3004 lines
110 KiB
C++
3004 lines
110 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) 2011-2014, Willow Garage, Inc.
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* Copyright (c) 2014-2016, 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 Jia Pan */
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#include <array>
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#include <gtest/gtest.h>
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#include "fcl/narrowphase/detail/gjk_solver_indep.h"
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#include "fcl/narrowphase/detail/gjk_solver_libccd.h"
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#include "fcl/geometry/geometric_shape_to_BVH_model.h"
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#include "fcl/narrowphase/distance.h"
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#include "fcl/narrowphase/collision.h"
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#include "test_fcl_utility.h"
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using namespace fcl;
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template <typename S>
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std::array<S, 6>& extents()
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{
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static std::array<S, 6> static_extents{ {0, 0, 0, 10, 10, 10} };
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return static_extents;
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}
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template <typename S>
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void test_consistency_distance_spheresphere_libccd()
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{
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Sphere<S> s1(20);
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Sphere<S> s2(20);
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BVHModel<RSS<S>> s1_rss;
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BVHModel<RSS<S>> s2_rss;
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generateBVHModel(s1_rss, s1, Transform3<S>::Identity(), 16, 16);
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generateBVHModel(s2_rss, s2, Transform3<S>::Identity(), 16, 16);
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DistanceRequest<S> request;
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DistanceResult<S> res, res1;
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Transform3<S> pose = Transform3<S>::Identity();
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pose.translation() = Vector3<S>(50, 0, 0);
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res.clear(); res1.clear();
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distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
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distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
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EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
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res1.clear();
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distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
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EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
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res1.clear();
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distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
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EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
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for(std::size_t i = 0; i < 10; ++i)
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{
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Transform3<S> t;
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test::generateRandomTransform(extents<S>(), t);
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Transform3<S> pose1(t);
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Transform3<S> pose2 = t * pose;
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res.clear(); res1.clear();
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distance(&s1, pose1, &s2, pose2, request, res);
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distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
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EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
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res1.clear();
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distance(&s1, pose1, &s2_rss, pose2, request, res1);
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EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
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res1.clear();
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distance(&s1_rss, pose1, &s2, pose2, request, res1);
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EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
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}
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pose.translation() = Vector3<S>(40.1, 0, 0);
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res.clear(), res1.clear();
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distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
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distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
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EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
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res1.clear();
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distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
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EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
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res1.clear();
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distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
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EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
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for(std::size_t i = 0; i < 10; ++i)
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{
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Transform3<S> t;
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test::generateRandomTransform(extents<S>(), t);
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Transform3<S> pose1(t);
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Transform3<S> pose2 = t * pose;
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res.clear(); res1.clear();
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distance(&s1, pose1, &s2, pose2, request, res);
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distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
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EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
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res1.clear();
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distance(&s1, pose1, &s2_rss, pose2, request, res1);
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EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
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res1.clear();
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distance(&s1_rss, pose1, &s2, pose2, request, res1);
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EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
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}
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}
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GTEST_TEST(FCL_SHAPE_MESH_CONSISTENCY, consistency_distance_spheresphere_libccd)
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{
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// test_consistency_distance_spheresphere_libccd<float>();
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test_consistency_distance_spheresphere_libccd<double>();
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}
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template <typename S>
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void test_consistency_distance_ellipsoidellipsoid_libccd()
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{
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Ellipsoid<S> s1(20, 40, 50);
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Ellipsoid<S> s2(10, 10, 10);
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BVHModel<RSS<S>> s1_rss;
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BVHModel<RSS<S>> s2_rss;
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generateBVHModel(s1_rss, s1, Transform3<S>::Identity(), 16, 16);
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generateBVHModel(s2_rss, s2, Transform3<S>::Identity(), 16, 16);
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DistanceRequest<S> request;
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DistanceResult<S> res, res1;
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Transform3<S> pose = Transform3<S>::Identity();
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pose.translation() = Vector3<S>(40, 0, 0);
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res.clear(); res1.clear();
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distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
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distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
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EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
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res1.clear();
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distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
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EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
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res1.clear();
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distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
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EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
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for(std::size_t i = 0; i < 10; ++i)
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{
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Transform3<S> t;
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test::generateRandomTransform(extents<S>(), t);
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Transform3<S> pose1(t);
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Transform3<S> pose2 = t * pose;
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res.clear(); res1.clear();
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distance(&s1, pose1, &s2, pose2, request, res);
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distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
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EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
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res1.clear();
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distance(&s1, pose1, &s2_rss, pose2, request, res1);
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EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
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res1.clear();
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distance(&s1_rss, pose1, &s2, pose2, request, res1);
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EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
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}
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pose.translation() = Vector3<S>(30.1, 0, 0);
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res.clear(), res1.clear();
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distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
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distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
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EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
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res1.clear();
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distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
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EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
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res1.clear();
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distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
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EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
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for(std::size_t i = 0; i < 10; ++i)
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{
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Transform3<S> t;
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test::generateRandomTransform(extents<S>(), t);
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Transform3<S> pose1(t);
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Transform3<S> pose2 = t * pose;
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res.clear(); res1.clear();
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distance(&s1, pose1, &s2, pose2, request, res);
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distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
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EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
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res1.clear();
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distance(&s1, pose1, &s2_rss, pose2, request, res1);
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EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
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res1.clear();
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distance(&s1_rss, pose1, &s2, pose2, request, res1);
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EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
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}
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}
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GTEST_TEST(FCL_SHAPE_MESH_CONSISTENCY, consistency_distance_ellipsoidellipsoid_libccd)
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{
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// test_consistency_distance_ellipsoidellipsoid_libccd<float>();
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test_consistency_distance_ellipsoidellipsoid_libccd<double>();
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}
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template <typename S>
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void test_consistency_distance_boxbox_libccd()
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{
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Box<S> s1(20, 40, 50);
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Box<S> s2(10, 10, 10);
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BVHModel<RSS<S>> s1_rss;
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BVHModel<RSS<S>> s2_rss;
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generateBVHModel(s1_rss, s1, Transform3<S>::Identity());
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generateBVHModel(s2_rss, s2, Transform3<S>::Identity());
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DistanceRequest<S> request;
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DistanceResult<S> res, res1;
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Transform3<S> pose = Transform3<S>::Identity();
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pose.translation() = Vector3<S>(50, 0, 0);
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res.clear(); res1.clear();
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distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
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distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
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EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.01);
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res1.clear();
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distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
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EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.01);
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res1.clear();
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distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
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EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.01);
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for(std::size_t i = 0; i < 10; ++i)
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{
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Transform3<S> t;
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test::generateRandomTransform(extents<S>(), t);
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Transform3<S> pose1(t);
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Transform3<S> pose2 = t * pose;
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res.clear(); res1.clear();
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distance(&s1, pose1, &s2, pose2, request, res);
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distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
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EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.01);
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res1.clear();
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distance(&s1, pose1, &s2_rss, pose2, request, res1);
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EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.01);
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res1.clear();
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distance(&s1_rss, pose1, &s2, pose2, request, res1);
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EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.01);
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}
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pose.translation() = Vector3<S>(15.1, 0, 0);
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res.clear(); res1.clear();
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distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
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distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
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EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
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res1.clear();
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distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
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EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
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res1.clear();
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distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
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|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
|
||
|
|
for(std::size_t i = 0; i < 10; ++i)
|
||
|
|
{
|
||
|
|
Transform3<S> t;
|
||
|
|
test::generateRandomTransform(extents<S>(), t);
|
||
|
|
|
||
|
|
Transform3<S> pose1(t);
|
||
|
|
Transform3<S> pose2 = t * pose;
|
||
|
|
|
||
|
|
res.clear(); res1.clear();
|
||
|
|
distance(&s1, pose1, &s2, pose2, request, res);
|
||
|
|
distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1, pose1, &s2_rss, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1_rss, pose1, &s2, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
GTEST_TEST(FCL_SHAPE_MESH_CONSISTENCY, consistency_distance_boxbox_libccd)
|
||
|
|
{
|
||
|
|
// test_consistency_distance_boxbox_libccd<float>();
|
||
|
|
test_consistency_distance_boxbox_libccd<double>();
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename S>
|
||
|
|
void test_consistency_distance_cylindercylinder_libccd()
|
||
|
|
{
|
||
|
|
Cylinder<S> s1(5, 10);
|
||
|
|
Cylinder<S> s2(5, 10);
|
||
|
|
|
||
|
|
BVHModel<RSS<S>> s1_rss;
|
||
|
|
BVHModel<RSS<S>> s2_rss;
|
||
|
|
|
||
|
|
generateBVHModel(s1_rss, s1, Transform3<S>::Identity(), 16, 16);
|
||
|
|
generateBVHModel(s2_rss, s2, Transform3<S>::Identity(), 16, 16);
|
||
|
|
|
||
|
|
DistanceRequest<S> request;
|
||
|
|
DistanceResult<S> res, res1;
|
||
|
|
|
||
|
|
Transform3<S> pose = Transform3<S>::Identity();
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(20, 0, 0);
|
||
|
|
|
||
|
|
res.clear(); res1.clear();
|
||
|
|
distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
|
||
|
|
distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.01);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.01);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.01);
|
||
|
|
|
||
|
|
for(std::size_t i = 0; i < 10; ++i)
|
||
|
|
{
|
||
|
|
Transform3<S> t;
|
||
|
|
test::generateRandomTransform(extents<S>(), t);
|
||
|
|
|
||
|
|
Transform3<S> pose1(t);
|
||
|
|
Transform3<S> pose2 = t * pose;
|
||
|
|
|
||
|
|
res.clear(); res1.clear();
|
||
|
|
distance(&s1, pose1, &s2, pose2, request, res);
|
||
|
|
distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.01);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1, pose1, &s2_rss, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.01);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1_rss, pose1, &s2, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.01);
|
||
|
|
}
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(15, 0, 0); // libccd cannot use small value here :(
|
||
|
|
|
||
|
|
res.clear(); res1.clear();
|
||
|
|
distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
|
||
|
|
distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
|
||
|
|
for(std::size_t i = 0; i < 10; ++i)
|
||
|
|
{
|
||
|
|
Transform3<S> t;
|
||
|
|
test::generateRandomTransform(extents<S>(), t);
|
||
|
|
|
||
|
|
Transform3<S> pose1(t);
|
||
|
|
Transform3<S> pose2 = t * pose;
|
||
|
|
|
||
|
|
res.clear(); res1.clear();
|
||
|
|
distance(&s1, pose1, &s2, pose2, request, res);
|
||
|
|
distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1, pose1, &s2_rss, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1_rss, pose1, &s2, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
GTEST_TEST(FCL_SHAPE_MESH_CONSISTENCY, consistency_distance_cylindercylinder_libccd)
|
||
|
|
{
|
||
|
|
// test_consistency_distance_cylindercylinder_libccd<float>();
|
||
|
|
test_consistency_distance_cylindercylinder_libccd<double>();
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename S>
|
||
|
|
void test_consistency_distance_conecone_libccd()
|
||
|
|
{
|
||
|
|
Cone<S> s1(5, 10);
|
||
|
|
Cone<S> s2(5, 10);
|
||
|
|
|
||
|
|
BVHModel<RSS<S>> s1_rss;
|
||
|
|
BVHModel<RSS<S>> s2_rss;
|
||
|
|
|
||
|
|
generateBVHModel(s1_rss, s1, Transform3<S>::Identity(), 16, 16);
|
||
|
|
generateBVHModel(s2_rss, s2, Transform3<S>::Identity(), 16, 16);
|
||
|
|
|
||
|
|
DistanceRequest<S> request;
|
||
|
|
DistanceResult<S> res, res1;
|
||
|
|
|
||
|
|
Transform3<S> pose = Transform3<S>::Identity();
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(20, 0, 0);
|
||
|
|
|
||
|
|
res.clear(); res1.clear();
|
||
|
|
distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
|
||
|
|
distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
|
||
|
|
|
||
|
|
distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
|
||
|
|
|
||
|
|
for(std::size_t i = 0; i < 10; ++i)
|
||
|
|
{
|
||
|
|
Transform3<S> t;
|
||
|
|
test::generateRandomTransform(extents<S>(), t);
|
||
|
|
|
||
|
|
Transform3<S> pose1(t);
|
||
|
|
Transform3<S> pose2 = t * pose;
|
||
|
|
|
||
|
|
res.clear(); res1.clear();
|
||
|
|
distance(&s1, pose1, &s2, pose2, request, res);
|
||
|
|
distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1, pose1, &s2_rss, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1_rss, pose1, &s2, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
|
||
|
|
}
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(15, 0, 0); // libccd cannot use small value here :(
|
||
|
|
|
||
|
|
res.clear(); res1.clear();
|
||
|
|
distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
|
||
|
|
distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
|
||
|
|
for(std::size_t i = 0; i < 10; ++i)
|
||
|
|
{
|
||
|
|
Transform3<S> t;
|
||
|
|
test::generateRandomTransform(extents<S>(), t);
|
||
|
|
|
||
|
|
Transform3<S> pose1(t);
|
||
|
|
Transform3<S> pose2 = t * pose;
|
||
|
|
|
||
|
|
res.clear(); res1.clear();
|
||
|
|
distance(&s1, pose1, &s2, pose2, request, res);
|
||
|
|
distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1, pose1, &s2_rss, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1_rss, pose1, &s2, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
GTEST_TEST(FCL_SHAPE_MESH_CONSISTENCY, consistency_distance_conecone_libccd)
|
||
|
|
{
|
||
|
|
// test_consistency_distance_conecone_libccd<float>();
|
||
|
|
test_consistency_distance_conecone_libccd<double>();
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename S>
|
||
|
|
void test_consistency_distance_spheresphere_GJK()
|
||
|
|
{
|
||
|
|
Sphere<S> s1(20);
|
||
|
|
Sphere<S> s2(20);
|
||
|
|
BVHModel<RSS<S>> s1_rss;
|
||
|
|
BVHModel<RSS<S>> s2_rss;
|
||
|
|
|
||
|
|
generateBVHModel(s1_rss, s1, Transform3<S>::Identity(), 16, 16);
|
||
|
|
generateBVHModel(s2_rss, s2, Transform3<S>::Identity(), 16, 16);
|
||
|
|
|
||
|
|
DistanceRequest<S> request;
|
||
|
|
request.gjk_solver_type = GST_INDEP;
|
||
|
|
DistanceResult<S> res, res1;
|
||
|
|
|
||
|
|
Transform3<S> pose = Transform3<S>::Identity();
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(50, 0, 0);
|
||
|
|
|
||
|
|
res.clear(); res1.clear();
|
||
|
|
distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
|
||
|
|
distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
|
||
|
|
|
||
|
|
|
||
|
|
for(std::size_t i = 0; i < 10; ++i)
|
||
|
|
{
|
||
|
|
Transform3<S> t;
|
||
|
|
test::generateRandomTransform(extents<S>(), t);
|
||
|
|
|
||
|
|
Transform3<S> pose1(t);
|
||
|
|
Transform3<S> pose2 = t * pose;
|
||
|
|
|
||
|
|
res.clear(); res1.clear();
|
||
|
|
distance(&s1, pose1, &s2, pose2, request, res);
|
||
|
|
distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1, pose1, &s2_rss, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1_rss, pose1, &s2, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
|
||
|
|
}
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(40.1, 0, 0);
|
||
|
|
|
||
|
|
res.clear(); res1.clear();
|
||
|
|
distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
|
||
|
|
distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 4);
|
||
|
|
|
||
|
|
|
||
|
|
for(std::size_t i = 0; i < 10; ++i)
|
||
|
|
{
|
||
|
|
Transform3<S> t;
|
||
|
|
test::generateRandomTransform(extents<S>(), t);
|
||
|
|
|
||
|
|
Transform3<S> pose1(t);
|
||
|
|
Transform3<S> pose2 = t * pose;
|
||
|
|
|
||
|
|
res.clear(); res1.clear();
|
||
|
|
distance(&s1, pose1, &s2, pose2, request, res);
|
||
|
|
distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1, pose1, &s2_rss, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1_rss, pose1, &s2, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 4);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
GTEST_TEST(FCL_SHAPE_MESH_CONSISTENCY, consistency_distance_spheresphere_GJK)
|
||
|
|
{
|
||
|
|
// test_consistency_distance_spheresphere_GJK<float>();
|
||
|
|
test_consistency_distance_spheresphere_GJK<double>();
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename S>
|
||
|
|
void test_consistency_distance_ellipsoidellipsoid_GJK()
|
||
|
|
{
|
||
|
|
Ellipsoid<S> s1(20, 40, 50);
|
||
|
|
Ellipsoid<S> s2(10, 10, 10);
|
||
|
|
BVHModel<RSS<S>> s1_rss;
|
||
|
|
BVHModel<RSS<S>> s2_rss;
|
||
|
|
|
||
|
|
generateBVHModel(s1_rss, s1, Transform3<S>::Identity(), 16, 16);
|
||
|
|
generateBVHModel(s2_rss, s2, Transform3<S>::Identity(), 16, 16);
|
||
|
|
|
||
|
|
DistanceRequest<S> request;
|
||
|
|
request.gjk_solver_type = GST_INDEP;
|
||
|
|
DistanceResult<S> res, res1;
|
||
|
|
|
||
|
|
Transform3<S> pose = Transform3<S>::Identity();
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(40, 0, 0);
|
||
|
|
|
||
|
|
res.clear(); res1.clear();
|
||
|
|
distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
|
||
|
|
distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
|
||
|
|
|
||
|
|
|
||
|
|
for(std::size_t i = 0; i < 10; ++i)
|
||
|
|
{
|
||
|
|
Transform3<S> t;
|
||
|
|
test::generateRandomTransform(extents<S>(), t);
|
||
|
|
|
||
|
|
Transform3<S> pose1(t);
|
||
|
|
Transform3<S> pose2 = t * pose;
|
||
|
|
|
||
|
|
res.clear(); res1.clear();
|
||
|
|
distance(&s1, pose1, &s2, pose2, request, res);
|
||
|
|
distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1, pose1, &s2_rss, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1_rss, pose1, &s2, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
|
||
|
|
}
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(30.1, 0, 0);
|
||
|
|
|
||
|
|
res.clear(); res1.clear();
|
||
|
|
distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
|
||
|
|
distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 4);
|
||
|
|
|
||
|
|
|
||
|
|
for(std::size_t i = 0; i < 10; ++i)
|
||
|
|
{
|
||
|
|
Transform3<S> t;
|
||
|
|
test::generateRandomTransform(extents<S>(), t);
|
||
|
|
|
||
|
|
Transform3<S> pose1(t);
|
||
|
|
Transform3<S> pose2 = t * pose;
|
||
|
|
|
||
|
|
res.clear(); res1.clear();
|
||
|
|
distance(&s1, pose1, &s2, pose2, request, res);
|
||
|
|
distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1, pose1, &s2_rss, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1_rss, pose1, &s2, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 4);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
GTEST_TEST(FCL_SHAPE_MESH_CONSISTENCY, consistency_distance_ellipsoidellipsoid_GJK)
|
||
|
|
{
|
||
|
|
// test_consistency_distance_ellipsoidellipsoid_GJK<float>();
|
||
|
|
test_consistency_distance_ellipsoidellipsoid_GJK<double>();
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename S>
|
||
|
|
void test_consistency_distance_boxbox_GJK()
|
||
|
|
{
|
||
|
|
Box<S> s1(20, 40, 50);
|
||
|
|
Box<S> s2(10, 10, 10);
|
||
|
|
|
||
|
|
BVHModel<RSS<S>> s1_rss;
|
||
|
|
BVHModel<RSS<S>> s2_rss;
|
||
|
|
|
||
|
|
generateBVHModel(s1_rss, s1, Transform3<S>::Identity());
|
||
|
|
generateBVHModel(s2_rss, s2, Transform3<S>::Identity());
|
||
|
|
|
||
|
|
DistanceRequest<S> request;
|
||
|
|
request.gjk_solver_type = GST_INDEP;
|
||
|
|
DistanceResult<S> res, res1;
|
||
|
|
|
||
|
|
Transform3<S> pose = Transform3<S>::Identity();
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(50, 0, 0);
|
||
|
|
|
||
|
|
res.clear(); res1.clear();
|
||
|
|
distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
|
||
|
|
distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.01);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.01);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.01);
|
||
|
|
|
||
|
|
for(std::size_t i = 0; i < 10; ++i)
|
||
|
|
{
|
||
|
|
Transform3<S> t;
|
||
|
|
test::generateRandomTransform(extents<S>(), t);
|
||
|
|
|
||
|
|
Transform3<S> pose1(t);
|
||
|
|
Transform3<S> pose2 = t * pose;
|
||
|
|
|
||
|
|
res.clear(); res1.clear();
|
||
|
|
distance(&s1, pose1, &s2, pose2, request, res);
|
||
|
|
distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.01);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1, pose1, &s2_rss, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.01);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1_rss, pose1, &s2, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.01);
|
||
|
|
}
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(15.1, 0, 0);
|
||
|
|
|
||
|
|
res.clear(); res1.clear();
|
||
|
|
distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
|
||
|
|
distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
|
||
|
|
for(std::size_t i = 0; i < 10; ++i)
|
||
|
|
{
|
||
|
|
Transform3<S> t;
|
||
|
|
test::generateRandomTransform(extents<S>(), t);
|
||
|
|
|
||
|
|
Transform3<S> pose1(t);
|
||
|
|
Transform3<S> pose2 = t * pose;
|
||
|
|
|
||
|
|
res.clear(); res1.clear();
|
||
|
|
distance(&s1, pose1, &s2, pose2, request, res);
|
||
|
|
distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1, pose1, &s2_rss, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1_rss, pose1, &s2, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
GTEST_TEST(FCL_SHAPE_MESH_CONSISTENCY, consistency_distance_boxbox_GJK)
|
||
|
|
{
|
||
|
|
// test_consistency_distance_boxbox_GJK<float>();
|
||
|
|
test_consistency_distance_boxbox_GJK<double>();
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename S>
|
||
|
|
void test_consistency_distance_cylindercylinder_GJK()
|
||
|
|
{
|
||
|
|
Cylinder<S> s1(5, 10);
|
||
|
|
Cylinder<S> s2(5, 10);
|
||
|
|
|
||
|
|
BVHModel<RSS<S>> s1_rss;
|
||
|
|
BVHModel<RSS<S>> s2_rss;
|
||
|
|
|
||
|
|
generateBVHModel(s1_rss, s1, Transform3<S>::Identity(), 16, 16);
|
||
|
|
generateBVHModel(s2_rss, s2, Transform3<S>::Identity(), 16, 16);
|
||
|
|
|
||
|
|
DistanceRequest<S> request;
|
||
|
|
request.gjk_solver_type = GST_INDEP;
|
||
|
|
DistanceResult<S> res, res1;
|
||
|
|
|
||
|
|
Transform3<S> pose = Transform3<S>::Identity();
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(20, 0, 0);
|
||
|
|
|
||
|
|
res.clear(); res1.clear();
|
||
|
|
distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
|
||
|
|
distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
|
||
|
|
|
||
|
|
for(std::size_t i = 0; i < 10; ++i)
|
||
|
|
{
|
||
|
|
Transform3<S> t;
|
||
|
|
test::generateRandomTransform(extents<S>(), t);
|
||
|
|
|
||
|
|
Transform3<S> pose1(t);
|
||
|
|
Transform3<S> pose2 = t * pose;
|
||
|
|
|
||
|
|
res.clear(); res1.clear();
|
||
|
|
distance(&s1, pose1, &s2, pose2, request, res);
|
||
|
|
distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
|
||
|
|
if(fabs(res1.min_distance - res.min_distance) / res.min_distance > 0.05)
|
||
|
|
std::cout << "low resolution: " << res1.min_distance << " " << res.min_distance << std::endl;
|
||
|
|
else
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1, pose1, &s2_rss, pose2, request, res1);
|
||
|
|
if(fabs(res1.min_distance - res.min_distance) / res.min_distance > 0.05)
|
||
|
|
std::cout << "low resolution: " << res1.min_distance << " " << res.min_distance << std::endl;
|
||
|
|
else
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1_rss, pose1, &s2, pose2, request, res1);
|
||
|
|
if(fabs(res1.min_distance - res.min_distance) / res.min_distance > 0.05)
|
||
|
|
std::cout << "low resolution: " << res1.min_distance << " " << res.min_distance << std::endl;
|
||
|
|
else
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
|
||
|
|
}
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(10.1, 0, 0);
|
||
|
|
|
||
|
|
res.clear(); res1.clear();
|
||
|
|
distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
|
||
|
|
distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
|
||
|
|
for(std::size_t i = 0; i < 10; ++i)
|
||
|
|
{
|
||
|
|
Transform3<S> t;
|
||
|
|
test::generateRandomTransform(extents<S>(), t);
|
||
|
|
|
||
|
|
Transform3<S> pose1(t);
|
||
|
|
Transform3<S> pose2 = t * pose;
|
||
|
|
|
||
|
|
res.clear(); res1.clear();
|
||
|
|
distance(&s1, pose1, &s2, pose2, request, res);
|
||
|
|
distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1, pose1, &s2_rss, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1_rss, pose1, &s2, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
GTEST_TEST(FCL_SHAPE_MESH_CONSISTENCY, consistency_distance_cylindercylinder_GJK)
|
||
|
|
{
|
||
|
|
// test_consistency_distance_cylindercylinder_GJK<float>();
|
||
|
|
test_consistency_distance_cylindercylinder_GJK<double>();
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename S>
|
||
|
|
void test_consistency_distance_conecone_GJK()
|
||
|
|
{
|
||
|
|
Cone<S> s1(5, 10);
|
||
|
|
Cone<S> s2(5, 10);
|
||
|
|
|
||
|
|
BVHModel<RSS<S>> s1_rss;
|
||
|
|
BVHModel<RSS<S>> s2_rss;
|
||
|
|
|
||
|
|
generateBVHModel(s1_rss, s1, Transform3<S>::Identity(), 16, 16);
|
||
|
|
generateBVHModel(s2_rss, s2, Transform3<S>::Identity(), 16, 16);
|
||
|
|
|
||
|
|
DistanceRequest<S> request;
|
||
|
|
request.gjk_solver_type = GST_INDEP;
|
||
|
|
DistanceResult<S> res, res1;
|
||
|
|
|
||
|
|
Transform3<S> pose = Transform3<S>::Identity();
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(20, 0, 0);
|
||
|
|
|
||
|
|
res.clear(); res1.clear();
|
||
|
|
distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
|
||
|
|
distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
|
||
|
|
|
||
|
|
for(std::size_t i = 0; i < 10; ++i)
|
||
|
|
{
|
||
|
|
Transform3<S> t;
|
||
|
|
test::generateRandomTransform(extents<S>(), t);
|
||
|
|
|
||
|
|
Transform3<S> pose1(t);
|
||
|
|
Transform3<S> pose2 = t * pose;
|
||
|
|
|
||
|
|
res.clear(); res1.clear();
|
||
|
|
distance(&s1, pose1, &s2, pose2, request, res);
|
||
|
|
distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1, pose1, &s2_rss, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1_rss, pose1, &s2, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
|
||
|
|
}
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(10.1, 0, 0);
|
||
|
|
|
||
|
|
res.clear(); res1.clear();
|
||
|
|
distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
|
||
|
|
distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
|
||
|
|
for(std::size_t i = 0; i < 10; ++i)
|
||
|
|
{
|
||
|
|
Transform3<S> t;
|
||
|
|
test::generateRandomTransform(extents<S>(), t);
|
||
|
|
|
||
|
|
Transform3<S> pose1(t);
|
||
|
|
Transform3<S> pose2 = t * pose;
|
||
|
|
|
||
|
|
res.clear(); res1.clear();
|
||
|
|
distance(&s1, pose1, &s2, pose2, request, res);
|
||
|
|
distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1, pose1, &s2_rss, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
|
||
|
|
res1.clear();
|
||
|
|
distance(&s1_rss, pose1, &s2, pose2, request, res1);
|
||
|
|
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
GTEST_TEST(FCL_SHAPE_MESH_CONSISTENCY, consistency_distance_conecone_GJK)
|
||
|
|
{
|
||
|
|
// test_consistency_distance_conecone_GJK<float>();
|
||
|
|
test_consistency_distance_conecone_GJK<double>();
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename S>
|
||
|
|
void test_consistency_collision_spheresphere_libccd()
|
||
|
|
{
|
||
|
|
Sphere<S> s1(20);
|
||
|
|
Sphere<S> s2(10);
|
||
|
|
BVHModel<AABB<S>> s1_aabb;
|
||
|
|
BVHModel<AABB<S>> s2_aabb;
|
||
|
|
BVHModel<OBB<S>> s1_obb;
|
||
|
|
BVHModel<OBB<S>> s2_obb;
|
||
|
|
|
||
|
|
generateBVHModel(s1_aabb, s1, Transform3<S>::Identity(), 16, 16);
|
||
|
|
generateBVHModel(s2_aabb, s2, Transform3<S>::Identity(), 16, 16);
|
||
|
|
generateBVHModel(s1_obb, s1, Transform3<S>::Identity(), 16, 16);
|
||
|
|
generateBVHModel(s2_obb, s2, Transform3<S>::Identity(), 16, 16);
|
||
|
|
|
||
|
|
CollisionRequest<S> request;
|
||
|
|
CollisionResult<S> result;
|
||
|
|
|
||
|
|
bool res;
|
||
|
|
|
||
|
|
Transform3<S> pose = Transform3<S>::Identity();
|
||
|
|
Transform3<S> pose_aabb = Transform3<S>::Identity();
|
||
|
|
Transform3<S> pose_obb = Transform3<S>::Identity();
|
||
|
|
|
||
|
|
|
||
|
|
// s2 is within s1
|
||
|
|
// both are shapes --> collision
|
||
|
|
// s1 is shape, s2 is mesh --> in collision
|
||
|
|
// s1 is mesh, s2 is shape --> collision free
|
||
|
|
// all are reasonable
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(40, 0, 0);
|
||
|
|
pose_aabb.translation() = Vector3<S>(40, 0, 0);
|
||
|
|
pose_obb.translation() = Vector3<S>(40, 0, 0);
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(30, 0, 0);
|
||
|
|
pose_aabb.translation() = Vector3<S>(30, 0, 0);
|
||
|
|
pose_obb.translation() = Vector3<S>(30, 0, 0);
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(29.9, 0, 0);
|
||
|
|
pose_aabb.translation() = Vector3<S>(29.8, 0, 0); // 29.9 fails, result depends on mesh precision
|
||
|
|
pose_obb.translation() = Vector3<S>(29.8, 0, 0); // 29.9 fails, result depends on mesh precision
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(-29.9, 0, 0);
|
||
|
|
pose_aabb.translation() = Vector3<S>(-29.8, 0, 0); // 29.9 fails, result depends on mesh precision
|
||
|
|
pose_obb.translation() = Vector3<S>(-29.8, 0, 0); // 29.9 fails, result depends on mesh precision
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(-30, 0, 0);
|
||
|
|
pose_aabb.translation() = Vector3<S>(-30, 0, 0);
|
||
|
|
pose_obb.translation() = Vector3<S>(-30, 0, 0);
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
}
|
||
|
|
|
||
|
|
GTEST_TEST(FCL_SHAPE_MESH_CONSISTENCY, consistency_collision_spheresphere_libccd)
|
||
|
|
{
|
||
|
|
// test_consistency_collision_spheresphere_libccd<float>();
|
||
|
|
test_consistency_collision_spheresphere_libccd<double>();
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename S>
|
||
|
|
void test_consistency_collision_ellipsoidellipsoid_libccd()
|
||
|
|
{
|
||
|
|
Ellipsoid<S> s1(20, 40, 50);
|
||
|
|
Ellipsoid<S> s2(10, 10, 10);
|
||
|
|
BVHModel<AABB<S>> s1_aabb;
|
||
|
|
BVHModel<AABB<S>> s2_aabb;
|
||
|
|
BVHModel<OBB<S>> s1_obb;
|
||
|
|
BVHModel<OBB<S>> s2_obb;
|
||
|
|
|
||
|
|
generateBVHModel(s1_aabb, s1, Transform3<S>::Identity(), 16, 16);
|
||
|
|
generateBVHModel(s2_aabb, s2, Transform3<S>::Identity(), 16, 16);
|
||
|
|
generateBVHModel(s1_obb, s1, Transform3<S>::Identity(), 16, 16);
|
||
|
|
generateBVHModel(s2_obb, s2, Transform3<S>::Identity(), 16, 16);
|
||
|
|
|
||
|
|
CollisionRequest<S> request;
|
||
|
|
CollisionResult<S> result;
|
||
|
|
|
||
|
|
bool res;
|
||
|
|
|
||
|
|
Transform3<S> pose = Transform3<S>::Identity();
|
||
|
|
Transform3<S> pose_aabb = Transform3<S>::Identity();
|
||
|
|
Transform3<S> pose_obb = Transform3<S>::Identity();
|
||
|
|
|
||
|
|
|
||
|
|
// s2 is within s1
|
||
|
|
// both are shapes --> collision
|
||
|
|
// s1 is shape, s2 is mesh --> in collision
|
||
|
|
// s1 is mesh, s2 is shape --> collision free
|
||
|
|
// all are reasonable
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(40, 0, 0);
|
||
|
|
pose_aabb.translation() = Vector3<S>(40, 0, 0);
|
||
|
|
pose_obb.translation() = Vector3<S>(40, 0, 0);
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(30, 0, 0);
|
||
|
|
pose_aabb.translation() = Vector3<S>(30, 0, 0);
|
||
|
|
pose_obb.translation() = Vector3<S>(30, 0, 0);
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res); // libccd cannot detect collision when two ellipsoid is exactly touching each other
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, Transform3<S>(Translation3<S>(Vector3<S>(29.999, 0, 0))), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(29.9, 0, 0);
|
||
|
|
pose_aabb.translation() = Vector3<S>(29.9, 0, 0); // 29.9 fails, result depends on mesh precision
|
||
|
|
pose_obb.translation() = Vector3<S>(29.9, 0, 0); // 29.9 fails, result depends on mesh precision
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(-29.9, 0, 0);
|
||
|
|
pose_aabb.translation() = Vector3<S>(-29.9, 0, 0);
|
||
|
|
pose_obb.translation() = Vector3<S>(-29.9, 0, 0);
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(-30, 0, 0);
|
||
|
|
pose_aabb.translation() = Vector3<S>(-30, 0, 0);
|
||
|
|
pose_obb.translation() = Vector3<S>(-30, 0, 0);
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
}
|
||
|
|
|
||
|
|
GTEST_TEST(FCL_SHAPE_MESH_CONSISTENCY, consistency_collision_ellipsoidellipsoid_libccd)
|
||
|
|
{
|
||
|
|
// test_consistency_collision_ellipsoidellipsoid_libccd<float>();
|
||
|
|
test_consistency_collision_ellipsoidellipsoid_libccd<double>();
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename S>
|
||
|
|
void test_consistency_collision_boxbox_libccd()
|
||
|
|
{
|
||
|
|
Box<S> s1(20, 40, 50);
|
||
|
|
Box<S> s2(10, 10, 10);
|
||
|
|
|
||
|
|
BVHModel<AABB<S>> s1_aabb;
|
||
|
|
BVHModel<AABB<S>> s2_aabb;
|
||
|
|
BVHModel<OBB<S>> s1_obb;
|
||
|
|
BVHModel<OBB<S>> s2_obb;
|
||
|
|
|
||
|
|
generateBVHModel(s1_aabb, s1, Transform3<S>::Identity());
|
||
|
|
generateBVHModel(s2_aabb, s2, Transform3<S>::Identity());
|
||
|
|
generateBVHModel(s1_obb, s1, Transform3<S>::Identity());
|
||
|
|
generateBVHModel(s2_obb, s2, Transform3<S>::Identity());
|
||
|
|
|
||
|
|
CollisionRequest<S> request;
|
||
|
|
CollisionResult<S> result;
|
||
|
|
|
||
|
|
bool res;
|
||
|
|
|
||
|
|
Transform3<S> pose = Transform3<S>::Identity();
|
||
|
|
Transform3<S> pose_aabb = Transform3<S>::Identity();
|
||
|
|
Transform3<S> pose_obb = Transform3<S>::Identity();
|
||
|
|
|
||
|
|
// s2 is within s1
|
||
|
|
// both are shapes --> collision
|
||
|
|
// s1 is shape, s2 is mesh --> in collision
|
||
|
|
// s1 is mesh, s2 is shape --> collision free
|
||
|
|
// all are reasonable
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(15.01, 0, 0);
|
||
|
|
pose_aabb.translation() = Vector3<S>(15.01, 0, 0);
|
||
|
|
pose_obb.translation() = Vector3<S>(15.01, 0, 0);
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(14.99, 0, 0);
|
||
|
|
pose_aabb.translation() = Vector3<S>(14.99, 0, 0);
|
||
|
|
pose_obb.translation() = Vector3<S>(14.99, 0, 0);
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
}
|
||
|
|
|
||
|
|
GTEST_TEST(FCL_SHAPE_MESH_CONSISTENCY, consistency_collision_boxbox_libccd)
|
||
|
|
{
|
||
|
|
// test_consistency_collision_boxbox_libccd<float>();
|
||
|
|
test_consistency_collision_boxbox_libccd<double>();
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename S>
|
||
|
|
void test_consistency_collision_spherebox_libccd()
|
||
|
|
{
|
||
|
|
Sphere<S> s1(20);
|
||
|
|
Box<S> s2(5, 5, 5);
|
||
|
|
|
||
|
|
BVHModel<AABB<S>> s1_aabb;
|
||
|
|
BVHModel<AABB<S>> s2_aabb;
|
||
|
|
BVHModel<OBB<S>> s1_obb;
|
||
|
|
BVHModel<OBB<S>> s2_obb;
|
||
|
|
|
||
|
|
generateBVHModel(s1_aabb, s1, Transform3<S>::Identity(), 16, 16);
|
||
|
|
generateBVHModel(s2_aabb, s2, Transform3<S>::Identity());
|
||
|
|
generateBVHModel(s1_obb, s1, Transform3<S>::Identity(), 16, 16);
|
||
|
|
generateBVHModel(s2_obb, s2, Transform3<S>::Identity());
|
||
|
|
|
||
|
|
CollisionRequest<S> request;
|
||
|
|
CollisionResult<S> result;
|
||
|
|
|
||
|
|
bool res;
|
||
|
|
|
||
|
|
Transform3<S> pose = Transform3<S>::Identity();
|
||
|
|
Transform3<S> pose_aabb = Transform3<S>::Identity();
|
||
|
|
Transform3<S> pose_obb = Transform3<S>::Identity();
|
||
|
|
|
||
|
|
// s2 is within s1
|
||
|
|
// both are shapes --> collision
|
||
|
|
// s1 is shape, s2 is mesh --> in collision
|
||
|
|
// s1 is mesh, s2 is shape --> collision free
|
||
|
|
// all are reasonable
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(22.4, 0, 0);
|
||
|
|
pose_aabb.translation() = Vector3<S>(22.4, 0, 0);
|
||
|
|
pose_obb.translation() = Vector3<S>(22.4, 0, 0);
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(22.51, 0, 0);
|
||
|
|
pose_aabb.translation() = Vector3<S>(22.51, 0, 0);
|
||
|
|
pose_obb.translation() = Vector3<S>(22.51, 0, 0);
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
}
|
||
|
|
|
||
|
|
GTEST_TEST(FCL_SHAPE_MESH_CONSISTENCY, consistency_collision_spherebox_libccd)
|
||
|
|
{
|
||
|
|
// test_consistency_collision_spherebox_libccd<float>();
|
||
|
|
test_consistency_collision_spherebox_libccd<double>();
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename S>
|
||
|
|
void test_consistency_collision_cylindercylinder_libccd()
|
||
|
|
{
|
||
|
|
Cylinder<S> s1(5, 10);
|
||
|
|
Cylinder<S> s2(5, 10);
|
||
|
|
|
||
|
|
BVHModel<AABB<S>> s1_aabb;
|
||
|
|
BVHModel<AABB<S>> s2_aabb;
|
||
|
|
BVHModel<OBB<S>> s1_obb;
|
||
|
|
BVHModel<OBB<S>> s2_obb;
|
||
|
|
|
||
|
|
generateBVHModel(s1_aabb, s1, Transform3<S>::Identity(), 16, 16);
|
||
|
|
generateBVHModel(s2_aabb, s2, Transform3<S>::Identity(), 16, 16);
|
||
|
|
generateBVHModel(s1_obb, s1, Transform3<S>::Identity(), 16, 16);
|
||
|
|
generateBVHModel(s2_obb, s2, Transform3<S>::Identity(), 16, 16);
|
||
|
|
|
||
|
|
CollisionRequest<S> request;
|
||
|
|
CollisionResult<S> result;
|
||
|
|
|
||
|
|
bool res;
|
||
|
|
|
||
|
|
Transform3<S> pose = Transform3<S>::Identity();
|
||
|
|
Transform3<S> pose_aabb = Transform3<S>::Identity();
|
||
|
|
Transform3<S> pose_obb = Transform3<S>::Identity();
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(9.99, 0, 0);
|
||
|
|
pose_aabb.translation() = Vector3<S>(9.99, 0, 0);
|
||
|
|
pose_obb.translation() = Vector3<S>(9.99, 0, 0);
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(10.01, 0, 0);
|
||
|
|
pose_aabb.translation() = Vector3<S>(10.01, 0, 0);
|
||
|
|
pose_obb.translation() = Vector3<S>(10.01, 0, 0);
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
}
|
||
|
|
|
||
|
|
GTEST_TEST(FCL_SHAPE_MESH_CONSISTENCY, consistency_collision_cylindercylinder_libccd)
|
||
|
|
{
|
||
|
|
// test_consistency_collision_cylindercylinder_libccd<float>();
|
||
|
|
test_consistency_collision_cylindercylinder_libccd<double>();
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename S>
|
||
|
|
void test_consistency_collision_conecone_libccd()
|
||
|
|
{
|
||
|
|
Cone<S> s1(5, 10);
|
||
|
|
Cone<S> s2(5, 10);
|
||
|
|
|
||
|
|
BVHModel<AABB<S>> s1_aabb;
|
||
|
|
BVHModel<AABB<S>> s2_aabb;
|
||
|
|
BVHModel<OBB<S>> s1_obb;
|
||
|
|
BVHModel<OBB<S>> s2_obb;
|
||
|
|
|
||
|
|
generateBVHModel(s1_aabb, s1, Transform3<S>::Identity(), 16, 16);
|
||
|
|
generateBVHModel(s2_aabb, s2, Transform3<S>::Identity(), 16, 16);
|
||
|
|
generateBVHModel(s1_obb, s1, Transform3<S>::Identity(), 16, 16);
|
||
|
|
generateBVHModel(s2_obb, s2, Transform3<S>::Identity(), 16, 16);
|
||
|
|
|
||
|
|
CollisionRequest<S> request;
|
||
|
|
CollisionResult<S> result;
|
||
|
|
|
||
|
|
bool res;
|
||
|
|
|
||
|
|
Transform3<S> pose = Transform3<S>::Identity();
|
||
|
|
Transform3<S> pose_aabb = Transform3<S>::Identity();
|
||
|
|
Transform3<S> pose_obb = Transform3<S>::Identity();
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(9.9, 0, 0);
|
||
|
|
pose_aabb.translation() = Vector3<S>(9.9, 0, 0);
|
||
|
|
pose_obb.translation() = Vector3<S>(9.9, 0, 0);
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(10.1, 0, 0);
|
||
|
|
pose_aabb.translation() = Vector3<S>(10.1, 0, 0);
|
||
|
|
pose_obb.translation() = Vector3<S>(10.1, 0, 0);
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(0, 0, 9.9);
|
||
|
|
pose_aabb.translation() = Vector3<S>(0, 0, 9.9);
|
||
|
|
pose_obb.translation() = Vector3<S>(0, 0, 9.9);
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(0, 0, 10.1);
|
||
|
|
pose_aabb.translation() = Vector3<S>(0, 0, 10.1);
|
||
|
|
pose_obb.translation() = Vector3<S>(0, 0, 10.1);
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
}
|
||
|
|
|
||
|
|
GTEST_TEST(FCL_SHAPE_MESH_CONSISTENCY, consistency_collision_conecone_libccd)
|
||
|
|
{
|
||
|
|
// test_consistency_collision_conecone_libccd<float>();
|
||
|
|
test_consistency_collision_conecone_libccd<double>();
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename S>
|
||
|
|
void test_consistency_collision_spheresphere_GJK()
|
||
|
|
{
|
||
|
|
Sphere<S> s1(20);
|
||
|
|
Sphere<S> s2(10);
|
||
|
|
BVHModel<AABB<S>> s1_aabb;
|
||
|
|
BVHModel<AABB<S>> s2_aabb;
|
||
|
|
BVHModel<OBB<S>> s1_obb;
|
||
|
|
BVHModel<OBB<S>> s2_obb;
|
||
|
|
|
||
|
|
generateBVHModel(s1_aabb, s1, Transform3<S>::Identity(), 16, 16);
|
||
|
|
generateBVHModel(s2_aabb, s2, Transform3<S>::Identity(), 16, 16);
|
||
|
|
generateBVHModel(s1_obb, s1, Transform3<S>::Identity(), 16, 16);
|
||
|
|
generateBVHModel(s2_obb, s2, Transform3<S>::Identity(), 16, 16);
|
||
|
|
|
||
|
|
CollisionRequest<S> request;
|
||
|
|
request.gjk_solver_type = GST_INDEP;
|
||
|
|
|
||
|
|
CollisionResult<S> result;
|
||
|
|
|
||
|
|
bool res;
|
||
|
|
|
||
|
|
Transform3<S> pose = Transform3<S>::Identity();
|
||
|
|
Transform3<S> pose_aabb = Transform3<S>::Identity();
|
||
|
|
Transform3<S> pose_obb = Transform3<S>::Identity();
|
||
|
|
|
||
|
|
|
||
|
|
// s2 is within s1
|
||
|
|
// both are shapes --> collision
|
||
|
|
// s1 is shape, s2 is mesh --> in collision
|
||
|
|
// s1 is mesh, s2 is shape --> collision free
|
||
|
|
// all are reasonable
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(40, 0, 0);
|
||
|
|
pose_aabb.translation() = Vector3<S>(40, 0, 0);
|
||
|
|
pose_obb.translation() = Vector3<S>(40, 0, 0);
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(30, 0, 0);
|
||
|
|
pose_aabb.translation() = Vector3<S>(30, 0, 0);
|
||
|
|
pose_obb.translation() = Vector3<S>(30, 0, 0);
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(29.9, 0, 0);
|
||
|
|
pose_aabb.translation() = Vector3<S>(29.8, 0, 0); // 29.9 fails, result depends on mesh precision
|
||
|
|
pose_obb.translation() = Vector3<S>(29.8, 0, 0); // 29.9 fails, result depends on mesh precision
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(-29.9, 0, 0);
|
||
|
|
pose_aabb.translation() = Vector3<S>(-29.8, 0, 0); // 29.9 fails, result depends on mesh precision
|
||
|
|
pose_obb.translation() = Vector3<S>(-29.8, 0, 0); // 29.9 fails, result depends on mesh precision
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(-30, 0, 0);
|
||
|
|
pose_aabb.translation() = Vector3<S>(-30, 0, 0);
|
||
|
|
pose_obb.translation() = Vector3<S>(-30, 0, 0);
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
}
|
||
|
|
|
||
|
|
GTEST_TEST(FCL_SHAPE_MESH_CONSISTENCY, consistency_collision_spheresphere_GJK)
|
||
|
|
{
|
||
|
|
// test_consistency_collision_spheresphere_GJK<float>();
|
||
|
|
test_consistency_collision_spheresphere_GJK<double>();
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename S>
|
||
|
|
void test_consistency_collision_ellipsoidellipsoid_GJK()
|
||
|
|
{
|
||
|
|
Ellipsoid<S> s1(20, 40, 50);
|
||
|
|
Ellipsoid<S> s2(10, 10, 10);
|
||
|
|
BVHModel<AABB<S>> s1_aabb;
|
||
|
|
BVHModel<AABB<S>> s2_aabb;
|
||
|
|
BVHModel<OBB<S>> s1_obb;
|
||
|
|
BVHModel<OBB<S>> s2_obb;
|
||
|
|
|
||
|
|
generateBVHModel(s1_aabb, s1, Transform3<S>::Identity(), 16, 16);
|
||
|
|
generateBVHModel(s2_aabb, s2, Transform3<S>::Identity(), 16, 16);
|
||
|
|
generateBVHModel(s1_obb, s1, Transform3<S>::Identity(), 16, 16);
|
||
|
|
generateBVHModel(s2_obb, s2, Transform3<S>::Identity(), 16, 16);
|
||
|
|
|
||
|
|
CollisionRequest<S> request;
|
||
|
|
request.gjk_solver_type = GST_INDEP;
|
||
|
|
|
||
|
|
CollisionResult<S> result;
|
||
|
|
|
||
|
|
bool res;
|
||
|
|
|
||
|
|
Transform3<S> pose = Transform3<S>::Identity();
|
||
|
|
Transform3<S> pose_aabb = Transform3<S>::Identity();
|
||
|
|
Transform3<S> pose_obb = Transform3<S>::Identity();
|
||
|
|
|
||
|
|
|
||
|
|
// s2 is within s1
|
||
|
|
// both are shapes --> collision
|
||
|
|
// s1 is shape, s2 is mesh --> in collision
|
||
|
|
// s1 is mesh, s2 is shape --> collision free
|
||
|
|
// all are reasonable
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(40, 0, 0);
|
||
|
|
pose_aabb.translation() = Vector3<S>(40, 0, 0);
|
||
|
|
pose_obb.translation() = Vector3<S>(40, 0, 0);
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(30, 0, 0);
|
||
|
|
pose_aabb.translation() = Vector3<S>(30, 0, 0);
|
||
|
|
pose_obb.translation() = Vector3<S>(30, 0, 0);
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(29.9, 0, 0);
|
||
|
|
pose_aabb.translation() = Vector3<S>(29.9, 0, 0);
|
||
|
|
pose_obb.translation() = Vector3<S>(29.9, 0, 0);
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(-29.9, 0, 0);
|
||
|
|
pose_aabb.translation() = Vector3<S>(-29.9, 0, 0);
|
||
|
|
pose_obb.translation() = Vector3<S>(-29.9, 0, 0);
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(-30, 0, 0);
|
||
|
|
pose_aabb.translation() = Vector3<S>(-30, 0, 0);
|
||
|
|
pose_obb.translation() = Vector3<S>(-30, 0, 0);
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
}
|
||
|
|
|
||
|
|
GTEST_TEST(FCL_SHAPE_MESH_CONSISTENCY, consistency_collision_ellipsoidellipsoid_GJK)
|
||
|
|
{
|
||
|
|
// test_consistency_collision_ellipsoidellipsoid_GJK<float>();
|
||
|
|
test_consistency_collision_ellipsoidellipsoid_GJK<double>();
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename S>
|
||
|
|
void test_consistency_collision_boxbox_GJK()
|
||
|
|
{
|
||
|
|
Box<S> s1(20, 40, 50);
|
||
|
|
Box<S> s2(10, 10, 10);
|
||
|
|
|
||
|
|
BVHModel<AABB<S>> s1_aabb;
|
||
|
|
BVHModel<AABB<S>> s2_aabb;
|
||
|
|
BVHModel<OBB<S>> s1_obb;
|
||
|
|
BVHModel<OBB<S>> s2_obb;
|
||
|
|
|
||
|
|
generateBVHModel(s1_aabb, s1, Transform3<S>::Identity());
|
||
|
|
generateBVHModel(s2_aabb, s2, Transform3<S>::Identity());
|
||
|
|
generateBVHModel(s1_obb, s1, Transform3<S>::Identity());
|
||
|
|
generateBVHModel(s2_obb, s2, Transform3<S>::Identity());
|
||
|
|
|
||
|
|
CollisionRequest<S> request;
|
||
|
|
request.gjk_solver_type = GST_INDEP;
|
||
|
|
|
||
|
|
CollisionResult<S> result;
|
||
|
|
|
||
|
|
bool res;
|
||
|
|
|
||
|
|
Transform3<S> pose = Transform3<S>::Identity();
|
||
|
|
Transform3<S> pose_aabb = Transform3<S>::Identity();
|
||
|
|
Transform3<S> pose_obb = Transform3<S>::Identity();
|
||
|
|
|
||
|
|
// s2 is within s1
|
||
|
|
// both are shapes --> collision
|
||
|
|
// s1 is shape, s2 is mesh --> in collision
|
||
|
|
// s1 is mesh, s2 is shape --> collision free
|
||
|
|
// all are reasonable
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(15.01, 0, 0);
|
||
|
|
pose_aabb.translation() = Vector3<S>(15.01, 0, 0);
|
||
|
|
pose_obb.translation() = Vector3<S>(15.01, 0, 0);
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(14.99, 0, 0);
|
||
|
|
pose_aabb.translation() = Vector3<S>(14.99, 0, 0);
|
||
|
|
pose_obb.translation() = Vector3<S>(14.99, 0, 0);
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
}
|
||
|
|
|
||
|
|
GTEST_TEST(FCL_SHAPE_MESH_CONSISTENCY, consistency_collision_boxbox_GJK)
|
||
|
|
{
|
||
|
|
// test_consistency_collision_boxbox_GJK<float>();
|
||
|
|
test_consistency_collision_boxbox_GJK<double>();
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename S>
|
||
|
|
void test_consistency_collision_spherebox_GJK()
|
||
|
|
{
|
||
|
|
Sphere<S> s1(20);
|
||
|
|
Box<S> s2(5, 5, 5);
|
||
|
|
|
||
|
|
BVHModel<AABB<S>> s1_aabb;
|
||
|
|
BVHModel<AABB<S>> s2_aabb;
|
||
|
|
BVHModel<OBB<S>> s1_obb;
|
||
|
|
BVHModel<OBB<S>> s2_obb;
|
||
|
|
|
||
|
|
generateBVHModel(s1_aabb, s1, Transform3<S>::Identity(), 16, 16);
|
||
|
|
generateBVHModel(s2_aabb, s2, Transform3<S>::Identity());
|
||
|
|
generateBVHModel(s1_obb, s1, Transform3<S>::Identity(), 16, 16);
|
||
|
|
generateBVHModel(s2_obb, s2, Transform3<S>::Identity());
|
||
|
|
|
||
|
|
CollisionRequest<S> request;
|
||
|
|
request.gjk_solver_type = GST_INDEP;
|
||
|
|
|
||
|
|
CollisionResult<S> result;
|
||
|
|
|
||
|
|
bool res;
|
||
|
|
|
||
|
|
Transform3<S> pose = Transform3<S>::Identity();
|
||
|
|
Transform3<S> pose_aabb = Transform3<S>::Identity();
|
||
|
|
Transform3<S> pose_obb = Transform3<S>::Identity();
|
||
|
|
|
||
|
|
// s2 is within s1
|
||
|
|
// both are shapes --> collision
|
||
|
|
// s1 is shape, s2 is mesh --> in collision
|
||
|
|
// s1 is mesh, s2 is shape --> collision free
|
||
|
|
// all are reasonable
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(22.4, 0, 0);
|
||
|
|
pose_aabb.translation() = Vector3<S>(22.4, 0, 0);
|
||
|
|
pose_obb.translation() = Vector3<S>(22.4, 0, 0);
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(22.51, 0, 0);
|
||
|
|
pose_aabb.translation() = Vector3<S>(22.51, 0, 0);
|
||
|
|
pose_obb.translation() = Vector3<S>(22.51, 0, 0);
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
}
|
||
|
|
|
||
|
|
GTEST_TEST(FCL_SHAPE_MESH_CONSISTENCY, consistency_collision_spherebox_GJK)
|
||
|
|
{
|
||
|
|
// test_consistency_collision_spherebox_GJK<float>();
|
||
|
|
test_consistency_collision_spherebox_GJK<double>();
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename S>
|
||
|
|
void test_consistency_collision_cylindercylinder_GJK()
|
||
|
|
{
|
||
|
|
Cylinder<S> s1(5, 10);
|
||
|
|
Cylinder<S> s2(5, 10);
|
||
|
|
|
||
|
|
BVHModel<AABB<S>> s1_aabb;
|
||
|
|
BVHModel<AABB<S>> s2_aabb;
|
||
|
|
BVHModel<OBB<S>> s1_obb;
|
||
|
|
BVHModel<OBB<S>> s2_obb;
|
||
|
|
|
||
|
|
generateBVHModel(s1_aabb, s1, Transform3<S>::Identity(), 16, 16);
|
||
|
|
generateBVHModel(s2_aabb, s2, Transform3<S>::Identity(), 16, 16);
|
||
|
|
generateBVHModel(s1_obb, s1, Transform3<S>::Identity(), 16, 16);
|
||
|
|
generateBVHModel(s2_obb, s2, Transform3<S>::Identity(), 16, 16);
|
||
|
|
|
||
|
|
CollisionRequest<S> request;
|
||
|
|
request.gjk_solver_type = GST_INDEP;
|
||
|
|
|
||
|
|
CollisionResult<S> result;
|
||
|
|
|
||
|
|
bool res;
|
||
|
|
|
||
|
|
Transform3<S> pose = Transform3<S>::Identity();
|
||
|
|
Transform3<S> pose_aabb = Transform3<S>::Identity();
|
||
|
|
Transform3<S> pose_obb = Transform3<S>::Identity();
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(9.99, 0, 0);
|
||
|
|
pose_aabb.translation() = Vector3<S>(9.99, 0, 0);
|
||
|
|
pose_obb.translation() = Vector3<S>(9.99, 0, 0);
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(10.01, 0, 0);
|
||
|
|
pose_aabb.translation() = Vector3<S>(10.01, 0, 0);
|
||
|
|
pose_obb.translation() = Vector3<S>(10.01, 0, 0);
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
}
|
||
|
|
|
||
|
|
GTEST_TEST(FCL_SHAPE_MESH_CONSISTENCY, consistency_collision_cylindercylinder_GJK)
|
||
|
|
{
|
||
|
|
// test_consistency_collision_cylindercylinder_GJK<float>();
|
||
|
|
test_consistency_collision_cylindercylinder_GJK<double>();
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename S>
|
||
|
|
void test_consistency_collision_conecone_GJK()
|
||
|
|
{
|
||
|
|
Cone<S> s1(5, 10);
|
||
|
|
Cone<S> s2(5, 10);
|
||
|
|
|
||
|
|
BVHModel<AABB<S>> s1_aabb;
|
||
|
|
BVHModel<AABB<S>> s2_aabb;
|
||
|
|
BVHModel<OBB<S>> s1_obb;
|
||
|
|
BVHModel<OBB<S>> s2_obb;
|
||
|
|
|
||
|
|
generateBVHModel(s1_aabb, s1, Transform3<S>::Identity(), 16, 16);
|
||
|
|
generateBVHModel(s2_aabb, s2, Transform3<S>::Identity(), 16, 16);
|
||
|
|
generateBVHModel(s1_obb, s1, Transform3<S>::Identity(), 16, 16);
|
||
|
|
generateBVHModel(s2_obb, s2, Transform3<S>::Identity(), 16, 16);
|
||
|
|
|
||
|
|
CollisionRequest<S> request;
|
||
|
|
request.gjk_solver_type = GST_INDEP;
|
||
|
|
|
||
|
|
CollisionResult<S> result;
|
||
|
|
|
||
|
|
bool res;
|
||
|
|
|
||
|
|
Transform3<S> pose = Transform3<S>::Identity();
|
||
|
|
Transform3<S> pose_aabb = Transform3<S>::Identity();
|
||
|
|
Transform3<S> pose_obb = Transform3<S>::Identity();
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(9.9, 0, 0);
|
||
|
|
pose_aabb.translation() = Vector3<S>(9.9, 0, 0);
|
||
|
|
pose_obb.translation() = Vector3<S>(9.9, 0, 0);
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(10.1, 0, 0);
|
||
|
|
pose_aabb.translation() = Vector3<S>(10.1, 0, 0);
|
||
|
|
pose_obb.translation() = Vector3<S>(10.1, 0, 0);
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(0, 0, 9.9);
|
||
|
|
pose_aabb.translation() = Vector3<S>(0, 0, 9.9);
|
||
|
|
pose_obb.translation() = Vector3<S>(0, 0, 9.9);
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_TRUE(res);
|
||
|
|
|
||
|
|
pose.translation() = Vector3<S>(0, 0, 10.1);
|
||
|
|
pose_aabb.translation() = Vector3<S>(0, 0, 10.1);
|
||
|
|
pose_obb.translation() = Vector3<S>(0, 0, 10.1);
|
||
|
|
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_aabb, pose_aabb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2_obb, pose_obb, &s1, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_aabb, pose_aabb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1, Transform3<S>::Identity(), &s2_obb, pose_obb, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_aabb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s2, pose, &s1_obb, Transform3<S>::Identity(), request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
result.clear();
|
||
|
|
res = (collide(&s1_aabb, Transform3<S>::Identity(), &s2, pose, request, result) > 0);
|
||
|
|
EXPECT_FALSE(res);
|
||
|
|
}
|
||
|
|
|
||
|
|
GTEST_TEST(FCL_SHAPE_MESH_CONSISTENCY, consistency_collision_conecone_GJK)
|
||
|
|
{
|
||
|
|
// test_consistency_collision_conecone_GJK<float>();
|
||
|
|
test_consistency_collision_conecone_GJK<double>();
|
||
|
|
}
|
||
|
|
|
||
|
|
//==============================================================================
|
||
|
|
int main(int argc, char* argv[])
|
||
|
|
{
|
||
|
|
::testing::InitGoogleTest(&argc, argv);
|
||
|
|
return RUN_ALL_TESTS();
|
||
|
|
}
|