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|---|---|---|---|
| 1 | #define BOOST_TEST_MODULE COAL_BOX_BOX_COLLISION | ||
| 2 | #include <boost/test/included/unit_test.hpp> | ||
| 3 | |||
| 4 | #include <Eigen/Geometry> | ||
| 5 | #include "coal/narrowphase/narrowphase.h" | ||
| 6 | #include "coal/shape/geometric_shapes.h" | ||
| 7 | #include "coal/internal/tools.h" | ||
| 8 | |||
| 9 | #include "utility.h" | ||
| 10 | |||
| 11 | using coal::Box; | ||
| 12 | using coal::collide; | ||
| 13 | using coal::CollisionRequest; | ||
| 14 | using coal::CollisionResult; | ||
| 15 | using coal::ComputeCollision; | ||
| 16 | using coal::Scalar; | ||
| 17 | using coal::Transform3s; | ||
| 18 | using coal::Vec3s; | ||
| 19 | |||
| 20 |
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4 | BOOST_AUTO_TEST_CASE(box_box_collision) { |
| 21 | // Define boxes | ||
| 22 |
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2 | Box shape1(1, 1, 1); |
| 23 |
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2 | Box shape2(1, 1, 1); |
| 24 | |||
| 25 | // Define transforms | ||
| 26 |
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2 | Transform3s T1 = Transform3s::Identity(); |
| 27 |
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2 | Transform3s T2 = Transform3s::Identity(); |
| 28 | |||
| 29 | // Compute collision | ||
| 30 |
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2 | CollisionRequest req; |
| 31 | 2 | req.enable_cached_gjk_guess = true; | |
| 32 | 2 | req.distance_upper_bound = Scalar(1e-6); | |
| 33 |
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2 | CollisionResult res; |
| 34 |
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2 | ComputeCollision collide_functor(&shape1, &shape2); |
| 35 | |||
| 36 |
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2 | T1.setTranslation(Vec3s(0, 0, 0)); |
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2 | res.clear(); |
| 38 |
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2 | BOOST_CHECK(collide(&shape1, T1, &shape2, T2, req, res) == true); |
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2 | res.clear(); |
| 40 |
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2 | BOOST_CHECK(collide_functor(T1, T2, req, res) == true); |
| 41 | |||
| 42 |
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2 | T1.setTranslation(Vec3s(2, 0, 0)); |
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2 | res.clear(); |
| 44 |
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2 | BOOST_CHECK(collide(&shape1, T1, &shape2, T2, req, res) == false); |
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2 | res.clear(); |
| 46 |
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2 | BOOST_CHECK(collide_functor(T1, T2, req, res) == false); |
| 47 | 2 | } | |
| 48 |