454 lines
14 KiB
C++
454 lines
14 KiB
C++
#include <iostream>
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#include "catch.hpp"
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#include "rbdlsim.h"
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using namespace std;
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using namespace RBDLSim;
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TEST_CASE("Simple Box vs Sphere Collision", "[Collision]") {
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SimShape box;
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box.mType = SimShape::Box;
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box.pos.set(0.0, 0.5, 0.);
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box.scale.set(1., 1., 1.);
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box.orientation.set(0., 0., 0., 1.);
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SimShape sphere;
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sphere.mType = SimShape::Sphere;
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sphere.scale.set(0.5, 0.5, 0.5);
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sphere.orientation.set(0., 0., 0., 1.);
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bool cresult = false;
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CollisionInfo cinfo;
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SECTION("Box and Sphere Touching") {
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sphere.pos.set(0., 1.0, 0.);
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cresult = CheckPenetration(box, sphere, cinfo);
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REQUIRE(cresult == true);
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}
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SECTION("Box and Sphere Intersecting") {
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sphere.pos.set(0., 0.9, 0.);
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cresult = CheckPenetration(box, sphere, cinfo);
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REQUIRE(cresult == true);
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}
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SECTION("Box and Sphere Separated") {
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sphere.pos.set(0., 1.5001, 0.);
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cresult = CheckPenetration(box, sphere, cinfo);
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REQUIRE(cresult == false);
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}
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}
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TEST_CASE ("AABB vs Plane", "[Collision]") {
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SimShape plane;
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plane.mType = SimShape::Plane;
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plane.pos = Vector3d(0., 0., 0.);
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plane.orientation = Quaternion(0., 0., 0., 1.);
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plane.scale = Vector3d(1., 1., 1.);
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SimShape box;
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box.mType = SimShape::Box;
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box.pos.set(0.0, 0.0, 0.);
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box.scale.set(1., 1., 1.);
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box.orientation.set(0., 0., 0., 1.);
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bool cresult = false;
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CollisionInfo cinfo;
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SECTION("Unit AABB above Plane") {
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plane.pos.set(0.0, -0.6, 0.);
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cresult = CheckPenetration(box, plane, cinfo);
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REQUIRE(cresult == false);
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}
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SECTION("Unit AABB below Plane") {
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plane.pos.set(0.0, 0.6, 0.);
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cresult = CheckPenetration(box, plane, cinfo);
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REQUIRE(cresult == true);
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}
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SECTION("Unit AABB on Plane") {
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plane.pos.set(0.0, 0.5, 0.);
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cresult = CheckPenetration(box, plane, cinfo);
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REQUIRE(cresult == true);
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}
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SECTION("Unit AABB Edge Contact Rotated Plane") {
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plane.pos.set(10., -0.5, -0.5);
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plane.orientation = Quaternion::fromAxisAngle(Vector3d (1.0, 0., 0.), M_PI * 0.25);
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cresult = CheckPenetrationBoxVsPlane (box, plane, cinfo);
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REQUIRE(cresult == true);
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REQUIRE((cinfo.posA - Vector3d(0, -0.5, -0.5)).norm() < 1.0e-12);
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REQUIRE((cinfo.dir - Vector3d(0, -sqrt(2.) * 0.5, -sqrt(2.) * 0.5)).norm() < 1.0e-12);
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}
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SECTION("Unit AABB Intersecting Contact Rotated Plane") {
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plane.pos.set(10., -0.4, -0.4);
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plane.orientation = Quaternion::fromAxisAngle(Vector3d (1.0, 0., 0.), M_PI * 0.25);
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cresult = CheckPenetrationBoxVsPlane(box, plane, cinfo);
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REQUIRE(cresult == true);
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REQUIRE((cinfo.posA - Vector3d(0, -0.4, -0.4)).norm() < 1.0e-12);
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}
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SECTION("Rotated Unit Box Touching Plane") {
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box.orientation = Quaternion::fromAxisAngle(Vector3d (1.0, 0.0, 0.0), M_PI * 0.25);
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plane.pos.set(0., -sqrt(2.) * 0.5, -sqrt(2.) * 0.5);
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plane.orientation = Quaternion(0., 0., 0., 1.);
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cresult = CheckPenetrationBoxVsPlane(box, plane, cinfo);
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REQUIRE(cresult == true);
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REQUIRE(fabs(cinfo.depth) <= cCollisionEps);
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REQUIRE((cinfo.posA - Vector3d(0, -sqrt(2.) * 0.5, 0.)).norm() < 1.0e-12);
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REQUIRE((cinfo.posB - Vector3d(0, -sqrt(2.) * 0.5, 0.)).norm() < 1.0e-12);
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REQUIRE((cinfo.dir - Vector3d(0, -1., 0.)).norm() < 1.0e-12);
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}
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}
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TEST_CASE("CheckCollisionSphereVsPlane", "[Collision]") {
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SimShape plane;
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plane.mType = SimShape::Plane;
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plane.pos = Vector3d(0., 0., 0.);
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plane.orientation = Quaternion(0., 0., 0., 1.);
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plane.scale = Vector3d(1., 1., 1.);
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SimShape sphere;
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sphere.mType = SimShape::Sphere;
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sphere.scale = Vector3d(1.5, 1.5, 1.5);
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sphere.orientation = Quaternion(0., 0., 0., 1.);
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CollisionInfo cinfo;
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bool cresult = false;
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SECTION("Sphere above plane") {
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sphere.pos = Vector3d(0., 2.0, 0.);
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cresult = CheckPenetrationSphereVsPlane(sphere, plane, cinfo);
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REQUIRE(cresult == false);
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}
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SECTION("Sphere touching") {
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sphere.pos = Vector3d(0., 0.75, 0.);
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cresult = CheckPenetrationSphereVsPlane(sphere, plane, cinfo);
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REQUIRE((cinfo.posA - Vector3d(0., 0.0, 0.)).norm() < 1.0e-12);
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REQUIRE((cinfo.posB - Vector3d(0., 0.0, 0.)).norm() < 1.0e-12);
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REQUIRE(cresult == true);
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}
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SECTION("Sphere penetration") {
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sphere.pos = Vector3d(1., -1., 0.);
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cresult = CheckPenetrationSphereVsPlane(sphere, plane, cinfo);
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REQUIRE((cinfo.posA - Vector3d(1., -1.75, 0.)).norm() < 1.0e-12);
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REQUIRE((cinfo.posB - Vector3d(1., 0.0, 0.)).norm() < 1.0e-12);
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REQUIRE(cresult == true);
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}
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SECTION("Sphere touching shifted") {
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sphere.pos = Vector3d(3., 0.75, 0.);
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cresult = CheckPenetrationSphereVsPlane(sphere, plane, cinfo);
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REQUIRE((cinfo.posA - Vector3d(3., 0.0, 0.)).norm() < 1.0e-12);
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REQUIRE((cinfo.posB - Vector3d(3., 0.0, 0.)).norm() < 1.0e-12);
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REQUIRE(cresult == true);
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}
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}
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TEST_CASE("CheckCollisionSphereVsSphere", "[Collision]") {
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SimShape sphere_a;
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sphere_a.mType = SimShape::Sphere;
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sphere_a.scale = Vector3d(1.4, 1.4, 1.4);
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sphere_a.orientation = Quaternion(0., 0., 0., 1.);
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SimShape sphere_b;
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sphere_b.mType = SimShape::Sphere;
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sphere_b.scale = Vector3d(1.6, 1.6, 1.6);
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sphere_b.orientation = Quaternion(0., 0., 0., 1.);
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CollisionInfo cinfo;
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bool cresult = false;
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SECTION("Spheres non-overlapping") {
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sphere_a.pos = Vector3d(0., 4.0, 0.);
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sphere_b.pos = Vector3d(0., 0.0, 0.);
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cresult = CheckPenetrationSphereVsSphere(sphere_a, sphere_b, cinfo);
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REQUIRE(cresult == false);
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}
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SECTION("Spheres touching") {
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sphere_a.pos = Vector3d(0., 1.5, 0.);
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sphere_b.pos = Vector3d(0., 0.0, 0.);
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cresult = CheckPenetrationSphereVsSphere(sphere_a, sphere_b, cinfo);
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REQUIRE(cresult == true);
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}
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SECTION("Spheres overlapping") {
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sphere_a.pos = Vector3d(0., 1.0, 0.);
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sphere_b.pos = Vector3d(0., 0.0, 0.);
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cresult = CheckPenetrationSphereVsSphere(sphere_a, sphere_b, cinfo);
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REQUIRE(cresult == true);
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double err_pos_A = (cinfo.posA - Vector3d(0., 0.3, 0.)).norm();
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REQUIRE_THAT(
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(cinfo.dir - Vector3d(0., -1., 0.)).norm(),
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Catch::WithinRel(0., 1.0e-12));
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REQUIRE((cinfo.posA - Vector3d(0., 0.3, 0.)).norm() < 1.0e-12);
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REQUIRE((cinfo.posB - Vector3d(0., 0.8, 0.)).norm() < 1.0e-12);
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REQUIRE_THAT(cinfo.depth, Catch::WithinRel(0.5, 1.0e-12));
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}
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SECTION("Spheres overlapping reversed") {
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sphere_a.pos = Vector3d(0., 1.0, 0.);
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sphere_b.pos = Vector3d(0., 0.0, 0.);
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cresult = CheckPenetrationSphereVsSphere(sphere_b, sphere_a, cinfo);
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REQUIRE(cresult == true);
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REQUIRE_THAT(
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(cinfo.dir - Vector3d(0., 1., 0.)).norm(),
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Catch::WithinRel(0., 1.0e-12));
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REQUIRE((cinfo.posA - Vector3d(0., 0.8, 0.)).norm() < 1.0e-12);
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REQUIRE((cinfo.posB - Vector3d(0., 0.3, 0.)).norm() < 1.0e-12);
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REQUIRE_THAT(cinfo.depth, Catch::WithinRel(0.5, 1.0e-12));
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}
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}
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TEST_CASE("CalcConstraintImpulse", "[Collision]") {
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SimBody ground_body;
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SimShape ground_shape;
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ground_shape.mType = SimShape::Plane;
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ground_shape.pos = Vector3d::Zero();
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ground_shape.orientation = Quaternion(0., 0., 0., 1.);
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ground_shape.restitution = 1.0;
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ground_body.mCollisionShapes.push_back(
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SimBody::BodyCollisionInfo(-1, ground_shape));
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ground_body.mIsStatic = true;
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double sphere_a_mass = 1.5;
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double sphere_b_mass = 1.5;
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SimBody sphere_a_body = CreateSphereBody(
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sphere_a_mass,
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1.0,
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0.,
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Vector3d(0., 0.5, 0.),
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Vector3d(0., -1., 0.));
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SimBody sphere_b_body = CreateSphereBody(
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sphere_b_mass,
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1.0,
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0.,
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Vector3d(0., 0.5, 0.),
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Vector3d(0., -1., 0.));
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CollisionInfo cinfo;
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SECTION("SphereOnGroundButColliding") {
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sphere_a_body.q[1] = 0.5;
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sphere_a_body.qdot[1] = -1.23;
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sphere_a_body.updateCollisionShapes();
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std::vector<CollisionInfo> collisions;
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CalcCollisions(ground_body, sphere_a_body, collisions);
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REQUIRE(collisions.size() == 1);
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cinfo = collisions[0];
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bool cresult = CheckPenetration(
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ground_shape,
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sphere_a_body.mCollisionShapes[0].second,
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cinfo);
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REQUIRE(cresult == true);
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REQUIRE((cinfo.dir - Vector3d(0., 1., 0.)).norm() < 1.0e-12);
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PrepareConstraintImpulse(0.001, &ground_body, &sphere_a_body, cinfo);
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SECTION("EnsureImpulseDirection") {
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CalcConstraintImpulse(&ground_body, &sphere_a_body, cinfo);
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REQUIRE(fabs(cinfo.deltaImpulse) > 1.0e-3);
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REQUIRE(cinfo.deltaImpulse > -1.0e-12);
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}
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SECTION("CheckForceAndJacobianDirections") {
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REQUIRE(cinfo.jacB * sphere_a_body.qdot == -1.23);
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cinfo.deltaImpulse = 1.0;
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VectorNd qdot_old = sphere_a_body.qdot;
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ApplyConstraintImpulse(&ground_body, &sphere_a_body, cinfo);
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REQUIRE(sphere_a_body.qdot[1] > qdot_old[1]);
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}
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SECTION("CalculateImpulse") {
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CalcConstraintImpulse(&ground_body, &sphere_a_body, cinfo);
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double reference_impulse = -sphere_a_mass * sphere_a_body.qdot[1];
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REQUIRE(fabs(cinfo.accumImpulse - reference_impulse) < 1.0e-12);
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ApplyConstraintImpulse(&ground_body, &sphere_a_body, cinfo);
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REQUIRE(sphere_a_body.qdot[1] > -1.0e-12);
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}
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SECTION("ImpulseMustNotPull") {
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sphere_a_body.qdot[1] = 1.23;
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CalcConstraintImpulse(&ground_body, &sphere_a_body, cinfo);
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REQUIRE(fabs(cinfo.accumImpulse) < 1.0e-12);
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}
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SECTION("CheckBounce") {
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cinfo.effectiveRestitution = 1.0;
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PrepareConstraintImpulse(0.001, &ground_body, &sphere_a_body, cinfo);
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VectorNd old_vel = sphere_a_body.qdot;
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CalcConstraintImpulse(&ground_body, &sphere_a_body, cinfo);
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ApplyConstraintImpulse(&ground_body, &sphere_a_body, cinfo);
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REQUIRE(fabs(sphere_a_body.qdot[1] + old_vel[1]) < 1.0e-12);
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}
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}
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SECTION("SphereOnGroundButCollidingReverseBodyOrder") {
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sphere_a_body.q[1] = 0.5;
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sphere_a_body.qdot[1] = -1.23;
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sphere_a_body.updateCollisionShapes();
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std::vector<CollisionInfo> collisions;
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CalcCollisions(sphere_a_body, ground_body, collisions);
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REQUIRE(collisions.size() == 1);
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cinfo = collisions[0];
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bool cresult = CheckPenetration(
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sphere_a_body.mCollisionShapes[0].second,
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ground_shape,
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cinfo);
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REQUIRE(cresult == true);
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REQUIRE((cinfo.dir - Vector3d(0., -1., 0.)).norm() < 1.0e-12);
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PrepareConstraintImpulse(0.001, &sphere_a_body, &ground_body, cinfo);
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SECTION("EnsureImpulseDirection") {
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CalcConstraintImpulse(&sphere_a_body, &ground_body, cinfo);
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REQUIRE(fabs(cinfo.deltaImpulse) > 1.0e-3);
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REQUIRE(cinfo.deltaImpulse > -1.0e-12);
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}
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SECTION("CheckForceAndJacobianDirections") {
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REQUIRE(cinfo.jacA * sphere_a_body.qdot == 1.23);
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cinfo.deltaImpulse = 1.0;
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VectorNd qdot_old = sphere_a_body.qdot;
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ApplyConstraintImpulse(&sphere_a_body, &ground_body, cinfo);
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REQUIRE(sphere_a_body.qdot[1] > qdot_old[1]);
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}
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SECTION("CalculateImpulse") {
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CalcConstraintImpulse(&sphere_a_body, &ground_body, cinfo);
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double reference_impulse = -sphere_a_mass * sphere_a_body.qdot[1];
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REQUIRE(fabs(cinfo.accumImpulse - reference_impulse) < 1.0e-12);
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ApplyConstraintImpulse(&sphere_a_body, &ground_body, cinfo);
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REQUIRE(sphere_a_body.qdot[1] > -1.0e-12);
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}
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}
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SECTION("SphereVsSphereCollision") {
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SimBody sphere_b_body = CreateSphereBody(
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sphere_b_mass,
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1.0,
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0.,
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Vector3d(0., -0.5, 0.),
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Vector3d(0., 1., 0.));
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sphere_a_body.q[1] = 0.5;
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sphere_a_body.qdot[1] = -1.23;
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sphere_a_body.updateCollisionShapes();
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sphere_b_body.q[1] = -0.5;
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sphere_b_body.qdot[1] = 1.23;
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sphere_b_body.updateCollisionShapes();
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std::vector<CollisionInfo> collisions;
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CalcCollisions(sphere_a_body, sphere_b_body, collisions);
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REQUIRE(collisions.size() == 1);
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cinfo = collisions[0];
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REQUIRE((cinfo.dir - Vector3d(0., -1., 0.)).norm() < 1.0e-12);
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PrepareConstraintImpulse(0.001, &sphere_a_body, &sphere_b_body, cinfo);
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SECTION("CheckForceAndJacobianDirections") {
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REQUIRE(cinfo.jacA * sphere_a_body.qdot == 1.23);
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cinfo.deltaImpulse = -1.0;
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VectorNd qdot_a_old = sphere_a_body.qdot;
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VectorNd qdot_b_old = sphere_b_body.qdot;
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ApplyConstraintImpulse(&sphere_a_body, &sphere_b_body, cinfo);
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REQUIRE(sphere_a_body.qdot[1] < qdot_a_old[1]);
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REQUIRE(sphere_b_body.qdot[1] > qdot_b_old[1]);
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}
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SECTION("CalculateImpulse") {
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CalcConstraintImpulse(&sphere_a_body, &sphere_b_body, cinfo);
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ApplyConstraintImpulse(&sphere_a_body, &sphere_b_body, cinfo);
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REQUIRE(sphere_a_body.qdot[1] > -0.1);
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REQUIRE(sphere_b_body.qdot[1] < 0.1);
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}
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SECTION("CheckBounce") {
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cinfo.effectiveRestitution = 1.0;
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PrepareConstraintImpulse(0.001, &sphere_a_body, &sphere_b_body, cinfo);
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VectorNd old_vel_a = sphere_a_body.qdot;
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VectorNd old_vel_b = sphere_b_body.qdot;
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CalcConstraintImpulse(&sphere_a_body, &sphere_b_body, cinfo);
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ApplyConstraintImpulse(&sphere_a_body, &sphere_b_body, cinfo);
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REQUIRE(fabs(sphere_a_body.qdot[1] + old_vel_a[1]) < 1.0e-12);
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REQUIRE(fabs(sphere_b_body.qdot[1] + old_vel_b[1]) < 1.0e-12);
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}
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}
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SECTION("SphereVsSphereCollisionReversed") {
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SimBody sphere_b_body = CreateSphereBody(
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sphere_b_mass,
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1.0,
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0.,
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Vector3d(0., -0.5, 0.),
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Vector3d(0., 1., 0.));
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sphere_a_body.q[1] = -0.5;
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sphere_a_body.qdot[1] = 1.23;
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sphere_a_body.updateCollisionShapes();
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sphere_b_body.q[1] = 0.5;
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sphere_b_body.qdot[1] = -1.23;
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sphere_b_body.updateCollisionShapes();
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std::vector<CollisionInfo> collisions;
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CalcCollisions(sphere_a_body, sphere_b_body, collisions);
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REQUIRE(collisions.size() == 1);
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cinfo = collisions[0];
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REQUIRE((cinfo.dir - Vector3d(0., 1., 0.)).norm() < 1.0e-12);
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|
|
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PrepareConstraintImpulse(0.001, &sphere_a_body, &sphere_b_body, cinfo);
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|
|
|
SECTION("CheckForceAndJacobianDirections") {
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REQUIRE(cinfo.jacA * sphere_a_body.qdot == 1.23);
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|
cinfo.deltaImpulse = -1.0;
|
|
VectorNd qdot_a_old = sphere_a_body.qdot;
|
|
VectorNd qdot_b_old = sphere_b_body.qdot;
|
|
ApplyConstraintImpulse(&sphere_a_body, &sphere_b_body, cinfo);
|
|
REQUIRE(sphere_a_body.qdot[1] > qdot_a_old[1]);
|
|
REQUIRE(sphere_b_body.qdot[1] < qdot_b_old[1]);
|
|
}
|
|
|
|
SECTION("CalculateImpulse") {
|
|
CalcConstraintImpulse(&sphere_a_body, &sphere_b_body, cinfo);
|
|
ApplyConstraintImpulse(&sphere_a_body, &sphere_b_body, cinfo);
|
|
REQUIRE(sphere_a_body.qdot[1] < 0.1);
|
|
REQUIRE(sphere_b_body.qdot[1] > -0.1);
|
|
}
|
|
}
|
|
}
|