| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /* | ||
| 2 | * Software License Agreement (BSD License) | ||
| 3 | * | ||
| 4 | * Copyright (c) 2015, Open Source Robotics Foundation | ||
| 5 | * Copyright (c) 2020, INRIA | ||
| 6 | * All rights reserved. | ||
| 7 | * | ||
| 8 | * Redistribution and use in source and binary forms, with or without | ||
| 9 | * modification, are permitted provided that the following conditions | ||
| 10 | * are met: | ||
| 11 | * | ||
| 12 | * * Redistributions of source code must retain the above copyright | ||
| 13 | * notice, this list of conditions and the following disclaimer. | ||
| 14 | * * Redistributions in binary form must reproduce the above | ||
| 15 | * copyright notice, this list of conditions and the following | ||
| 16 | * disclaimer in the documentation and/or other materials provided | ||
| 17 | * with the distribution. | ||
| 18 | * * Neither the name of Open Source Robotics Foundation nor the names of its | ||
| 19 | * contributors may be used to endorse or promote products derived | ||
| 20 | * from this software without specific prior written permission. | ||
| 21 | * | ||
| 22 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 23 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 24 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| 25 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| 26 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| 27 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| 28 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 29 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| 30 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| 31 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| 32 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| 33 | * POSSIBILITY OF SUCH DAMAGE. | ||
| 34 | */ | ||
| 35 | |||
| 36 | /** \author Jeongseok Lee */ | ||
| 37 | |||
| 38 | #define BOOST_TEST_MODULE COAL_BVH_MODELS | ||
| 39 | #include <boost/test/included/unit_test.hpp> | ||
| 40 | #include <boost/filesystem.hpp> | ||
| 41 | |||
| 42 | #include "fcl_resources/config.h" | ||
| 43 | |||
| 44 | #include "coal/collision.h" | ||
| 45 | #include "coal/BVH/BVH_model.h" | ||
| 46 | #include "coal/BVH/BVH_utility.h" | ||
| 47 | #include "coal/math/transform.h" | ||
| 48 | #include "coal/shape/geometric_shapes.h" | ||
| 49 | #include "coal/shape/geometric_shape_to_BVH_model.h" | ||
| 50 | #include "coal/mesh_loader/assimp.h" | ||
| 51 | #include "coal/mesh_loader/loader.h" | ||
| 52 | #include "utility.h" | ||
| 53 | #include <iostream> | ||
| 54 | |||
| 55 | using namespace coal; | ||
| 56 | |||
| 57 | template <typename BV> | ||
| 58 | 16 | void testBVHModelPointCloud() { | |
| 59 |
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16 | Box box(Vec3s::Ones()); |
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16 | Scalar a = box.halfSide[0]; |
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16 | Scalar b = box.halfSide[1]; |
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16 | Scalar c = box.halfSide[2]; |
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16 | std::vector<Vec3s> points(8); |
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16 | points[0] << a, -b, c; |
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16 | points[1] << a, b, c; |
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16 | points[2] << -a, b, c; |
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16 | points[3] << -a, -b, c; |
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16 | points[4] << a, -b, -c; |
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16 | points[5] << a, b, -c; |
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16 | points[6] << -a, b, -c; |
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16 | points[7] << -a, -b, -c; |
| 72 | |||
| 73 | { | ||
| 74 |
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16 | shared_ptr<BVHModel<BV> > model(new BVHModel<BV>); |
| 75 | |||
| 76 |
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30 | if (model->getNodeType() != BV_AABB && model->getNodeType() != BV_KDOP16 && |
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40 | model->getNodeType() != BV_KDOP18 && |
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10 | model->getNodeType() != BV_KDOP24) { |
| 79 | 16 | std::cout << "Abort test since '" << getNodeTypeName(model->getNodeType()) | |
| 80 | << "' does not support point cloud model. " | ||
| 81 |
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8 | << "Please see issue #67." << std::endl; |
| 82 | 8 | return; | |
| 83 | } | ||
| 84 | |||
| 85 | int result; | ||
| 86 | |||
| 87 |
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8 | result = model->beginModel(); |
| 88 |
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8 | BOOST_CHECK_EQUAL(result, BVH_OK); |
| 89 | |||
| 90 |
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72 | for (std::size_t i = 0; i < points.size(); ++i) { |
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64 | result = model->addVertex(points[i]); |
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64 | BOOST_CHECK_EQUAL(result, BVH_OK); |
| 93 | } | ||
| 94 | |||
| 95 |
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8 | result = model->endModel(); |
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8 | BOOST_CHECK_EQUAL(result, BVH_OK); |
| 97 | |||
| 98 |
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8 | model->computeLocalAABB(); |
| 99 | |||
| 100 |
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8 | BOOST_CHECK_EQUAL(model->num_vertices, 8); |
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8 | BOOST_CHECK_EQUAL(model->num_tris, 0); |
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8 | BOOST_CHECK_EQUAL(model->build_state, BVH_BUILD_STATE_PROCESSED); |
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16 | } |
| 104 | |||
| 105 | { | ||
| 106 |
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8 | shared_ptr<BVHModel<BV> > model(new BVHModel<BV>); |
| 107 | |||
| 108 |
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14 | if (model->getNodeType() != BV_AABB && model->getNodeType() != BV_KDOP16 && |
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16 | model->getNodeType() != BV_KDOP18 && |
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2 | model->getNodeType() != BV_KDOP24) { |
| 111 | ✗ | std::cout << "Abort test since '" << getNodeTypeName(model->getNodeType()) | |
| 112 | << "' does not support point cloud model. " | ||
| 113 | ✗ | << "Please see issue #67." << std::endl; | |
| 114 | ✗ | return; | |
| 115 | } | ||
| 116 | |||
| 117 |
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8 | MatrixX3s all_points((Eigen::DenseIndex)points.size(), 3); |
| 118 |
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72 | for (size_t k = 0; k < points.size(); ++k) |
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64 | all_points.row((Eigen::DenseIndex)k) = points[k].transpose(); |
| 120 | |||
| 121 | int result; | ||
| 122 | |||
| 123 |
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8 | result = model->beginModel(); |
| 124 |
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8 | BOOST_CHECK_EQUAL(result, BVH_OK); |
| 125 | |||
| 126 |
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8 | result = model->addVertices(all_points); |
| 127 | |||
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8 | result = model->endModel(); |
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8 | BOOST_CHECK_EQUAL(result, BVH_OK); |
| 130 | |||
| 131 |
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8 | model->computeLocalAABB(); |
| 132 | |||
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8 | BOOST_CHECK_EQUAL(model->num_vertices, 8); |
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8 | BOOST_CHECK_EQUAL(model->num_tris, 0); |
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8 | BOOST_CHECK_EQUAL(model->build_state, BVH_BUILD_STATE_PROCESSED); |
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8 | } |
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24 | } |
| 138 | |||
| 139 | template <typename BV> | ||
| 140 | 16 | void testBVHModelTriangles() { | |
| 141 |
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16 | shared_ptr<BVHModel<BV> > model(new BVHModel<BV>); |
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16 | Box box(Vec3s::Ones()); |
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16 | AABB aabb(Vec3s(-1, 0, -1), Vec3s(1, 1, 1)); |
| 144 | |||
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16 | Scalar a = box.halfSide[0]; |
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16 | Scalar b = box.halfSide[1]; |
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16 | Scalar c = box.halfSide[2]; |
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32 | std::vector<Vec3s> points(8); |
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16 | std::vector<Triangle32> tri_indices(12); |
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16 | points[0] << a, -b, c; |
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16 | points[1] << a, b, c; |
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16 | points[2] << -a, b, c; |
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16 | points[3] << -a, -b, c; |
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16 | points[4] << a, -b, -c; |
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16 | points[5] << a, b, -c; |
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16 | points[6] << -a, b, -c; |
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16 | points[7] << -a, -b, -c; |
| 158 | |||
| 159 | 16 | tri_indices[0].set(0, 4, 1); | |
| 160 | 16 | tri_indices[1].set(1, 4, 5); | |
| 161 | 16 | tri_indices[2].set(2, 6, 3); | |
| 162 | 16 | tri_indices[3].set(3, 6, 7); | |
| 163 | 16 | tri_indices[4].set(3, 0, 2); | |
| 164 | 16 | tri_indices[5].set(2, 0, 1); | |
| 165 | 16 | tri_indices[6].set(6, 5, 7); | |
| 166 | 16 | tri_indices[7].set(7, 5, 4); | |
| 167 | 16 | tri_indices[8].set(1, 5, 2); | |
| 168 | 16 | tri_indices[9].set(2, 5, 6); | |
| 169 | 16 | tri_indices[10].set(3, 7, 0); | |
| 170 | 16 | tri_indices[11].set(0, 7, 4); | |
| 171 | |||
| 172 | int result; | ||
| 173 | |||
| 174 |
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16 | result = model->beginModel(); |
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16 | BOOST_CHECK_EQUAL(result, BVH_OK); |
| 176 | |||
| 177 |
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208 | for (std::size_t i = 0; i < tri_indices.size(); ++i) { |
| 178 | 192 | result = | |
| 179 |
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192 | model->addTriangle(points[tri_indices[i][0]], points[tri_indices[i][1]], |
| 180 | points[tri_indices[i][2]]); | ||
| 181 |
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192 | BOOST_CHECK_EQUAL(result, BVH_OK); |
| 182 | } | ||
| 183 | |||
| 184 |
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16 | result = model->endModel(); |
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16 | BOOST_CHECK_EQUAL(result, BVH_OK); |
| 186 | |||
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16 | model->computeLocalAABB(); |
| 188 | |||
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16 | BOOST_CHECK_EQUAL(model->num_vertices, 12 * 3); |
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16 | BOOST_CHECK_EQUAL(model->num_tris, 12); |
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16 | BOOST_CHECK_EQUAL(model->build_state, BVH_BUILD_STATE_PROCESSED); |
| 192 | |||
| 193 |
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16 | Transform3s pose; |
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16 | shared_ptr<BVHModel<BV> > cropped(BVHExtract(*model, pose, aabb)); |
| 195 |
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16 | BOOST_REQUIRE(cropped); |
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16 | BOOST_CHECK(cropped->build_state == BVH_BUILD_STATE_PROCESSED); |
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16 | BOOST_CHECK_EQUAL(cropped->num_vertices, model->num_vertices - 6); |
| 198 |
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16 | BOOST_CHECK_EQUAL(cropped->num_tris, model->num_tris - 2); |
| 199 | |||
| 200 |
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16 | pose.setTranslation(Vec3s(0, 1, 0)); |
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16 | cropped.reset(BVHExtract(*model, pose, aabb)); |
| 202 |
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16 | BOOST_REQUIRE(cropped); |
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16 | BOOST_CHECK(cropped->build_state == BVH_BUILD_STATE_PROCESSED); |
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16 | BOOST_CHECK_EQUAL(cropped->num_vertices, model->num_vertices - 6); |
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16 | BOOST_CHECK_EQUAL(cropped->num_tris, model->num_tris - 2); |
| 206 | |||
| 207 |
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16 | pose.setTranslation(Vec3s(0, 0, 0)); |
| 208 | 16 | Scalar sqrt2_2 = std::sqrt(Scalar(2)) / 2; | |
| 209 |
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16 | pose.setQuatRotation(Quats(sqrt2_2, sqrt2_2, 0, 0)); |
| 210 |
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16 | cropped.reset(BVHExtract(*model, pose, aabb)); |
| 211 |
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16 | BOOST_REQUIRE(cropped); |
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16 | BOOST_CHECK(cropped->build_state == BVH_BUILD_STATE_PROCESSED); |
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16 | BOOST_CHECK_EQUAL(cropped->num_vertices, model->num_vertices - 6); |
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16 | BOOST_CHECK_EQUAL(cropped->num_tris, model->num_tris - 2); |
| 215 | |||
| 216 |
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16 | pose.setTranslation(-Vec3s(1, 1, 1)); |
| 217 |
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16 | pose.setQuatRotation(Quats::Identity()); |
| 218 |
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16 | cropped.reset(BVHExtract(*model, pose, aabb)); |
| 219 |
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16 | BOOST_CHECK(!cropped); |
| 220 | |||
| 221 |
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16 | aabb = AABB(Vec3s(Scalar(-0.1), Scalar(-0.1), Scalar(-0.1)), |
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16 | Vec3s(Scalar(0.1), Scalar(0.1), Scalar(0.1))); |
| 223 |
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16 | pose.setTranslation(Vec3s(-0.5, -0.5, 0)); |
| 224 |
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16 | cropped.reset(BVHExtract(*model, pose, aabb)); |
| 225 |
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16 | BOOST_REQUIRE(cropped); |
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16 | BOOST_CHECK_EQUAL(cropped->num_tris, 2); |
| 227 |
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16 | BOOST_CHECK_EQUAL(cropped->num_vertices, 6); |
| 228 | 16 | } | |
| 229 | |||
| 230 | template <typename BV> | ||
| 231 | 16 | void testBVHModelSubModel() { | |
| 232 |
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16 | shared_ptr<BVHModel<BV> > model(new BVHModel<BV>); |
| 233 |
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16 | Box box(Vec3s::Ones()); |
| 234 | |||
| 235 |
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16 | Scalar a = box.halfSide[0]; |
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16 | Scalar b = box.halfSide[1]; |
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16 | Scalar c = box.halfSide[2]; |
| 238 |
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32 | std::vector<Vec3s> points(8); |
| 239 |
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16 | std::vector<Triangle32> tri_indices(12); |
| 240 |
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16 | points[0] << a, -b, c; |
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16 | points[1] << a, b, c; |
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16 | points[2] << -a, b, c; |
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16 | points[3] << -a, -b, c; |
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16 | points[4] << a, -b, -c; |
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16 | points[5] << a, b, -c; |
| 246 |
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16 | points[6] << -a, b, -c; |
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16 | points[7] << -a, -b, -c; |
| 248 | |||
| 249 | 16 | tri_indices[0].set(0, 4, 1); | |
| 250 | 16 | tri_indices[1].set(1, 4, 5); | |
| 251 | 16 | tri_indices[2].set(2, 6, 3); | |
| 252 | 16 | tri_indices[3].set(3, 6, 7); | |
| 253 | 16 | tri_indices[4].set(3, 0, 2); | |
| 254 | 16 | tri_indices[5].set(2, 0, 1); | |
| 255 | 16 | tri_indices[6].set(6, 5, 7); | |
| 256 | 16 | tri_indices[7].set(7, 5, 4); | |
| 257 | 16 | tri_indices[8].set(1, 5, 2); | |
| 258 | 16 | tri_indices[9].set(2, 5, 6); | |
| 259 | 16 | tri_indices[10].set(3, 7, 0); | |
| 260 | 16 | tri_indices[11].set(0, 7, 4); | |
| 261 | |||
| 262 | int result; | ||
| 263 | |||
| 264 |
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16 | result = model->beginModel(); |
| 265 |
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16 | BOOST_CHECK_EQUAL(result, BVH_OK); |
| 266 | |||
| 267 |
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16 | result = model->addSubModel(points, tri_indices); |
| 268 |
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16 | BOOST_CHECK_EQUAL(result, BVH_OK); |
| 269 | |||
| 270 |
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16 | result = model->endModel(); |
| 271 |
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16 | BOOST_CHECK_EQUAL(result, BVH_OK); |
| 272 | |||
| 273 |
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16 | model->computeLocalAABB(); |
| 274 | |||
| 275 |
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16 | BOOST_CHECK_EQUAL(model->num_vertices, 8); |
| 276 |
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16 | BOOST_CHECK_EQUAL(model->num_tris, 12); |
| 277 |
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16 | BOOST_CHECK_EQUAL(model->build_state, BVH_BUILD_STATE_PROCESSED); |
| 278 | 16 | } | |
| 279 | |||
| 280 | template <typename BV> | ||
| 281 | 16 | void testBVHModel() { | |
| 282 | 16 | testBVHModelTriangles<BV>(); | |
| 283 | 16 | testBVHModelPointCloud<BV>(); | |
| 284 | 16 | testBVHModelSubModel<BV>(); | |
| 285 | 16 | } | |
| 286 | |||
| 287 |
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4 | BOOST_AUTO_TEST_CASE(building_bvh_models) { |
| 288 | 2 | testBVHModel<AABB>(); | |
| 289 | 2 | testBVHModel<OBB>(); | |
| 290 | 2 | testBVHModel<RSS>(); | |
| 291 | 2 | testBVHModel<kIOS>(); | |
| 292 | 2 | testBVHModel<OBBRSS>(); | |
| 293 | 2 | testBVHModel<KDOP<16> >(); | |
| 294 | 2 | testBVHModel<KDOP<18> >(); | |
| 295 | 2 | testBVHModel<KDOP<24> >(); | |
| 296 | 2 | } | |
| 297 | |||
| 298 | template <class BoundingVolume> | ||
| 299 | 16 | void testLoadPolyhedron() { | |
| 300 |
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16 | boost::filesystem::path path(TEST_RESOURCES_DIR); |
| 301 |
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32 | std::string env = (path / "env.obj").string(), |
| 302 |
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32 | rob = (path / "rob.obj").string(); |
| 303 | |||
| 304 | typedef BVHModel<BoundingVolume> Polyhedron_t; | ||
| 305 | typedef shared_ptr<Polyhedron_t> PolyhedronPtr_t; | ||
| 306 |
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16 | PolyhedronPtr_t P1(new Polyhedron_t), P2; |
| 307 | |||
| 308 |
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16 | Vec3s scale; |
| 309 |
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16 | scale.setConstant(1); |
| 310 |
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16 | loadPolyhedronFromResource(env, scale, P1); |
| 311 | |||
| 312 |
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16 | scale.setConstant(-1); |
| 313 |
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16 | CachedMeshLoader loader(P1->getNodeType()); |
| 314 |
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16 | CollisionGeometryPtr_t geom = loader.load(env, scale); |
| 315 | 16 | P2 = dynamic_pointer_cast<Polyhedron_t>(geom); | |
| 316 |
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16 | BOOST_REQUIRE(P2); |
| 317 | |||
| 318 |
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16 | BOOST_CHECK_EQUAL(P1->num_tris, P2->num_tris); |
| 319 |
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16 | BOOST_CHECK_EQUAL(P1->num_vertices, P2->num_vertices); |
| 320 |
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16 | BOOST_CHECK_EQUAL(P1->getNumBVs(), P2->getNumBVs()); |
| 321 | |||
| 322 |
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16 | CollisionGeometryPtr_t geom2 = loader.load(env, scale); |
| 323 |
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16 | BOOST_CHECK_EQUAL(geom, geom2); |
| 324 | 16 | } | |
| 325 | |||
| 326 | template <class BoundingVolume> | ||
| 327 | 8 | void testLoadGerardBauzil() { | |
| 328 |
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8 | boost::filesystem::path path(TEST_RESOURCES_DIR); |
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16 | std::string env = (path / "staircases_koroibot_hr.dae").string(); |
| 330 | |||
| 331 | typedef BVHModel<BoundingVolume> Polyhedron_t; | ||
| 332 | typedef shared_ptr<Polyhedron_t> PolyhedronPtr_t; | ||
| 333 |
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8 | PolyhedronPtr_t P1(new Polyhedron_t), P2; |
| 334 | |||
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8 | Vec3s scale; |
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8 | scale.setConstant(1); |
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8 | loadPolyhedronFromResource(env, scale, P1); |
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8 | CollisionGeometryPtr_t cylinder(new Cylinder(Scalar(.27), Scalar(.27))); |
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8 | Transform3s pos(Vec3s(Scalar(-1.33), Scalar(1.36), Scalar(.14))); |
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8 | CollisionObject obj(cylinder, pos); |
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8 | CollisionObject stairs(P1); |
| 342 | |||
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8 | CollisionRequest request; |
| 344 |
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8 | CollisionResult result; |
| 345 | |||
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8 | collide(&stairs, &obj, request, result); |
| 347 |
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8 | BOOST_CHECK(result.isCollision()); |
| 348 | 8 | } | |
| 349 | |||
| 350 |
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4 | BOOST_AUTO_TEST_CASE(load_polyhedron) { |
| 351 | 2 | testLoadPolyhedron<AABB>(); | |
| 352 | 2 | testLoadPolyhedron<OBB>(); | |
| 353 | 2 | testLoadPolyhedron<RSS>(); | |
| 354 | 2 | testLoadPolyhedron<kIOS>(); | |
| 355 | 2 | testLoadPolyhedron<OBBRSS>(); | |
| 356 | 2 | testLoadPolyhedron<KDOP<16> >(); | |
| 357 | 2 | testLoadPolyhedron<KDOP<18> >(); | |
| 358 | 2 | testLoadPolyhedron<KDOP<24> >(); | |
| 359 | 2 | } | |
| 360 | |||
| 361 |
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4 | BOOST_AUTO_TEST_CASE(gerard_bauzil) { |
| 362 | 2 | testLoadGerardBauzil<OBB>(); | |
| 363 | 2 | testLoadGerardBauzil<RSS>(); | |
| 364 | 2 | testLoadGerardBauzil<kIOS>(); | |
| 365 | 2 | testLoadGerardBauzil<OBBRSS>(); | |
| 366 | 2 | } | |
| 367 | |||
| 368 |
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4 | BOOST_AUTO_TEST_CASE(load_illformated_mesh) { |
| 369 |
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2 | boost::filesystem::path path(TEST_RESOURCES_DIR); |
| 370 |
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4 | const std::string filename = (path / "illformated_mesh.dae").string(); |
| 371 | |||
| 372 | 2 | MeshLoader loader; | |
| 373 |
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2 | BOOST_CHECK_NO_THROW(loader.load(filename)); |
| 374 | 2 | } | |
| 375 | |||
| 376 |
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4 | BOOST_AUTO_TEST_CASE(test_convex) { |
| 377 |
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2 | Box* box_ptr = new coal::Box(1, 1, 1); |
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2 | CollisionGeometryPtr_t b1(box_ptr); |
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2 | BVHModel<OBBRSS> box_bvh_model = BVHModel<OBBRSS>(); |
| 380 |
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2 | generateBVHModel(box_bvh_model, *box_ptr, Transform3s()); |
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2 | box_bvh_model.buildConvexRepresentation(false); |
| 382 | |||
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2 | box_bvh_model.convex->computeLocalAABB(); |
| 384 |
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2 | std::shared_ptr<ConvexBase32> convex_copy(box_bvh_model.convex->clone()); |
| 385 |
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2 | BOOST_CHECK(*convex_copy.get() == *box_bvh_model.convex.get()); |
| 386 | 2 | } | |
| 387 |