191 lines
7.2 KiB
C++
191 lines
7.2 KiB
C++
/*
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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 Karsten Knese <Karsten.Knese@googlemail.com> */
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#include <gtest/gtest.h>
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#include "fcl/math/constants.h"
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#include "fcl/narrowphase/collision.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 <cmath>
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using namespace fcl;
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//==============================================================================
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template <typename S>
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void test_distance_capsulecapsule_origin()
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{
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detail::GJKSolver_indep<S> solver;
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Capsule<S> s1(5, 10);
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Capsule<S> s2(5, 10);
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Vector3<S> closest_p1, closest_p2;
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Transform3<S> transform = Transform3<S>::Identity();
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Transform3<S> transform2 = Transform3<S>::Identity();
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transform2.translation() = Vector3<S>(20.1, 0,0);
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bool res;
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S dist;
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res = solver.template shapeDistance<Capsule<S>, Capsule<S>>(s1, transform, s2, transform2, &dist, &closest_p1, &closest_p2);
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std::cerr << "applied transformation of two caps: " << transform.translation() << " & " << transform2.translation() << std::endl;
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std::cerr << "computed points in caps to caps" << closest_p1 << " & " << closest_p2 << "with dist: " << dist << std::endl;
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EXPECT_TRUE(std::abs(dist - 10.1) < 0.001);
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EXPECT_TRUE(res);
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}
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//==============================================================================
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template <typename S>
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void test_distance_capsulecapsule_transformXY()
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{
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detail::GJKSolver_indep<S> solver;
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Capsule<S> s1(5, 10);
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Capsule<S> s2(5, 10);
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Vector3<S> closest_p1, closest_p2;
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Transform3<S> transform = Transform3<S>::Identity();
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Transform3<S> transform2 = Transform3<S>::Identity();
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transform2.translation() = Vector3<S>(20, 20,0);
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bool res;
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S dist;
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res = solver.template shapeDistance<Capsule<S>, Capsule<S>>(s1, transform, s2, transform2, &dist, &closest_p1, &closest_p2);
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std::cerr << "applied transformation of two caps: " << transform.translation() << " & " << transform2.translation() << std::endl;
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std::cerr << "computed points in caps to caps" << closest_p1 << " & " << closest_p2 << "with dist: " << dist << std::endl;
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S expected = std::sqrt(S(800)) - 10;
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EXPECT_TRUE(std::abs(expected-dist) < 0.01);
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EXPECT_TRUE(res);
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}
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//==============================================================================
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template <typename S>
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void test_distance_capsulecapsule_transformZ()
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{
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detail::GJKSolver_indep<S> solver;
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Capsule<S> s1(5, 10);
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Capsule<S> s2(5, 10);
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Vector3<S> closest_p1, closest_p2;
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Transform3<S> transform = Transform3<S>::Identity();
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Transform3<S> transform2 = Transform3<S>::Identity();
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transform2.translation() = Vector3<S>(0,0,20.1);
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bool res;
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S dist;
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res = solver.template shapeDistance<Capsule<S>, Capsule<S>>(s1, transform, s2, transform2, &dist, &closest_p1, &closest_p2);
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std::cerr << "applied transformation of two caps: " << transform.translation() << " & " << transform2.translation() << std::endl;
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std::cerr << "computed points in caps to caps" << closest_p1 << " & " << closest_p2 << "with dist: " << dist << std::endl;
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EXPECT_TRUE(std::abs(dist - 0.1) < 0.001);
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EXPECT_TRUE(res);
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}
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//==============================================================================
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template <typename S>
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void test_distance_capsulecapsule_transformZ2()
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{
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const S Pi = constants<S>::pi();
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detail::GJKSolver_indep<S> solver;
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Capsule<S> s1(5, 10);
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Capsule<S> s2(5, 10);
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Vector3<S> closest_p1, closest_p2;
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Transform3<S> transform = Transform3<S>::Identity();
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Transform3<S> transform2 = Transform3<S>::Identity();
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transform2.translation() = Vector3<S>(0,0,25.1);
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Matrix3<S> rot2(
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AngleAxis<S>(0, Vector3<S>::UnitX())
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* AngleAxis<S>(Pi/2, Vector3<S>::UnitY())
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* AngleAxis<S>(0, Vector3<S>::UnitZ()));
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transform2.linear() = rot2;
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bool res;
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S dist;
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res = solver.template shapeDistance<Capsule<S>, Capsule<S>>(s1, transform, s2, transform2, &dist, &closest_p1, &closest_p2);
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std::cerr << "applied transformation of two caps: " << transform.translation() << " & " << transform2.translation() << std::endl;
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std::cerr << "applied transformation of two caps: " << transform.linear() << " & " << transform2.linear() << std::endl;
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std::cerr << "computed points in caps to caps" << closest_p1 << " & " << closest_p2 << "with dist: " << dist << std::endl;
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EXPECT_TRUE(std::abs(dist - 5.1) < 0.001);
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EXPECT_TRUE(res);
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}
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//==============================================================================
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GTEST_TEST(FCL_CAPSULE_CAPSULE, distance_capsulecapsule_origin)
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{
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// test_distance_capsulecapsule_origin<float>();
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test_distance_capsulecapsule_origin<double>();
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}
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//==============================================================================
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GTEST_TEST(FCL_CAPSULE_CAPSULE, distance_capsulecapsule_transformXY)
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{
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// test_distance_capsulecapsule_transformXY<float>();
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test_distance_capsulecapsule_transformXY<double>();
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}
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//==============================================================================
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GTEST_TEST(FCL_CAPSULE_CAPSULE, distance_capsulecapsule_transformZ)
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{
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// test_distance_capsulecapsule_transformZ<float>();
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test_distance_capsulecapsule_transformZ<double>();
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}
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//==============================================================================
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GTEST_TEST(FCL_CAPSULE_CAPSULE, distance_capsulecapsule_transformZ2)
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{
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// test_distance_capsulecapsule_transformZ2<float>();
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test_distance_capsulecapsule_transformZ2<double>();
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}
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//==============================================================================
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int main(int argc, char* argv[])
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{
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::testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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}
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