380 lines
16 KiB
C++
380 lines
16 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 <gtest/gtest.h>
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#include "fcl/narrowphase/detail/traversal/collision_node.h"
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#include "test_fcl_utility.h"
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#include "fcl_resources/config.h"
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using namespace fcl;
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template<typename BV>
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bool collide_front_list_Test(const Transform3<typename BV::S>& tf1, const Transform3<typename BV::S>& tf2,
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const std::vector<Vector3<typename BV::S>>& vertices1, const std::vector<Triangle>& triangles1,
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const std::vector<Vector3<typename BV::S>>& vertices2, const std::vector<Triangle>& triangles2,
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detail::SplitMethodType split_method,
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bool refit_bottomup, bool verbose);
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template<typename BV, typename TraversalNode>
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bool collide_front_list_Test_Oriented(const Transform3<typename BV::S>& tf1, const Transform3<typename BV::S>& tf2,
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const std::vector<Vector3<typename BV::S>>& vertices1, const std::vector<Triangle>& triangles1,
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const std::vector<Vector3<typename BV::S>>& vertices2, const std::vector<Triangle>& triangles2,
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detail::SplitMethodType split_method, bool verbose);
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template<typename BV>
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bool collide_Test(const Transform3<typename BV::S>& tf,
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const std::vector<Vector3<typename BV::S>>& vertices1, const std::vector<Triangle>& triangles1,
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const std::vector<Vector3<typename BV::S>>& vertices2, const std::vector<Triangle>& triangles2, detail::SplitMethodType split_method, bool verbose);
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// TODO: randomly still have some runtime error
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template <typename S>
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void test_front_list()
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{
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std::vector<Vector3<S>> p1, p2;
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std::vector<Triangle> t1, t2;
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test::loadOBJFile(TEST_RESOURCES_DIR"/env.obj", p1, t1);
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test::loadOBJFile(TEST_RESOURCES_DIR"/rob.obj", p2, t2);
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aligned_vector<Transform3<S>> transforms; // t0
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aligned_vector<Transform3<S>> transforms2; // t1
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S extents[] = {-3000, -3000, 0, 3000, 3000, 3000};
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S delta_trans[] = {1, 1, 1};
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#ifdef NDEBUG
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std::size_t n = 10;
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#else
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std::size_t n = 1;
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#endif
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bool verbose = false;
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test::generateRandomTransforms<S>(extents, delta_trans, 0.005 * 2 * 3.1415, transforms, transforms2, n);
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bool res, res2;
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for(std::size_t i = 0; i < transforms.size(); ++i)
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{
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res = collide_Test<AABB<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, verbose);
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res2 = collide_front_list_Test<AABB<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, false, verbose);
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EXPECT_TRUE(res == res2);
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res = collide_Test<AABB<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, verbose);
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res2 = collide_front_list_Test<AABB<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, false, verbose);
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EXPECT_TRUE(res == res2);
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res = collide_Test<AABB<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, verbose);
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res2 = collide_front_list_Test<AABB<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, false, verbose);
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EXPECT_TRUE(res == res2);
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}
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for(std::size_t i = 0; i < transforms.size(); ++i)
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{
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res = collide_Test<OBB<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, verbose);
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res2 = collide_front_list_Test<OBB<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, false, verbose);
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EXPECT_TRUE(res == res2);
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res = collide_Test<OBB<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, verbose);
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res2 = collide_front_list_Test<OBB<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, false, verbose);
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EXPECT_TRUE(res == res2);
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res = collide_Test<OBB<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, verbose);
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res2 = collide_front_list_Test<OBB<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, false, verbose);
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EXPECT_TRUE(res == res2);
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}
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for(std::size_t i = 0; i < transforms.size(); ++i)
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{
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// Disabled broken test lines. Please see #25.
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// res = collide_Test<RSS<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, verbose);
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// res2 = collide_front_list_Test<RSS<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, false, verbose);
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// EXPECT_TRUE(res == res2);
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res = collide_Test<RSS<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, verbose);
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res2 = collide_front_list_Test<RSS<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, false, verbose);
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EXPECT_TRUE(res == res2);
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res = collide_Test<RSS<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, verbose);
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res2 = collide_front_list_Test<RSS<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, false, verbose);
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EXPECT_TRUE(res == res2);
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}
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for(std::size_t i = 0; i < transforms.size(); ++i)
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{
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res = collide_Test<KDOP<S, 16> >(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, verbose);
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res2 = collide_front_list_Test<KDOP<S, 16> >(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, false, verbose);
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EXPECT_TRUE(res == res2);
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res = collide_Test<KDOP<S, 16> >(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, verbose);
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res2 = collide_front_list_Test<KDOP<S, 16> >(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, false, verbose);
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EXPECT_TRUE(res == res2);
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res = collide_Test<KDOP<S, 16> >(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, verbose);
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res2 = collide_front_list_Test<KDOP<S, 16> >(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, false, verbose);
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EXPECT_TRUE(res == res2);
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}
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for(std::size_t i = 0; i < transforms.size(); ++i)
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{
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res = collide_Test<KDOP<S, 18> >(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, verbose);
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res2 = collide_front_list_Test<KDOP<S, 18> >(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, false, verbose);
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EXPECT_TRUE(res == res2);
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res = collide_Test<KDOP<S, 18> >(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, verbose);
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res2 = collide_front_list_Test<KDOP<S, 18> >(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, false, verbose);
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EXPECT_TRUE(res == res2);
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res = collide_Test<KDOP<S, 18> >(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, verbose);
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res2 = collide_front_list_Test<KDOP<S, 18> >(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, false, verbose);
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EXPECT_TRUE(res == res2);
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}
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for(std::size_t i = 0; i < transforms.size(); ++i)
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{
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res = collide_Test<KDOP<S, 24> >(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, verbose);
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res2 = collide_front_list_Test<KDOP<S, 24> >(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, false, verbose);
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EXPECT_TRUE(res == res2);
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res = collide_Test<KDOP<S, 24> >(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, verbose);
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res2 = collide_front_list_Test<KDOP<S, 24> >(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, false, verbose);
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EXPECT_TRUE(res == res2);
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res = collide_Test<KDOP<S, 24> >(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, verbose);
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res2 = collide_front_list_Test<KDOP<S, 24> >(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, false, verbose);
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EXPECT_TRUE(res == res2);
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}
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for(std::size_t i = 0; i < transforms.size(); ++i)
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{
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res = collide_Test<RSS<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, verbose);
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res2 = collide_front_list_Test_Oriented<RSS<S>, detail::MeshCollisionTraversalNodeRSS<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, verbose);
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EXPECT_TRUE(res == res2);
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res = collide_Test<RSS<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, verbose);
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res2 = collide_front_list_Test_Oriented<RSS<S>, detail::MeshCollisionTraversalNodeRSS<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, verbose);
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EXPECT_TRUE(res == res2);
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res = collide_Test<RSS<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, verbose);
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res2 = collide_front_list_Test_Oriented<RSS<S>, detail::MeshCollisionTraversalNodeRSS<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, verbose);
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EXPECT_TRUE(res == res2);
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}
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for(std::size_t i = 0; i < transforms.size(); ++i)
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{
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res = collide_Test<OBB<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, verbose);
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res2 = collide_front_list_Test_Oriented<OBB<S>, detail::MeshCollisionTraversalNodeOBB<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, verbose);
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EXPECT_TRUE(res == res2);
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res = collide_Test<OBB<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, verbose);
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res2 = collide_front_list_Test_Oriented<OBB<S>, detail::MeshCollisionTraversalNodeOBB<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, verbose);
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EXPECT_TRUE(res == res2);
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res = collide_Test<OBB<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, verbose);
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res2 = collide_front_list_Test_Oriented<OBB<S>, detail::MeshCollisionTraversalNodeOBB<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, verbose);
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EXPECT_TRUE(res == res2);
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}
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}
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GTEST_TEST(FCL_FRONT_LIST, front_list)
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{
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// test_front_list<float>();
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test_front_list<double>();
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}
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template<typename BV>
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bool collide_front_list_Test(const Transform3<typename BV::S>& tf1, const Transform3<typename BV::S>& tf2,
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const std::vector<Vector3<typename BV::S>>& vertices1, const std::vector<Triangle>& triangles1,
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const std::vector<Vector3<typename BV::S>>& vertices2, const std::vector<Triangle>& triangles2,
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detail::SplitMethodType split_method,
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bool refit_bottomup, bool verbose)
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{
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using S = typename BV::S;
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BVHModel<BV> m1;
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BVHModel<BV> m2;
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m1.bv_splitter.reset(new detail::BVSplitter<BV>(split_method));
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m2.bv_splitter.reset(new detail::BVSplitter<BV>(split_method));
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detail::BVHFrontList front_list;
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std::vector<Vector3<S>> vertices1_new(vertices1.size());
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for(std::size_t i = 0; i < vertices1_new.size(); ++i)
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{
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vertices1_new[i] = tf1 * vertices1[i];
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}
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m1.beginModel();
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m1.addSubModel(vertices1_new, triangles1);
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m1.endModel();
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m2.beginModel();
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m2.addSubModel(vertices2, triangles2);
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m2.endModel();
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Transform3<S> pose1 = Transform3<S>::Identity();
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Transform3<S> pose2 = Transform3<S>::Identity();
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CollisionResult<S> local_result;
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detail::MeshCollisionTraversalNode<BV> node;
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if(!detail::initialize<BV>(node, m1, pose1, m2, pose2,
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CollisionRequest<S>(std::numeric_limits<int>::max(), false), local_result))
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std::cout << "initialize error" << std::endl;
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node.enable_statistics = verbose;
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collide(&node, &front_list);
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if(verbose) std::cout << "front list size " << front_list.size() << std::endl;
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// update the mesh
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for(std::size_t i = 0; i < vertices1.size(); ++i)
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{
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vertices1_new[i] = tf2 * vertices1[i];
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}
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m1.beginReplaceModel();
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m1.replaceSubModel(vertices1_new);
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m1.endReplaceModel(true, refit_bottomup);
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m2.beginReplaceModel();
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m2.replaceSubModel(vertices2);
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m2.endReplaceModel(true, refit_bottomup);
|
||
|
|
|
||
|
|
local_result.clear();
|
||
|
|
collide(&node, &front_list);
|
||
|
|
|
||
|
|
if(local_result.numContacts() > 0)
|
||
|
|
return true;
|
||
|
|
else
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
template<typename BV, typename TraversalNode>
|
||
|
|
bool collide_front_list_Test_Oriented(const Transform3<typename BV::S>& tf1, const Transform3<typename BV::S>& tf2,
|
||
|
|
const std::vector<Vector3<typename BV::S>>& vertices1, const std::vector<Triangle>& triangles1,
|
||
|
|
const std::vector<Vector3<typename BV::S>>& vertices2, const std::vector<Triangle>& triangles2,
|
||
|
|
detail::SplitMethodType split_method, bool verbose)
|
||
|
|
{
|
||
|
|
using S = typename BV::S;
|
||
|
|
|
||
|
|
BVHModel<BV> m1;
|
||
|
|
BVHModel<BV> m2;
|
||
|
|
m1.bv_splitter.reset(new detail::BVSplitter<BV>(split_method));
|
||
|
|
m2.bv_splitter.reset(new detail::BVSplitter<BV>(split_method));
|
||
|
|
|
||
|
|
detail::BVHFrontList front_list;
|
||
|
|
|
||
|
|
m1.beginModel();
|
||
|
|
m1.addSubModel(vertices1, triangles1);
|
||
|
|
m1.endModel();
|
||
|
|
|
||
|
|
m2.beginModel();
|
||
|
|
m2.addSubModel(vertices2, triangles2);
|
||
|
|
m2.endModel();
|
||
|
|
|
||
|
|
Transform3<S> pose1(tf1);
|
||
|
|
Transform3<S> pose2 = Transform3<S>::Identity();
|
||
|
|
|
||
|
|
CollisionResult<S> local_result;
|
||
|
|
TraversalNode node;
|
||
|
|
|
||
|
|
if(!initialize(node, (const BVHModel<BV>&)m1, pose1, (const BVHModel<BV>&)m2, pose2,
|
||
|
|
CollisionRequest<S>(std::numeric_limits<int>::max(), false), local_result))
|
||
|
|
std::cout << "initialize error" << std::endl;
|
||
|
|
|
||
|
|
node.enable_statistics = verbose;
|
||
|
|
|
||
|
|
collide(&node, &front_list);
|
||
|
|
|
||
|
|
if(verbose) std::cout << "front list size " << front_list.size() << std::endl;
|
||
|
|
|
||
|
|
|
||
|
|
// update the mesh
|
||
|
|
pose1 = tf2;
|
||
|
|
if(!initialize(node, (const BVHModel<BV>&)m1, pose1, (const BVHModel<BV>&)m2, pose2, CollisionRequest<S>(), local_result))
|
||
|
|
std::cout << "initialize error" << std::endl;
|
||
|
|
|
||
|
|
local_result.clear();
|
||
|
|
collide(&node, &front_list);
|
||
|
|
|
||
|
|
if(local_result.numContacts() > 0)
|
||
|
|
return true;
|
||
|
|
else
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
template<typename BV>
|
||
|
|
bool collide_Test(const Transform3<typename BV::S>& tf,
|
||
|
|
const std::vector<Vector3<typename BV::S>>& vertices1, const std::vector<Triangle>& triangles1,
|
||
|
|
const std::vector<Vector3<typename BV::S>>& vertices2, const std::vector<Triangle>& triangles2, detail::SplitMethodType split_method, bool verbose)
|
||
|
|
{
|
||
|
|
using S = typename BV::S;
|
||
|
|
|
||
|
|
BVHModel<BV> m1;
|
||
|
|
BVHModel<BV> m2;
|
||
|
|
m1.bv_splitter.reset(new detail::BVSplitter<BV>(split_method));
|
||
|
|
m2.bv_splitter.reset(new detail::BVSplitter<BV>(split_method));
|
||
|
|
|
||
|
|
m1.beginModel();
|
||
|
|
m1.addSubModel(vertices1, triangles1);
|
||
|
|
m1.endModel();
|
||
|
|
|
||
|
|
m2.beginModel();
|
||
|
|
m2.addSubModel(vertices2, triangles2);
|
||
|
|
m2.endModel();
|
||
|
|
|
||
|
|
Transform3<S> pose1(tf);
|
||
|
|
Transform3<S> pose2 = Transform3<S>::Identity();
|
||
|
|
|
||
|
|
CollisionResult<S> local_result;
|
||
|
|
detail::MeshCollisionTraversalNode<BV> node;
|
||
|
|
|
||
|
|
if(!detail::initialize<BV>(node, m1, pose1, m2, pose2,
|
||
|
|
CollisionRequest<S>(std::numeric_limits<int>::max(), false), local_result))
|
||
|
|
std::cout << "initialize error" << std::endl;
|
||
|
|
|
||
|
|
node.enable_statistics = verbose;
|
||
|
|
|
||
|
|
collide(&node);
|
||
|
|
|
||
|
|
|
||
|
|
if(local_result.numContacts() > 0)
|
||
|
|
return true;
|
||
|
|
else
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
//==============================================================================
|
||
|
|
int main(int argc, char* argv[])
|
||
|
|
{
|
||
|
|
::testing::InitGoogleTest(&argc, argv);
|
||
|
|
return RUN_ALL_TESTS();
|
||
|
|
}
|