232 lines
6.7 KiB
C++
232 lines
6.7 KiB
C++
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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2016, Open Source Robotics Foundation
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Open Source Robotics Foundation nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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/** @author Jeongseok Lee */
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#include <gtest/gtest.h>
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#include "fcl/config.h"
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#include "fcl/geometry/bvh/BVH_model.h"
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#include "test_fcl_utility.h"
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#include <iostream>
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using namespace fcl;
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template<typename BV>
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void testBVHModelPointCloud()
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{
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using S = typename BV::S;
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std::shared_ptr<BVHModel<BV> > model(new BVHModel<BV>);
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Box<S> box;
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auto a = box.side[0];
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auto b = box.side[1];
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auto c = box.side[2];
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std::vector<Vector3<S>> points(8);
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points[0] << 0.5 * a, -0.5 * b, 0.5 * c;
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points[1] << 0.5 * a, 0.5 * b, 0.5 * c;
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points[2] << -0.5 * a, 0.5 * b, 0.5 * c;
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points[3] << -0.5 * a, -0.5 * b, 0.5 * c;
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points[4] << 0.5 * a, -0.5 * b, -0.5 * c;
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points[5] << 0.5 * a, 0.5 * b, -0.5 * c;
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points[6] << -0.5 * a, 0.5 * b, -0.5 * c;
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points[7] << -0.5 * a, -0.5 * b, -0.5 * c;
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int result;
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result = model->beginModel();
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EXPECT_EQ(result, BVH_OK);
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for (std::size_t i = 0; i < points.size(); ++i)
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{
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result = model->addVertex(points[i]);
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EXPECT_EQ(result, BVH_OK);
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}
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result = model->endModel();
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EXPECT_EQ(result, BVH_OK);
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model->computeLocalAABB();
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EXPECT_EQ(model->num_vertices, 8);
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EXPECT_EQ(model->num_tris, 0);
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EXPECT_EQ(model->build_state, BVH_BUILD_STATE_PROCESSED);
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}
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template<typename BV>
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void testBVHModelTriangles()
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{
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using S = typename BV::S;
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std::shared_ptr<BVHModel<BV> > model(new BVHModel<BV>);
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Box<S> box;
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auto a = box.side[0];
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auto b = box.side[1];
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auto c = box.side[2];
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std::vector<Vector3<S>> points(8);
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std::vector<Triangle> tri_indices(12);
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points[0] << 0.5 * a, -0.5 * b, 0.5 * c;
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points[1] << 0.5 * a, 0.5 * b, 0.5 * c;
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points[2] << -0.5 * a, 0.5 * b, 0.5 * c;
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points[3] << -0.5 * a, -0.5 * b, 0.5 * c;
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points[4] << 0.5 * a, -0.5 * b, -0.5 * c;
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points[5] << 0.5 * a, 0.5 * b, -0.5 * c;
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points[6] << -0.5 * a, 0.5 * b, -0.5 * c;
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points[7] << -0.5 * a, -0.5 * b, -0.5 * c;
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tri_indices[0].set(0, 4, 1);
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tri_indices[1].set(1, 4, 5);
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tri_indices[2].set(2, 6, 3);
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tri_indices[3].set(3, 6, 7);
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tri_indices[4].set(3, 0, 2);
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tri_indices[5].set(2, 0, 1);
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tri_indices[6].set(6, 5, 7);
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tri_indices[7].set(7, 5, 4);
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tri_indices[8].set(1, 5, 2);
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tri_indices[9].set(2, 5, 6);
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tri_indices[10].set(3, 7, 0);
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tri_indices[11].set(0, 7, 4);
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int result;
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result = model->beginModel();
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EXPECT_EQ(result, BVH_OK);
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for (std::size_t i = 0; i < tri_indices.size(); ++i)
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{
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result = model->addTriangle(points[tri_indices[i][0]], points[tri_indices[i][1]], points[tri_indices[i][2]]);
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EXPECT_EQ(result, BVH_OK);
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}
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result = model->endModel();
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EXPECT_EQ(result, BVH_OK);
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model->computeLocalAABB();
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EXPECT_EQ(model->num_vertices, 12 * 3);
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EXPECT_EQ(model->num_tris, 12);
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EXPECT_EQ(model->build_state, BVH_BUILD_STATE_PROCESSED);
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}
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template<typename BV>
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void testBVHModelSubModel()
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{
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using S = typename BV::S;
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std::shared_ptr<BVHModel<BV> > model(new BVHModel<BV>);
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Box<S> box;
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auto a = box.side[0];
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auto b = box.side[1];
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auto c = box.side[2];
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std::vector<Vector3<S>> points(8);
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std::vector<Triangle> tri_indices(12);
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points[0] << 0.5 * a, -0.5 * b, 0.5 * c;
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points[1] << 0.5 * a, 0.5 * b, 0.5 * c;
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points[2] << -0.5 * a, 0.5 * b, 0.5 * c;
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points[3] << -0.5 * a, -0.5 * b, 0.5 * c;
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points[4] << 0.5 * a, -0.5 * b, -0.5 * c;
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points[5] << 0.5 * a, 0.5 * b, -0.5 * c;
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points[6] << -0.5 * a, 0.5 * b, -0.5 * c;
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points[7] << -0.5 * a, -0.5 * b, -0.5 * c;
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tri_indices[0].set(0, 4, 1);
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tri_indices[1].set(1, 4, 5);
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tri_indices[2].set(2, 6, 3);
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tri_indices[3].set(3, 6, 7);
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tri_indices[4].set(3, 0, 2);
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tri_indices[5].set(2, 0, 1);
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tri_indices[6].set(6, 5, 7);
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tri_indices[7].set(7, 5, 4);
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tri_indices[8].set(1, 5, 2);
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tri_indices[9].set(2, 5, 6);
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tri_indices[10].set(3, 7, 0);
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tri_indices[11].set(0, 7, 4);
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int result;
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result = model->beginModel();
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EXPECT_EQ(result, BVH_OK);
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result = model->addSubModel(points, tri_indices);
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EXPECT_EQ(result, BVH_OK);
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result = model->endModel();
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EXPECT_EQ(result, BVH_OK);
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model->computeLocalAABB();
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EXPECT_EQ(model->num_vertices, 8);
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EXPECT_EQ(model->num_tris, 12);
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EXPECT_EQ(model->build_state, BVH_BUILD_STATE_PROCESSED);
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}
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template<typename BV>
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void testBVHModel()
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{
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testBVHModelTriangles<BV>();
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testBVHModelPointCloud<BV>();
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testBVHModelSubModel<BV>();
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}
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GTEST_TEST(FCL_BVH_MODELS, building_bvh_models)
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{
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// testBVHModel<AABB<float>>();
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// testBVHModel<OBB<float>>();
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// testBVHModel<RSS<float>>();
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// testBVHModel<kIOS<float>>();
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// testBVHModel<OBBRSS<float>>();
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// testBVHModel<KDOP<float, 16> >();
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// testBVHModel<KDOP<float, 18> >();
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// testBVHModel<KDOP<float, 24> >();
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testBVHModel<AABB<double>>();
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testBVHModel<OBB<double>>();
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testBVHModel<RSS<double>>();
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testBVHModel<kIOS<double>>();
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testBVHModel<OBBRSS<double>>();
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testBVHModel<KDOP<double, 16> >();
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testBVHModel<KDOP<double, 18> >();
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testBVHModel<KDOP<double, 24> >();
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}
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//==============================================================================
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int main(int argc, char* argv[])
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{
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::testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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}
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