| Directory: | ./ |
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| File: | test/broadphase_dynamic_AABB_tree.cpp |
| Date: | 2025-04-01 09:23:31 |
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| 1 | /* | ||
| 2 | * Software License Agreement (BSD License) | ||
| 3 | * | ||
| 4 | * Copyright (c) 2020. Toyota Research Institute | ||
| 5 | * All rights reserved. | ||
| 6 | * | ||
| 7 | * Redistribution and use in source and binary forms, with or without | ||
| 8 | * modification, are permitted provided that the following conditions | ||
| 9 | * are met: | ||
| 10 | * | ||
| 11 | * * Redistributions of source code must retain the above copyright | ||
| 12 | * notice, this list of conditions and the following disclaimer. | ||
| 13 | * * Redistributions in binary form must reproduce the above | ||
| 14 | * copyright notice, this list of conditions and the following | ||
| 15 | * disclaimer in the documentation and/or other materials provided | ||
| 16 | * with the distribution. | ||
| 17 | * * Neither the name of CNRS-LAAS and AIST nor the names of its | ||
| 18 | * contributors may be used to endorse or promote products derived | ||
| 19 | * from this software without specific prior written permission. | ||
| 20 | * | ||
| 21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| 24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| 25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| 26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| 27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| 29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| 30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| 31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| 32 | * POSSIBILITY OF SUCH DAMAGE. | ||
| 33 | */ | ||
| 34 | |||
| 35 | /** @author Damrong Guoy (Damrong.Guoy@tri.global) */ | ||
| 36 | |||
| 37 | /** Tests the dynamic axis-aligned bounding box tree.*/ | ||
| 38 | |||
| 39 | #define BOOST_TEST_MODULE COAL_BROADPHASE_DYNAMIC_AABB_TREE | ||
| 40 | #include <boost/test/included/unit_test.hpp> | ||
| 41 | |||
| 42 | // #include "coal/data_types.h" | ||
| 43 | #include "coal/shape/geometric_shapes.h" | ||
| 44 | #include "coal/broadphase/broadphase_dynamic_AABB_tree.h" | ||
| 45 | |||
| 46 | #include <iostream> | ||
| 47 | #include <memory> | ||
| 48 | |||
| 49 | using namespace coal; | ||
| 50 | |||
| 51 | // Pack the data for callback function. | ||
| 52 | struct CallBackData { | ||
| 53 | bool expect_object0_then_object1; | ||
| 54 | std::vector<CollisionObject*>* objects; | ||
| 55 | }; | ||
| 56 | |||
| 57 | // This callback function tests the order of the two collision objects from | ||
| 58 | // the dynamic tree against the `data`. We assume that the first two | ||
| 59 | // parameters are always objects[0] and objects[1] in two possible orders, | ||
| 60 | // so we can safely ignore the second parameter. We do not use the last | ||
| 61 | // Scalar& parameter, which specifies the distance beyond which the | ||
| 62 | // pair of objects will be skipped. | ||
| 63 | |||
| 64 | struct DistanceCallBackDerived : DistanceCallBackBase { | ||
| 65 | 8 | bool distance(CollisionObject* o1, CollisionObject* o2, Scalar& dist) { | |
| 66 | 8 | return distance_callback(o1, o2, &data, dist); | |
| 67 | } | ||
| 68 | |||
| 69 | 8 | bool distance_callback(CollisionObject* a, CollisionObject*, | |
| 70 | void* callback_data, Scalar&) { | ||
| 71 | // Unpack the data. | ||
| 72 | 8 | CallBackData* data = static_cast<CallBackData*>(callback_data); | |
| 73 | 8 | const std::vector<CollisionObject*>& objects = *(data->objects); | |
| 74 | 8 | const bool object0_first = a == objects[0]; | |
| 75 |
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8 | BOOST_CHECK_EQUAL(data->expect_object0_then_object1, object0_first); |
| 76 | // TODO(DamrongGuoy): Remove the statement below when we solve the | ||
| 77 | // repeatability problem as mentioned in: | ||
| 78 | // https://github.com/flexible-collision-library/fcl/issues/368 | ||
| 79 | // Expect to switch the order next time. | ||
| 80 | 8 | data->expect_object0_then_object1 = !data->expect_object0_then_object1; | |
| 81 | // Return true to stop the tree traversal. | ||
| 82 | 8 | return true; | |
| 83 | } | ||
| 84 | |||
| 85 | CallBackData data; | ||
| 86 | }; | ||
| 87 | |||
| 88 | // Tests repeatability of a dynamic tree of two spheres when we call update() | ||
| 89 | // and distance() again and again without changing the poses of the objects. | ||
| 90 | // We only use the distance() method to invoke a hierarchy traversal. | ||
| 91 | // The distance-callback function in this test does not compute the signed | ||
| 92 | // distance between the two objects; it only checks their order. | ||
| 93 | // | ||
| 94 | // Currently every call to update() switches the order of the two objects. | ||
| 95 | // TODO(DamrongGuoy): Remove the above comment when we solve the | ||
| 96 | // repeatability problem as mentioned in: | ||
| 97 | // https://github.com/flexible-collision-library/fcl/issues/368 | ||
| 98 | // | ||
| 99 |
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4 | BOOST_AUTO_TEST_CASE(DynamicAABBTreeCollisionManager_class) { |
| 100 |
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2 | CollisionGeometryPtr_t sphere0 = make_shared<Sphere>(0.1); |
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2 | CollisionGeometryPtr_t sphere1 = make_shared<Sphere>(0.2); |
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2 | CollisionObject object0(sphere0); |
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2 | CollisionObject object1(sphere1); |
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2 | const Vec3s position0(Scalar(0.1), Scalar(0.2), Scalar(0.3)); |
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2 | const Vec3s position1(Scalar(0.11), Scalar(0.21), Scalar(0.31)); |
| 106 | |||
| 107 | // We will use `objects` to check the order of the two collision objects in | ||
| 108 | // our callback function. | ||
| 109 | // | ||
| 110 | // We use std::vector that contains *pointers* to CollisionObject, | ||
| 111 | // instead of std::vector that contains CollisionObject's. | ||
| 112 | // Previously we used std::vector<CollisionObject>, and it failed the | ||
| 113 | // Eigen alignment assertion on Win32. We also tried, without success, the | ||
| 114 | // custom allocator: | ||
| 115 | // std::vector<CollisionObject, | ||
| 116 | // Eigen::aligned_allocator<CollisionObject>>, | ||
| 117 | // but some platforms failed to build. | ||
| 118 | 2 | std::vector<CollisionObject*> objects; | |
| 119 |
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2 | objects.push_back(&object0); |
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2 | objects.push_back(&object1); |
| 121 | |||
| 122 | 2 | std::vector<Vec3s> positions; | |
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2 | positions.push_back(position0); |
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2 | positions.push_back(position1); |
| 125 | |||
| 126 |
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2 | DynamicAABBTreeCollisionManager dynamic_tree; |
| 127 |
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6 | for (size_t i = 0; i < objects.size(); ++i) { |
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4 | objects[i]->setTranslation(positions[i]); |
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4 | objects[i]->computeAABB(); |
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4 | dynamic_tree.registerObject(objects[i]); |
| 131 | } | ||
| 132 | |||
| 133 | 2 | DistanceCallBackDerived callback; | |
| 134 | 2 | callback.data.expect_object0_then_object1 = false; | |
| 135 | 2 | callback.data.objects = &objects; | |
| 136 | |||
| 137 | // We repeat update() and distance() many times. Each time, in the | ||
| 138 | // callback function, we check the order of the two objects. | ||
| 139 |
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18 | for (int count = 0; count < 8; ++count) { |
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16 | dynamic_tree.update(); |
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16 | dynamic_tree.distance(&callback); |
| 142 | } | ||
| 143 | 2 | } | |
| 144 |