GCC Code Coverage Report

Directory: ./
File: test/broadphase_collision_1.cpp
Date: 2025-04-01 09:23:31
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Branches: 590 1198 49.2%
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1 /*
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2011-2014, Willow Garage, Inc.
5 * Copyright (c) 2014-2016, Open Source Robotics Foundation
6 * Copyright (c) 2022, INRIA
7 * All rights reserved.
8 *
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10 * modification, are permitted provided that the following conditions
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14 * notice, this list of conditions and the following disclaimer.
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20 * contributors may be used to endorse or promote products derived
21 * from this software without specific prior written permission.
22 *
23 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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26 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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34 * POSSIBILITY OF SUCH DAMAGE.
35 */
36 /** @author Jia Pan */
37
38 #define BOOST_TEST_MODULE COAL_BROADPHASE_COLLISION_1
39 #include <boost/test/included/unit_test.hpp>
40
41 #include "coal/broadphase/broadphase_bruteforce.h"
42 #include "coal/broadphase/broadphase_spatialhash.h"
43 #include "coal/broadphase/broadphase_SaP.h"
44 #include "coal/broadphase/broadphase_SSaP.h"
45 #include "coal/broadphase/broadphase_interval_tree.h"
46 #include "coal/broadphase/broadphase_dynamic_AABB_tree.h"
47 #include "coal/broadphase/broadphase_dynamic_AABB_tree_array.h"
48 #include "coal/broadphase/default_broadphase_callbacks.h"
49 #include "coal/broadphase/detail/sparse_hash_table.h"
50 #include "coal/broadphase/detail/spatial_hash.h"
51 #include "utility.h"
52
53 #include <boost/math/constants/constants.hpp>
54
55 #if USE_GOOGLEHASH
56 #include <sparsehash/sparse_hash_map>
57 #include <sparsehash/dense_hash_map>
58 #include <hash_map>
59 #endif
60
61 #include <iostream>
62 #include <iomanip>
63
64 using namespace coal;
65
66 /// @brief make sure if broadphase algorithms doesn't check twice for the same
67 /// collision object pair
68 void broad_phase_duplicate_check_test(Scalar env_scale, std::size_t env_size,
69 bool verbose = false);
70
71 /// @brief test for broad phase update
72 void broad_phase_update_collision_test(Scalar env_scale, std::size_t env_size,
73 std::size_t query_size,
74 std::size_t num_max_contacts = 1,
75 bool exhaustive = false,
76 bool use_mesh = false);
77
78 #if USE_GOOGLEHASH
79 template <typename U, typename V>
80 struct GoogleSparseHashTable
81 : public google::sparse_hash_map<U, V, std::tr1::hash<size_t>,
82 std::equal_to<size_t>> {};
83
84 template <typename U, typename V>
85 struct GoogleDenseHashTable
86 : public google::dense_hash_map<U, V, std::tr1::hash<size_t>,
87 std::equal_to<size_t>> {
88 GoogleDenseHashTable()
89 : google::dense_hash_map<U, V, std::tr1::hash<size_t>,
90 std::equal_to<size_t>>() {
91 this->set_empty_key(nullptr);
92 }
93 };
94 #endif
95
96 /// make sure if broadphase algorithms doesn't check twice for the same
97 /// collision object pair
98
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 4 BOOST_AUTO_TEST_CASE(test_broad_phase_dont_duplicate_check) {
99 #ifdef NDEBUG
100 broad_phase_duplicate_check_test(2000, 1000);
101 #else
102 2 broad_phase_duplicate_check_test(2000, 100);
103 #endif
104 2 }
105
106 /// check the update, only return collision or not
107
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 4 BOOST_AUTO_TEST_CASE(test_core_bf_broad_phase_update_collision_binary) {
108 #ifdef NDEBUG
109 broad_phase_update_collision_test(2000, 100, 1000, 1, false);
110 broad_phase_update_collision_test(2000, 1000, 1000, 1, false);
111 #else
112 2 broad_phase_update_collision_test(2000, 10, 100, 1, false);
113 2 broad_phase_update_collision_test(2000, 100, 100, 1, false);
114 #endif
115 2 }
116
117 /// check the update, return 10 contacts
118
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 4 BOOST_AUTO_TEST_CASE(test_core_bf_broad_phase_update_collision) {
119 #ifdef NDEBUG
120 broad_phase_update_collision_test(2000, 100, 1000, 10, false);
121 broad_phase_update_collision_test(2000, 1000, 1000, 10, false);
122 #else
123 2 broad_phase_update_collision_test(2000, 10, 100, 10, false);
124 2 broad_phase_update_collision_test(2000, 100, 100, 10, false);
125 #endif
126 2 }
127
128 /// check the update, exhaustive
129
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 4 BOOST_AUTO_TEST_CASE(test_core_bf_broad_phase_update_collision_exhaustive) {
130 #ifdef NDEBUG
131 broad_phase_update_collision_test(2000, 100, 1000, 1, true);
132 broad_phase_update_collision_test(2000, 1000, 1000, 1, true);
133 #else
134 2 broad_phase_update_collision_test(2000, 10, 100, 1, true);
135 2 broad_phase_update_collision_test(2000, 100, 100, 1, true);
136 #endif
137 2 }
138
139 /// check broad phase update, in mesh, only return collision or not
140
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 4 BOOST_AUTO_TEST_CASE(
141 test_core_mesh_bf_broad_phase_update_collision_mesh_binary) {
142 #ifdef NDEBUG
143 broad_phase_update_collision_test(2000, 100, 1000, 1, false, true);
144 broad_phase_update_collision_test(2000, 1000, 1000, 1, false, true);
145 #else
146 2 broad_phase_update_collision_test(2000, 2, 4, 1, false, true);
147 2 broad_phase_update_collision_test(2000, 4, 4, 1, false, true);
148 #endif
149 2 }
150
151 /// check broad phase update, in mesh, return 10 contacts
152
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 4 BOOST_AUTO_TEST_CASE(test_core_mesh_bf_broad_phase_update_collision_mesh) {
153 #ifdef NDEBUG
154 broad_phase_update_collision_test(2000, 100, 1000, 10, false, true);
155 broad_phase_update_collision_test(2000, 1000, 1000, 10, false, true);
156 #else
157 2 broad_phase_update_collision_test(200, 2, 4, 10, false, true);
158 2 broad_phase_update_collision_test(200, 4, 4, 10, false, true);
159 #endif
160 2 }
161
162 /// check broad phase update, in mesh, exhaustive
163
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 4 BOOST_AUTO_TEST_CASE(
164 test_core_mesh_bf_broad_phase_update_collision_mesh_exhaustive) {
165 #ifdef NDEBUG
166 broad_phase_update_collision_test(2000, 100, 1000, 1, true, true);
167 broad_phase_update_collision_test(2000, 1000, 1000, 1, true, true);
168 #else
169 2 broad_phase_update_collision_test(2000, 2, 4, 1, true, true);
170 2 broad_phase_update_collision_test(2000, 4, 4, 1, true, true);
171 #endif
172 2 }
173
174 //==============================================================================
175 struct CollisionDataForUniquenessChecking {
176 std::set<std::pair<CollisionObject*, CollisionObject*>> checkedPairs;
177
178 43 bool checkUniquenessAndAddPair(CollisionObject* o1, CollisionObject* o2) {
179
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 43 auto search = checkedPairs.find(std::make_pair(o1, o2));
180
181
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 43 if (search != checkedPairs.end()) return false;
182
183
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 43 checkedPairs.emplace(o1, o2);
184
185 43 return true;
186 }
187 };
188
189 //==============================================================================
190 struct CollisionFunctionForUniquenessChecking : CollisionCallBackBase {
191 43 bool collide(CollisionObject* o1, CollisionObject* o2) {
192
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 43 BOOST_CHECK(data.checkUniquenessAndAddPair(o1, o2));
193 43 return false;
194 }
195
196 CollisionDataForUniquenessChecking data;
197 };
198
199 //==============================================================================
200 1 void broad_phase_duplicate_check_test(Scalar env_scale, std::size_t env_size,
201 bool verbose) {
202 1 std::vector<TStruct> ts;
203 1 std::vector<BenchTimer> timers;
204
205 1 std::vector<CollisionObject*> env;
206
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 1 generateEnvironments(env, env_scale, env_size);
207
208 1 std::vector<BroadPhaseCollisionManager*> managers;
209
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 1 managers.push_back(new NaiveCollisionManager());
210
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 1 managers.push_back(new SSaPCollisionManager());
211
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 1 managers.push_back(new SaPCollisionManager());
212
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 1 managers.push_back(new IntervalTreeCollisionManager());
213
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 1 Vec3s lower_limit, upper_limit;
214
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 1 SpatialHashingCollisionManager<>::computeBound(env, lower_limit, upper_limit);
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 1 Scalar cell_size = std::min(std::min((upper_limit[0] - lower_limit[0]) / 20,
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218 1 managers.push_back(
219
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 1 new SpatialHashingCollisionManager<
220 detail::SparseHashTable<AABB, CollisionObject*, detail::SpatialHash>>(
221
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 1 cell_size, lower_limit, upper_limit));
222 #if USE_GOOGLEHASH
223 managers.push_back(
224 new SpatialHashingCollisionManager<detail::SparseHashTable<
225 AABB, CollisionObject*, detail::SpatialHash, GoogleSparseHashTable>>(
226 cell_size, lower_limit, upper_limit));
227 managers.push_back(
228 new SpatialHashingCollisionManager<detail::SparseHashTable<
229 AABB, CollisionObject*, detail::SpatialHash, GoogleDenseHashTable>>(
230 cell_size, lower_limit, upper_limit));
231 #endif
232
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 1 managers.push_back(new DynamicAABBTreeArrayCollisionManager());
234
235 {
236
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 1 DynamicAABBTreeCollisionManager* m = new DynamicAABBTreeCollisionManager();
237 1 m->tree_init_level = 2;
238
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 1 managers.push_back(m);
239 }
240
241 {
242 DynamicAABBTreeArrayCollisionManager* m =
243
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 1 new DynamicAABBTreeArrayCollisionManager();
244 1 m->tree_init_level = 2;
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246 }
247
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256 }
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 9 ts[i].push_back(timers[i].getElapsedTime());
263 }
264
265 // update the environment
266 1 Scalar delta_angle_max =
267 Scalar(10) / Scalar(360 * 2) * boost::math::constants::pi<Scalar>();
268 1 Scalar delta_trans_max = Scalar(0.01) * env_scale;
269 1 const Scalar half = Scalar(0.5);
270
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 301 for (size_t i = 0; i < env.size(); ++i) {
271 Scalar rand_angle_x =
272 300 2 * (Scalar(rand()) / Scalar(RAND_MAX) - half) * delta_angle_max;
273 Scalar rand_trans_x =
274 300 2 * (Scalar(rand()) / Scalar(RAND_MAX) - half) * delta_trans_max;
275 Scalar rand_angle_y =
276 300 2 * (Scalar(rand()) / Scalar(RAND_MAX) - half) * delta_angle_max;
277 Scalar rand_trans_y =
278 300 2 * (Scalar(rand()) / Scalar(RAND_MAX) - half) * delta_trans_max;
279 Scalar rand_angle_z =
280 300 2 * (Scalar(rand()) / Scalar(RAND_MAX) - half) * delta_angle_max;
281 Scalar rand_trans_z =
282 300 2 * (Scalar(rand()) / Scalar(RAND_MAX) - half) * delta_trans_max;
283
284 using AngleAxis = Eigen::AngleAxis<Scalar>;
285
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 300 Matrix3s dR(AngleAxis(rand_angle_x, Vec3s::UnitX()) *
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 600 AngleAxis(rand_angle_y, Vec3s::UnitY()) *
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 600 AngleAxis(rand_angle_z, Vec3s::UnitZ()));
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 300 Vec3s dT(rand_trans_x, rand_trans_y, rand_trans_z);
289
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 300 Matrix3s R = env[i]->getRotation();
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 300 Vec3s T = env[i]->getTranslation();
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 300 env[i]->setTransform(dR * R, dR * T + dT);
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 300 env[i]->computeAABB();
294 }
295
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301 }
302
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 1 std::vector<CollisionDataForUniquenessChecking> self_data(managers.size());
304
305
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 10 for (size_t i = 0; i < managers.size(); ++i) {
306 9 CollisionFunctionForUniquenessChecking callback;
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311 9 }
312
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 301 for (auto obj : env) delete obj;
314
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 1 if (!verbose) return;
316
317 ✗ std::cout.setf(std::ios_base::left, std::ios_base::adjustfield);
318 ✗ int w = 7;
319
320 ✗ std::cout << "collision timing summary" << std::endl;
321 ✗ std::cout << env_size << " objs" << std::endl;
322 ✗ std::cout << "register time" << std::endl;
323 ✗ for (size_t i = 0; i < ts.size(); ++i)
324 ✗ std::cout << std::setw(w) << ts[i].records[0] << " ";
325 ✗ std::cout << std::endl;
326
327 ✗ std::cout << "setup time" << std::endl;
328 ✗ for (size_t i = 0; i < ts.size(); ++i)
329 ✗ std::cout << std::setw(w) << ts[i].records[1] << " ";
330 ✗ std::cout << std::endl;
331
332 ✗ std::cout << "update time" << std::endl;
333 ✗ for (size_t i = 0; i < ts.size(); ++i)
334 ✗ std::cout << std::setw(w) << ts[i].records[2] << " ";
335 ✗ std::cout << std::endl;
336
337 ✗ std::cout << "self collision time" << std::endl;
338 ✗ for (size_t i = 0; i < ts.size(); ++i)
339 ✗ std::cout << std::setw(w) << ts[i].records[3] << " ";
340 ✗ std::cout << std::endl;
341
342 ✗ std::cout << "collision time" << std::endl;
343 ✗ for (size_t i = 0; i < ts.size(); ++i) {
344 ✗ double tmp = 0;
345 ✗ for (size_t j = 4; j < ts[i].records.size(); ++j) tmp += ts[i].records[j];
346 ✗ std::cout << std::setw(w) << tmp << " ";
347 }
348 ✗ std::cout << std::endl;
349
350 ✗ std::cout << "overall time" << std::endl;
351 ✗ for (size_t i = 0; i < ts.size(); ++i)
352 ✗ std::cout << std::setw(w) << ts[i].overall_time << " ";
353 ✗ std::cout << std::endl;
354 ✗ std::cout << std::endl;
355
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 5 }
356
357 12 void broad_phase_update_collision_test(Scalar env_scale, std::size_t env_size,
358 std::size_t query_size,
359 std::size_t num_max_contacts,
360 bool exhaustive, bool use_mesh) {
361 12 std::vector<TStruct> ts;
362 12 std::vector<BenchTimer> timers;
363
364 12 std::vector<CollisionObject*> env;
365
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 6 generateEnvironmentsMesh(env, env_scale, env_size);
367 else
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 6 generateEnvironments(env, env_scale, env_size);
369
370 12 std::vector<CollisionObject*> query;
371
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 12 if (use_mesh)
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373 else
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 6 generateEnvironments(query, env_scale, query_size);
375
376 12 std::vector<BroadPhaseCollisionManager*> managers;
377
378
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 12 managers.push_back(new NaiveCollisionManager());
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 12 managers.push_back(new SSaPCollisionManager());
380
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 12 managers.push_back(new SaPCollisionManager());
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 12 managers.push_back(new IntervalTreeCollisionManager());
383
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 12 Vec3s lower_limit, upper_limit;
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 12 SpatialHashingCollisionManager<>::computeBound(env, lower_limit, upper_limit);
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 12 Scalar cell_size = std::min(std::min((upper_limit[0] - lower_limit[0]) / 20,
387
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 12 (upper_limit[1] - lower_limit[1]) / 20),
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 12 (upper_limit[2] - lower_limit[2]) / 20);
389 // managers.push_back(new SpatialHashingCollisionManager(cell_size,
390 // lower_limit, upper_limit));
391 12 managers.push_back(
392
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 12 new SpatialHashingCollisionManager<
393 detail::SparseHashTable<AABB, CollisionObject*, detail::SpatialHash>>(
394
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 12 cell_size, lower_limit, upper_limit));
395 #if USE_GOOGLEHASH
396 managers.push_back(
397 new SpatialHashingCollisionManager<detail::SparseHashTable<
398 AABB, CollisionObject*, detail::SpatialHash, GoogleSparseHashTable>>(
399 cell_size, lower_limit, upper_limit));
400 managers.push_back(
401 new SpatialHashingCollisionManager<detail::SparseHashTable<
402 AABB, CollisionObject*, detail::SpatialHash, GoogleDenseHashTable>>(
403 cell_size, lower_limit, upper_limit));
404 #endif
405
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 12 managers.push_back(new DynamicAABBTreeArrayCollisionManager());
407
408 {
409
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 12 DynamicAABBTreeCollisionManager* m = new DynamicAABBTreeCollisionManager();
410 12 m->tree_init_level = 2;
411
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 12 managers.push_back(m);
412 }
413
414 {
415 DynamicAABBTreeArrayCollisionManager* m =
416
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 12 new DynamicAABBTreeArrayCollisionManager();
417 12 m->tree_init_level = 2;
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 12 managers.push_back(m);
419 }
420
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423
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 120 for (size_t i = 0; i < managers.size(); ++i) {
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429 }
430
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 108 ts[i].push_back(timers[i].getElapsedTime());
436 }
437
438 // update the environment
439 12 Scalar delta_angle_max =
440 Scalar(10) / Scalar(360 * 2) * boost::math::constants::pi<Scalar>();
441 12 Scalar delta_trans_max = Scalar(0.01) * env_scale;
442 12 const Scalar half = Scalar(0.5);
443
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 1056 for (size_t i = 0; i < env.size(); ++i) {
444 Scalar rand_angle_x =
445 1044 2 * (Scalar(rand()) / Scalar(RAND_MAX) - half) * delta_angle_max;
446 Scalar rand_trans_x =
447 1044 2 * (Scalar(rand()) / Scalar(RAND_MAX) - half) * delta_trans_max;
448 Scalar rand_angle_y =
449 1044 2 * (Scalar(rand()) / Scalar(RAND_MAX) - half) * delta_angle_max;
450 Scalar rand_trans_y =
451 1044 2 * (Scalar(rand()) / Scalar(RAND_MAX) - half) * delta_trans_max;
452 Scalar rand_angle_z =
453 1044 2 * (Scalar(rand()) / Scalar(RAND_MAX) - half) * delta_angle_max;
454 Scalar rand_trans_z =
455 1044 2 * (Scalar(rand()) / Scalar(RAND_MAX) - half) * delta_trans_max;
456
457 using AngleAxis = Eigen::AngleAxis<Scalar>;
458
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459
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 2088 AngleAxis(rand_angle_z, Vec3s::UnitZ()));
461
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462
463
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 1044 Matrix3s R = env[i]->getRotation();
464
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 1044 Vec3s T = env[i]->getTranslation();
465
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 1044 env[i]->setTransform(dR * R, dR * T + dT);
466
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 1044 env[i]->computeAABB();
467 }
468
469
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 120 for (size_t i = 0; i < managers.size(); ++i) {
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473
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474 }
475
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 12 std::vector<CollisionData> self_data(managers.size());
477
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 120 for (size_t i = 0; i < managers.size(); ++i) {
478
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 108 if (exhaustive)
479 36 self_data[i].request.num_max_contacts = 100000;
480 else
481 72 self_data[i].request.num_max_contacts = num_max_contacts;
482 }
483
484
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 108 CollisionCallBackDefault callback;
486
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487
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 108 managers[i]->collide(&callback);
488
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489
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 108 ts[i].push_back(timers[i].getElapsedTime());
490 108 }
491
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 120 for (size_t i = 0; i < managers.size(); ++i)
493
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 108 std::cout << self_data[i].result.numContacts() << " ";
494
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 12 std::cout << std::endl;
495
496
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 12 if (exhaustive) {
497
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 36 for (size_t i = 1; i < managers.size(); ++i)
498
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 32 BOOST_CHECK(self_data[i].result.numContacts() ==
499 self_data[0].result.numContacts());
500 } else {
501
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 8 std::vector<bool> self_res(managers.size());
502
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 80 for (size_t i = 0; i < self_res.size(); ++i)
503
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 72 self_res[i] = (self_data[i].result.numContacts() > 0);
504
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 72 for (size_t i = 1; i < self_res.size(); ++i)
506
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 64 BOOST_CHECK(self_res[0] == self_res[i]);
507
508
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 72 for (size_t i = 1; i < managers.size(); ++i)
509
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 64 BOOST_CHECK(self_data[i].result.numContacts() ==
510 self_data[0].result.numContacts());
511 8 }
512
513
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 1884 for (size_t i = 0; i < query.size(); ++i) {
514
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 1872 std::vector<CollisionCallBackDefault> query_callbacks(managers.size());
515
516
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 18720 for (size_t j = 0; j < query_callbacks.size(); ++j) {
517
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 16848 if (exhaustive)
518 5616 query_callbacks[j].data.request.num_max_contacts = 100000;
519 else
520 11232 query_callbacks[j].data.request.num_max_contacts = num_max_contacts;
521 }
522
523
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 18720 for (size_t j = 0; j < query_callbacks.size(); ++j) {
524
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 16848 timers[j].start();
525
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 16848 managers[j]->collide(query[i], &query_callbacks[j]);
526
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527
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 16848 ts[j].push_back(timers[j].getElapsedTime());
528 }
529
530 // for(size_t j = 0; j < managers.size(); ++j)
531 // std::cout << query_callbacks[j].result.numContacts() << " ";
532 // std::cout << std::endl;
533
534
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 1872 if (exhaustive) {
535
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 5616 for (size_t j = 1; j < managers.size(); ++j)
536
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 4992 BOOST_CHECK(query_callbacks[j].data.result.numContacts() ==
537 query_callbacks[0].data.result.numContacts());
538 } else {
539
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 1248 std::vector<bool> query_res(managers.size());
540
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 12480 for (size_t j = 0; j < query_res.size(); ++j)
541
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 11232 query_res[j] = (query_callbacks[j].data.result.numContacts() > 0);
542
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543
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 9984 BOOST_CHECK(query_res[0] == query_res[j]);
544
545
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 11232 for (size_t j = 1; j < managers.size(); ++j)
546
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 9984 BOOST_CHECK(query_callbacks[j].data.result.numContacts() ==
547 query_callbacks[0].data.result.numContacts());
548 1248 }
549 1872 }
550
551
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 1056 for (size_t i = 0; i < env.size(); ++i) delete env[i];
552
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 1884 for (size_t i = 0; i < query.size(); ++i) delete query[i];
553
554
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 120 for (size_t i = 0; i < managers.size(); ++i) delete managers[i];
555
556 12 std::cout.setf(std::ios_base::left, std::ios_base::adjustfield);
557 12 int w = 7;
558
559
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 12 std::cout << "collision timing summary" << std::endl;
560
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 12 std::cout << env_size << " objs, " << query_size << " queries" << std::endl;
561
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 12 std::cout << "register time" << std::endl;
562
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 120 for (size_t i = 0; i < ts.size(); ++i)
563
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 108 std::cout << std::setw(w) << ts[i].records[0] << " ";
564
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 12 std::cout << std::endl;
565
566
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 12 std::cout << "setup time" << std::endl;
567
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 120 for (size_t i = 0; i < ts.size(); ++i)
568
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 108 std::cout << std::setw(w) << ts[i].records[1] << " ";
569
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 12 std::cout << std::endl;
570
571
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 12 std::cout << "update time" << std::endl;
572
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 120 for (size_t i = 0; i < ts.size(); ++i)
573
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 108 std::cout << std::setw(w) << ts[i].records[2] << " ";
574
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 12 std::cout << std::endl;
575
576
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 12 std::cout << "self collision time" << std::endl;
577
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 120 for (size_t i = 0; i < ts.size(); ++i)
578
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 108 std::cout << std::setw(w) << ts[i].records[3] << " ";
579
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 12 std::cout << std::endl;
580
581
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 12 std::cout << "collision time" << std::endl;
582
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 120 for (size_t i = 0; i < ts.size(); ++i) {
583 108 double tmp = 0;
584
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 16956 for (size_t j = 4; j < ts[i].records.size(); ++j) tmp += ts[i].records[j];
585
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 108 std::cout << std::setw(w) << tmp << " ";
586 }
587
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 12 std::cout << std::endl;
588
589
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 12 std::cout << "overall time" << std::endl;
590
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 120 for (size_t i = 0; i < ts.size(); ++i)
591
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 108 std::cout << std::setw(w) << ts[i].overall_time << " ";
592
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 12 std::cout << std::endl;
593
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 12 std::cout << std::endl;
594 12 }
595