138 lines
4.4 KiB
C++
138 lines
4.4 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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* Copyright (c) 2016, Toyota Research Institute
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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 "fcl/broadphase/detail/morton.h"
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#include "fcl/config.h"
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#include "fcl/math/bv/AABB.h"
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using namespace fcl;
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template <typename S>
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void test_vec_test_basic_vector()
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{
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Vector3<S> v1(1.0, 2.0, 3.0);
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EXPECT_TRUE(v1[0] == (S)1.0);
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EXPECT_TRUE(v1[1] == (S)2.0);
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EXPECT_TRUE(v1[2] == (S)3.0);
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Vector3<S> v2 = v1;
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Vector3<S> v3(3.3, 4.3, 5.3);
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v1 += v3;
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EXPECT_TRUE(v1.isApprox(v2 + v3));
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v1 -= v3;
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EXPECT_TRUE(v1.isApprox(v2));
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v1 -= v3;
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EXPECT_TRUE(v1.isApprox(v2 - v3));
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v1 += v3;
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v1.array() *= v3.array();
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EXPECT_TRUE(v1.array().isApprox(v2.array() * v3.array()));
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v1.array() /= v3.array();
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EXPECT_TRUE(v1.isApprox(v2));
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v1.array() /= v3.array();
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EXPECT_TRUE(v1.array().isApprox(v2.array() / v3.array()));
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v1.array() *= v3.array();
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v1 *= 2.0;
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EXPECT_TRUE(v1.isApprox(v2 * 2.0));
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v1 /= 2.0;
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EXPECT_TRUE(v1.isApprox(v2));
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v1 /= 2.0;
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EXPECT_TRUE(v1.isApprox(v2 / 2.0));
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v1 *= 2.0;
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v1.array() += 2.0;
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EXPECT_TRUE(v1.array().isApprox(v2.array() + 2.0));
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v1.array() -= 2.0;
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EXPECT_TRUE(v1.isApprox(v2));
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v1.array() -= 2.0;
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EXPECT_TRUE(v1.array().isApprox(v2.array() - 2.0));
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v1.array() += 2.0;
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EXPECT_TRUE((-Vector3<S>(1.0, 2.0, 3.0)) == (Vector3<S>(-1.0, -2.0, -3.0)));
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v1 = Vector3<S>(1.0, 2.0, 3.0);
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v2 = Vector3<S>(3.0, 4.0, 5.0);
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EXPECT_TRUE((v1.cross(v2)).isApprox(Vector3<S>(-2.0, 4.0, -2.0)));
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EXPECT_TRUE(std::abs(v1.dot(v2) - 26) < 1e-5);
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v1 = Vector3<S>(3.0, 4.0, 5.0);
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EXPECT_TRUE(std::abs(v1.squaredNorm() - 50.0) < 1e-5);
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EXPECT_TRUE(std::abs(v1.norm() - sqrt(50.0)) < 1e-5);
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EXPECT_TRUE(v1.normalized().isApprox(v1 / v1.norm()));
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v1 = Vector3<S>(1.0, 2.0, 3.0);
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v2 = Vector3<S>(3.0, 4.0, 5.0);
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EXPECT_TRUE((v1.cross(v2)).isApprox(Vector3<S>(-2.0, 4.0, -2.0)));
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EXPECT_TRUE(v1.dot(v2) == 26);
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}
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GTEST_TEST(FCL_MATH, vec_test_basic_vector3)
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{
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// test_vec_test_basic_vector<float>();
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test_vec_test_basic_vector<double>();
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}
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template <typename S>
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void test_morton()
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{
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AABB<S> bbox(Vector3<S>(0, 0, 0), Vector3<S>(1000, 1000, 1000));
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detail::morton_functor<S, std::bitset<30>> F1(bbox);
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detail::morton_functor<S, std::bitset<60>> F2(bbox);
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detail::morton_functor<S, uint64> F3(bbox); // 60 bits
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detail::morton_functor<S, uint32> F4(bbox); // 30 bits
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Vector3<S> p(254, 873, 674);
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EXPECT_TRUE(F1(p).to_ulong() == F4(p));
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EXPECT_TRUE(F2(p).to_ullong() == F3(p));
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}
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GTEST_TEST(FCL_MATH, morton)
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{
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// test_morton<float>();
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test_morton<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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