398 lines
15 KiB
C++
398 lines
15 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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#include <gtest/gtest.h>
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#include <sstream>
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#include "fcl/math/detail/project.h"
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#include "fcl/narrowphase/collision.h"
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#include "fcl/geometry/bvh/BVH_model.h"
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#include "fcl_resources/config.h"
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#include "fcl/math/sampler/sampler_r.h"
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#include "fcl/math/sampler/sampler_se2.h"
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#include "fcl/math/sampler/sampler_se2_disk.h"
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#include "fcl/math/sampler/sampler_se3_euler.h"
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#include "fcl/math/sampler/sampler_se3_euler_ball.h"
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#include "fcl/math/sampler/sampler_se3_quat.h"
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#include "fcl/math/sampler/sampler_se3_quat_ball.h"
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#include "fcl/math/geometry.h"
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using namespace fcl;
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template <typename S>
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S epsilon()
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{
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return 1e-6;
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}
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template <>
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float epsilon()
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{
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return 1e-4;
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}
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template <typename S>
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bool approx(S x, S y)
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{
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return std::abs(x - y) < epsilon<S>();
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}
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template<typename S, std::size_t N>
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S distance_Vecnf(const VectorN<S, N>& a, const VectorN<S, N>& b)
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{
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S d = 0;
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for(std::size_t i = 0; i < N; ++i)
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d += (a[i] - b[i]) * (a[i] - b[i]);
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return d;
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}
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template <typename S>
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void test_Vec_nf_test()
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{
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VectorN<S, 4> a;
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VectorN<S, 4> b;
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for(auto i = 0; i < a.size(); ++i)
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a[i] = i;
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for(auto i = 0; i < b.size(); ++i)
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b[i] = 1;
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std::cout << a.transpose() << std::endl;
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std::cout << b.transpose() << std::endl;
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std::cout << (a + b).transpose() << std::endl;
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std::cout << (a - b).transpose() << std::endl;
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std::cout << (a -= b).transpose() << std::endl;
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std::cout << (a += b).transpose() << std::endl;
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std::cout << (a * 2).transpose() << std::endl;
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std::cout << (a / 2).transpose() << std::endl;
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std::cout << (a *= 2).transpose() << std::endl;
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std::cout << (a /= 2).transpose() << std::endl;
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std::cout << a.dot(b) << std::endl;
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VectorN<S, 8> c = combine(a, b);
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std::cout << c.transpose() << std::endl;
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VectorN<S, 4> upper, lower;
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for(int i = 0; i < 4; ++i)
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upper[i] = 1;
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VectorN<S, 4> aa = VectorN<S, 4>(1, 2, 1, 2);
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std::cout << aa.transpose() << std::endl;
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SamplerR<S, 4> sampler(lower, upper);
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for(std::size_t i = 0; i < 10; ++i)
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std::cout << sampler.sample().transpose() << std::endl;
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// Disabled broken test lines. Please see #25.
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// SamplerSE2 sampler2(0, 1, -1, 1);
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// for(std::size_t i = 0; i < 10; ++i)
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// std::cout << sampler2.sample() << std::endl;
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SamplerSE3Euler<S> sampler3(Vector3<S>(0, 0, 0), Vector3<S>(1, 1, 1));
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for(std::size_t i = 0; i < 10; ++i)
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std::cout << sampler3.sample().transpose() << std::endl;
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}
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GTEST_TEST(FCL_SIMPLE, Vec_nf_test)
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{
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// test_Vec_nf_test<float>();
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test_Vec_nf_test<double>();
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}
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template <typename S>
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void test_projection_test_line()
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{
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Vector3<S> v1(0, 0, 0);
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Vector3<S> v2(2, 0, 0);
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Vector3<S> p(1, 0, 0);
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auto res = detail::Project<S>::projectLine(v1, v2, p);
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EXPECT_TRUE(res.encode == 3);
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EXPECT_TRUE(approx(res.sqr_distance, (S)0));
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EXPECT_TRUE(approx(res.parameterization[0], (S)0.5));
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EXPECT_TRUE(approx(res.parameterization[1], (S)0.5));
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p = Vector3<S>(-1, 0, 0);
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res = detail::Project<S>::projectLine(v1, v2, p);
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EXPECT_TRUE(res.encode == 1);
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EXPECT_TRUE(approx(res.sqr_distance, (S)1));
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EXPECT_TRUE(approx(res.parameterization[0], (S)1));
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EXPECT_TRUE(approx(res.parameterization[1], (S)0));
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p = Vector3<S>(3, 0, 0);
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res = detail::Project<S>::projectLine(v1, v2, p);
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EXPECT_TRUE(res.encode == 2);
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EXPECT_TRUE(approx(res.sqr_distance, (S)1));
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EXPECT_TRUE(approx(res.parameterization[0], (S)0));
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EXPECT_TRUE(approx(res.parameterization[1], (S)1));
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}
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GTEST_TEST(FCL_SIMPLE, projection_test_line)
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{
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// test_projection_test_line<float>();
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test_projection_test_line<double>();
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}
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template <typename S>
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void test_projection_test_triangle()
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{
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Vector3<S> v1(0, 0, 1);
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Vector3<S> v2(0, 1, 0);
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Vector3<S> v3(1, 0, 0);
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Vector3<S> p(1, 1, 1);
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auto res = detail::Project<S>::projectTriangle(v1, v2, v3, p);
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EXPECT_TRUE(res.encode == 7);
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EXPECT_TRUE(approx(res.sqr_distance, (S)(4/3.0)));
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EXPECT_TRUE(approx(res.parameterization[0], (S)(1/3.0)));
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EXPECT_TRUE(approx(res.parameterization[1], (S)(1/3.0)));
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EXPECT_TRUE(approx(res.parameterization[2], (S)(1/3.0)));
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p = Vector3<S>(0, 0, 1.5);
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res = detail::Project<S>::projectTriangle(v1, v2, v3, p);
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EXPECT_TRUE(res.encode == 1);
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EXPECT_TRUE(approx(res.sqr_distance, (S)0.25));
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EXPECT_TRUE(approx(res.parameterization[0], (S)1));
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EXPECT_TRUE(approx(res.parameterization[1], (S)0));
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EXPECT_TRUE(approx(res.parameterization[2], (S)0));
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p = Vector3<S>(1.5, 0, 0);
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res = detail::Project<S>::projectTriangle(v1, v2, v3, p);
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EXPECT_TRUE(res.encode == 4);
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EXPECT_TRUE(approx(res.sqr_distance, (S)0.25));
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EXPECT_TRUE(approx(res.parameterization[0], (S)0));
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EXPECT_TRUE(approx(res.parameterization[1], (S)0));
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EXPECT_TRUE(approx(res.parameterization[2], (S)1));
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p = Vector3<S>(0, 1.5, 0);
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res = detail::Project<S>::projectTriangle(v1, v2, v3, p);
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EXPECT_TRUE(res.encode == 2);
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EXPECT_TRUE(approx(res.sqr_distance, (S)0.25));
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EXPECT_TRUE(approx(res.parameterization[0], (S)0));
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EXPECT_TRUE(approx(res.parameterization[1], (S)1));
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EXPECT_TRUE(approx(res.parameterization[2], (S)0));
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p = Vector3<S>(1, 1, 0);
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res = detail::Project<S>::projectTriangle(v1, v2, v3, p);
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EXPECT_TRUE(res.encode == 6);
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EXPECT_TRUE(approx(res.sqr_distance, (S)0.5));
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EXPECT_TRUE(approx(res.parameterization[0], (S)0));
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EXPECT_TRUE(approx(res.parameterization[1], (S)0.5));
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EXPECT_TRUE(approx(res.parameterization[2], (S)0.5));
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p = Vector3<S>(1, 0, 1);
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res = detail::Project<S>::projectTriangle(v1, v2, v3, p);
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EXPECT_TRUE(res.encode == 5);
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EXPECT_TRUE(approx(res.sqr_distance, (S)0.5));
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EXPECT_TRUE(approx(res.parameterization[0], (S)0.5));
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EXPECT_TRUE(approx(res.parameterization[1], (S)0));
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EXPECT_TRUE(approx(res.parameterization[2], (S)0.5));
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p = Vector3<S>(0, 1, 1);
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res = detail::Project<S>::projectTriangle(v1, v2, v3, p);
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EXPECT_TRUE(res.encode == 3);
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EXPECT_TRUE(approx(res.sqr_distance, (S)0.5));
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EXPECT_TRUE(approx(res.parameterization[0], (S)0.5));
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EXPECT_TRUE(approx(res.parameterization[1], (S)0.5));
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EXPECT_TRUE(approx(res.parameterization[2], (S)0));
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}
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GTEST_TEST(FCL_SIMPLE, projection_test_triangle)
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{
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// test_projection_test_triangle<float>();
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test_projection_test_triangle<double>();
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}
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template <typename S>
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void test_projection_test_tetrahedron()
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{
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Vector3<S> v1(0, 0, 1);
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Vector3<S> v2(0, 1, 0);
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Vector3<S> v3(1, 0, 0);
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Vector3<S> v4(1, 1, 1);
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Vector3<S> p(0.5, 0.5, 0.5);
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auto res = detail::Project<S>::projectTetrahedra(v1, v2, v3, v4, p);
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EXPECT_TRUE(res.encode == 15);
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EXPECT_TRUE(approx(res.sqr_distance, (S)0));
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EXPECT_TRUE(approx(res.parameterization[0], (S)0.25));
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EXPECT_TRUE(approx(res.parameterization[1], (S)0.25));
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EXPECT_TRUE(approx(res.parameterization[2], (S)0.25));
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EXPECT_TRUE(approx(res.parameterization[3], (S)0.25));
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p = Vector3<S>(0, 0, 0);
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res = detail::Project<S>::projectTetrahedra(v1, v2, v3, v4, p);
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EXPECT_TRUE(res.encode == 7);
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EXPECT_TRUE(approx(res.sqr_distance, (S)(1/3.0)));
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EXPECT_TRUE(approx(res.parameterization[0], (S)(1/3.0)));
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EXPECT_TRUE(approx(res.parameterization[1], (S)(1/3.0)));
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EXPECT_TRUE(approx(res.parameterization[2], (S)(1/3.0)));
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EXPECT_TRUE(approx(res.parameterization[3], (S)0));
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p = Vector3<S>(0, 1, 1);
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res = detail::Project<S>::projectTetrahedra(v1, v2, v3, v4, p);
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EXPECT_TRUE(res.encode == 11);
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EXPECT_TRUE(approx(res.sqr_distance, (S)(1/3.0)));
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EXPECT_TRUE(approx(res.parameterization[0], (S)(1/3.0)));
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EXPECT_TRUE(approx(res.parameterization[1], (S)(1/3.0)));
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EXPECT_TRUE(approx(res.parameterization[2], (S)0));
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EXPECT_TRUE(approx(res.parameterization[3], (S)(1/3.0)));
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p = Vector3<S>(1, 1, 0);
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res = detail::Project<S>::projectTetrahedra(v1, v2, v3, v4, p);
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EXPECT_TRUE(res.encode == 14);
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EXPECT_TRUE(approx(res.sqr_distance, (S)(1/3.0)));
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EXPECT_TRUE(approx(res.parameterization[0], (S)0));
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EXPECT_TRUE(approx(res.parameterization[1], (S)(1/3.0)));
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EXPECT_TRUE(approx(res.parameterization[2], (S)(1/3.0)));
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EXPECT_TRUE(approx(res.parameterization[3], (S)(1/3.0)));
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p = Vector3<S>(1, 0, 1);
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res = detail::Project<S>::projectTetrahedra(v1, v2, v3, v4, p);
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EXPECT_TRUE(res.encode == 13);
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EXPECT_TRUE(approx(res.sqr_distance, (S)(1/3.0)));
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EXPECT_TRUE(approx(res.parameterization[0], (S)(1/3.0)));
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EXPECT_TRUE(approx(res.parameterization[1], (S)0));
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EXPECT_TRUE(approx(res.parameterization[2], (S)(1/3.0)));
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EXPECT_TRUE(approx(res.parameterization[3], (S)(1/3.0)));
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p = Vector3<S>(1.5, 1.5, 1.5);
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res = detail::Project<S>::projectTetrahedra(v1, v2, v3, v4, p);
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EXPECT_TRUE(res.encode == 8);
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EXPECT_TRUE(approx(res.sqr_distance, (S)0.75));
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EXPECT_TRUE(approx(res.parameterization[0], (S)0));
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EXPECT_TRUE(approx(res.parameterization[1], (S)0));
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EXPECT_TRUE(approx(res.parameterization[2], (S)0));
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EXPECT_TRUE(approx(res.parameterization[3], (S)1));
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p = Vector3<S>(1.5, -0.5, -0.5);
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res = detail::Project<S>::projectTetrahedra(v1, v2, v3, v4, p);
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EXPECT_TRUE(res.encode == 4);
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EXPECT_TRUE(approx(res.sqr_distance, (S)0.75));
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EXPECT_TRUE(approx(res.parameterization[0], (S)0));
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EXPECT_TRUE(approx(res.parameterization[1], (S)0));
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EXPECT_TRUE(approx(res.parameterization[2], (S)1));
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EXPECT_TRUE(approx(res.parameterization[3], (S)0));
|
||
|
|
|
||
|
|
p = Vector3<S>(-0.5, -0.5, 1.5);
|
||
|
|
res = detail::Project<S>::projectTetrahedra(v1, v2, v3, v4, p);
|
||
|
|
EXPECT_TRUE(res.encode == 1);
|
||
|
|
EXPECT_TRUE(approx(res.sqr_distance, (S)0.75));
|
||
|
|
EXPECT_TRUE(approx(res.parameterization[0], (S)1));
|
||
|
|
EXPECT_TRUE(approx(res.parameterization[1], (S)0));
|
||
|
|
EXPECT_TRUE(approx(res.parameterization[2], (S)0));
|
||
|
|
EXPECT_TRUE(approx(res.parameterization[3], (S)0));
|
||
|
|
|
||
|
|
p = Vector3<S>(-0.5, 1.5, -0.5);
|
||
|
|
res = detail::Project<S>::projectTetrahedra(v1, v2, v3, v4, p);
|
||
|
|
EXPECT_TRUE(res.encode == 2);
|
||
|
|
EXPECT_TRUE(approx(res.sqr_distance, (S)0.75));
|
||
|
|
EXPECT_TRUE(approx(res.parameterization[0], (S)0));
|
||
|
|
EXPECT_TRUE(approx(res.parameterization[1], (S)1));
|
||
|
|
EXPECT_TRUE(approx(res.parameterization[2], (S)0));
|
||
|
|
EXPECT_TRUE(approx(res.parameterization[3], (S)0));
|
||
|
|
|
||
|
|
p = Vector3<S>(0.5, -0.5, 0.5);
|
||
|
|
res = detail::Project<S>::projectTetrahedra(v1, v2, v3, v4, p);
|
||
|
|
EXPECT_TRUE(res.encode == 5);
|
||
|
|
EXPECT_TRUE(approx(res.sqr_distance, (S)0.25));
|
||
|
|
EXPECT_TRUE(approx(res.parameterization[0], (S)0.5));
|
||
|
|
EXPECT_TRUE(approx(res.parameterization[1], (S)0));
|
||
|
|
EXPECT_TRUE(approx(res.parameterization[2], (S)0.5));
|
||
|
|
EXPECT_TRUE(approx(res.parameterization[3], (S)0));
|
||
|
|
|
||
|
|
p = Vector3<S>(0.5, 1.5, 0.5);
|
||
|
|
res = detail::Project<S>::projectTetrahedra(v1, v2, v3, v4, p);
|
||
|
|
EXPECT_TRUE(res.encode == 10);
|
||
|
|
EXPECT_TRUE(approx(res.sqr_distance, (S)0.25));
|
||
|
|
EXPECT_TRUE(approx(res.parameterization[0], (S)0));
|
||
|
|
EXPECT_TRUE(approx(res.parameterization[1], (S)0.5));
|
||
|
|
EXPECT_TRUE(approx(res.parameterization[2], (S)0));
|
||
|
|
EXPECT_TRUE(approx(res.parameterization[3], (S)0.5));
|
||
|
|
|
||
|
|
p = Vector3<S>(1.5, 0.5, 0.5);
|
||
|
|
res = detail::Project<S>::projectTetrahedra(v1, v2, v3, v4, p);
|
||
|
|
EXPECT_TRUE(res.encode == 12);
|
||
|
|
EXPECT_TRUE(approx(res.sqr_distance, (S)0.25));
|
||
|
|
EXPECT_TRUE(approx(res.parameterization[0], (S)0));
|
||
|
|
EXPECT_TRUE(approx(res.parameterization[1], (S)0));
|
||
|
|
EXPECT_TRUE(approx(res.parameterization[2], (S)0.5));
|
||
|
|
EXPECT_TRUE(approx(res.parameterization[3], (S)0.5));
|
||
|
|
|
||
|
|
p = Vector3<S>(-0.5, 0.5, 0.5);
|
||
|
|
res = detail::Project<S>::projectTetrahedra(v1, v2, v3, v4, p);
|
||
|
|
EXPECT_TRUE(res.encode == 3);
|
||
|
|
EXPECT_TRUE(approx(res.sqr_distance, (S)0.25));
|
||
|
|
EXPECT_TRUE(approx(res.parameterization[0], (S)0.5));
|
||
|
|
EXPECT_TRUE(approx(res.parameterization[1], (S)0.5));
|
||
|
|
EXPECT_TRUE(approx(res.parameterization[2], (S)0));
|
||
|
|
EXPECT_TRUE(approx(res.parameterization[3], (S)0));
|
||
|
|
|
||
|
|
p = Vector3<S>(0.5, 0.5, 1.5);
|
||
|
|
res = detail::Project<S>::projectTetrahedra(v1, v2, v3, v4, p);
|
||
|
|
EXPECT_TRUE(res.encode == 9);
|
||
|
|
EXPECT_TRUE(approx(res.sqr_distance, (S)0.25));
|
||
|
|
EXPECT_TRUE(approx(res.parameterization[0], (S)0.5));
|
||
|
|
EXPECT_TRUE(approx(res.parameterization[1], (S)0));
|
||
|
|
EXPECT_TRUE(approx(res.parameterization[2], (S)0));
|
||
|
|
EXPECT_TRUE(approx(res.parameterization[3], (S)0.5));
|
||
|
|
|
||
|
|
p = Vector3<S>(0.5, 0.5, -0.5);
|
||
|
|
res = detail::Project<S>::projectTetrahedra(v1, v2, v3, v4, p);
|
||
|
|
EXPECT_TRUE(res.encode == 6);
|
||
|
|
EXPECT_TRUE(approx(res.sqr_distance, (S)0.25));
|
||
|
|
EXPECT_TRUE(approx(res.parameterization[0], (S)0));
|
||
|
|
EXPECT_TRUE(approx(res.parameterization[1], (S)0.5));
|
||
|
|
EXPECT_TRUE(approx(res.parameterization[2], (S)0.5));
|
||
|
|
EXPECT_TRUE(approx(res.parameterization[3], (S)0));
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
GTEST_TEST(FCL_SIMPLE, projection_test_tetrahedron)
|
||
|
|
{
|
||
|
|
// test_projection_test_tetrahedron<float>();
|
||
|
|
test_projection_test_tetrahedron<double>();
|
||
|
|
}
|
||
|
|
|
||
|
|
//==============================================================================
|
||
|
|
int main(int argc, char* argv[])
|
||
|
|
{
|
||
|
|
::testing::InitGoogleTest(&argc, argv);
|
||
|
|
return RUN_ALL_TESTS();
|
||
|
|
}
|