, Cone)
              to a BVHModel. It can either close off the model or leave it unfinalized in order to add more primitives later.
-
+@note        All functions in this group have a common sub-set of parameters (listed below). In addition, each has unique
+             parameters related to the geometry type being added and how it should be tessellated. These additional parameters
+             are documented with their corresponding function
+@warning     If this function is used to create a BVHModel containing multiple geometric primitives, the BVHModel inherently 
+             represents the *union* of those primitives. The BVHModel structure does not retain any notion of the original 
+             geometric primitive.
 @param[out]  model The BVHModel to be generated or added to
 @param[in]   shape The geometric object to be added to the BVHModel
 @param[in]   pose The pose of the geometric object
 @param[in]   finalize_model an enum indicating whether the model is final or more submodels can be added later
+@return      BVHReturnCode indicating the success of the operation
 @{
 */
 
@@ -149,16 +155,6 @@ int generateBVHModel(BVHModel<BV>& model, const Cone<typename BV::S>& shape, con
 template<typename BV>
 int generateBVHModel(BVHModel<BV>& model, const Cone<typename BV::S>& shape, const Transform3<typename BV::S>& pose, unsigned int circle_split_tot_for_unit_cone, FinalizeModel finalize_model = FinalizeModel::DO);
 
-/**
-@brief          AddTriangles to a BVHModel
-@param[in, out] model The BVHModel
-@param[in]      points The points to add
-@param[in]      tri_indices The triangles to add
-@param[in]      finalize_model An enum indicating whether to close off the model afterwards
-**/
-template<typename BV>
-int addTriangles(BVHModel<BV>& model, const std::vector<Vector3<typename BV::S>>& points, const std::vector<Triangle>& tri_indices, FinalizeModel finalize_model);
-
 /**@} */ // end of doxygen group generateBVHModel
 
 } // namespace fcl

test/CMakeLists.txt

@@ -52,7 +52,8 @@ set(tests
     test_fcl_distance.cpp
     test_fcl_frontlist.cpp
     test_fcl_general.cpp
-    test_fcl_generate_bvh_model.cpp
+    test_fcl_generate_bvh_model_deferred_finalize.cpp
+    test_fcl_generate_bvh_model_primitives.cpp
     test_fcl_geometric_shapes.cpp
     test_fcl_math.cpp
     test_fcl_profiler.cpp