101 lines
3.9 KiB
C++
101 lines
3.9 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) 2014-2016, CNRS-LAAS and AIST
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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 CNRS-LAAS and AIST 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 Florent Lamiraux */
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#include <gtest/gtest.h>
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#include <cmath>
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#include "fcl/geometry/shape/box.h"
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#include "fcl/geometry/shape/capsule.h"
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#include "fcl/narrowphase/distance.h"
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#include "fcl/narrowphase/collision.h"
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#include "fcl/narrowphase/collision_object.h"
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template <typename S>
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void test_distance_capsule_box(fcl::GJKSolverType solver_type, S solver_tolerance, S test_tolerance)
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{
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using CollisionGeometryPtr_t = std::shared_ptr<fcl::CollisionGeometry<S>>;
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// Capsule<S> of radius 2 and of height 4
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CollisionGeometryPtr_t capsuleGeometry (new fcl::Capsule<S> (2., 4.));
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// Box<S> of size 1 by 2 by 4
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CollisionGeometryPtr_t boxGeometry (new fcl::Box<S> (1., 2., 4.));
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// Enable computation of nearest points
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fcl::DistanceRequest<S> distanceRequest (true);
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fcl::DistanceResult<S> distanceResult;
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distanceRequest.gjk_solver_type = solver_type;
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distanceRequest.distance_tolerance = solver_tolerance;
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// Rotate capsule around y axis by pi/2 and move it behind box
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fcl::Transform3<S> tf1 = fcl::Translation3<S>(fcl::Vector3<S>(-10., 0.8, 1.5))
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*fcl::Quaternion<S>(sqrt(2)/2, 0, sqrt(2)/2, 0);
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fcl::Transform3<S> tf2 = fcl::Transform3<S>::Identity();
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fcl::CollisionObject<S> capsule (capsuleGeometry, tf1);
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fcl::CollisionObject<S> box (boxGeometry, tf2);
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// test distance
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distanceResult.clear ();
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fcl::distance (&capsule, &box, distanceRequest, distanceResult);
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fcl::Vector3<S> o1 = distanceResult.nearest_points [0];
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fcl::Vector3<S> o2 = distanceResult.nearest_points [1];
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EXPECT_NEAR (distanceResult.min_distance, 5.5, test_tolerance);
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EXPECT_NEAR (o1 [0], -6.0, test_tolerance);
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EXPECT_NEAR (o1 [1], 0.8, test_tolerance);
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EXPECT_NEAR (o1 [2], 1.5, test_tolerance);
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EXPECT_NEAR (o2 [0], -0.5, test_tolerance);
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EXPECT_NEAR (o2 [1], 0.8, test_tolerance);
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EXPECT_NEAR (o2 [2], 1.5, test_tolerance);
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}
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GTEST_TEST(FCL_GEOMETRIC_SHAPES, distance_capsule_box_ccd)
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{
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test_distance_capsule_box<double>(fcl::GJKSolverType::GST_LIBCCD, 1e-7, 1e-4);
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}
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GTEST_TEST(FCL_GEOMETRIC_SHAPES, distance_capsule_box_indep)
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{
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test_distance_capsule_box<double>(fcl::GJKSolverType::GST_INDEP, 1e-9, 1e-4);
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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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