Directory: | ./ |
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File: | test/capsule_capsule.cpp |
Date: | 2025-04-01 09:23:31 |
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1 | /* | ||
2 | * Software License Agreement (BSD License) | ||
3 | * | ||
4 | * Copyright (c) 2011-2014, Willow Garage, Inc. | ||
5 | * Copyright (c) 2014-2015, Open Source Robotics Foundation | ||
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 | ||
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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 Karsten Knese <Karsten.Knese@googlemail.com> */ | ||
37 | |||
38 | #define BOOST_TEST_MODULE COAL_CAPSULE_CAPSULE | ||
39 | #include <boost/test/included/unit_test.hpp> | ||
40 | |||
41 | #define CHECK_CLOSE_TO_0(x, eps) BOOST_CHECK_CLOSE((x + 1.0), (1.0), (eps)) | ||
42 | |||
43 | #include <cmath> | ||
44 | #include <iostream> | ||
45 | #include "coal/distance.h" | ||
46 | #include "coal/collision.h" | ||
47 | #include "coal/math/transform.h" | ||
48 | #include "coal/collision.h" | ||
49 | #include "coal/collision_object.h" | ||
50 | #include "coal/shape/geometric_shapes.h" | ||
51 | |||
52 | #include "utility.h" | ||
53 | |||
54 | using namespace coal; | ||
55 | using Quat = Eigen::Quaternion<Scalar>; | ||
56 | using Vec4s = Eigen::Matrix<Scalar, 4, 1>; | ||
57 | |||
58 |
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4 | BOOST_AUTO_TEST_CASE(collision_capsule_capsule_trivial) { |
59 | 2 | const Scalar radius = 1.; | |
60 | |||
61 |
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2 | CollisionGeometryPtr_t c1(new Capsule(radius, 0.)); |
62 |
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2 | CollisionGeometryPtr_t c2(new Capsule(radius, 0.)); |
63 | |||
64 |
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2 | CollisionGeometryPtr_t s1(new Sphere(radius)); |
65 |
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2 | CollisionGeometryPtr_t s2(new Sphere(radius)); |
66 | |||
67 | #ifndef NDEBUG | ||
68 | 2 | int num_tests = 1e3; | |
69 | #else | ||
70 | int num_tests = 1e6; | ||
71 | #endif | ||
72 | |||
73 |
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2 | Transform3s tf1; |
74 |
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2 | Transform3s tf2; |
75 | |||
76 |
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2002 | for (int i = 0; i < num_tests; ++i) { |
77 |
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2000 | Vec3s p1 = Vec3s::Random() * (2. * radius); |
78 |
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2000 | Vec3s p2 = Vec3s::Random() * (2. * radius); |
79 | |||
80 |
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2000 | Matrix3s rot1 = Quat(Vec4s::Random().normalized()).toRotationMatrix(); |
81 |
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2000 | Matrix3s rot2 = Quat(Vec4s::Random().normalized()).toRotationMatrix(); |
82 | |||
83 |
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2000 | tf1.setTranslation(p1); |
84 |
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2000 | tf1.setRotation(rot1); |
85 |
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2000 | tf2.setTranslation(p2); |
86 |
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2000 | tf2.setRotation(rot2); |
87 | |||
88 |
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2000 | CollisionObject capsule_o1(c1, tf1); |
89 |
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2000 | CollisionObject capsule_o2(c2, tf2); |
90 | |||
91 |
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2000 | CollisionObject sphere_o1(s1, tf1); |
92 |
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2000 | CollisionObject sphere_o2(s2, tf2); |
93 | |||
94 | // Enable computation of nearest points | ||
95 |
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2000 | CollisionRequest collisionRequest; |
96 |
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2000 | CollisionResult capsule_collisionResult, sphere_collisionResult; |
97 | |||
98 |
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2000 | size_t sphere_num_collisions = collide( |
99 | 2000 | &sphere_o1, &sphere_o2, collisionRequest, sphere_collisionResult); | |
100 |
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2000 | size_t capsule_num_collisions = collide( |
101 | 2000 | &capsule_o1, &capsule_o2, collisionRequest, capsule_collisionResult); | |
102 | |||
103 |
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2000 | BOOST_CHECK_EQUAL(sphere_num_collisions, capsule_num_collisions); |
104 |
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2000 | if (sphere_num_collisions == 0 && capsule_num_collisions == 0) |
105 |
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1466 | BOOST_CHECK_CLOSE(sphere_collisionResult.distance_lower_bound, |
106 | capsule_collisionResult.distance_lower_bound, 1e-6); | ||
107 | 2000 | } | |
108 | 2 | } | |
109 | |||
110 |
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4 | BOOST_AUTO_TEST_CASE(collision_capsule_capsule_aligned) { |
111 | 2 | const Scalar radius = Scalar(0.01); | |
112 | 2 | const Scalar length = Scalar(0.2); | |
113 | |||
114 |
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2 | CollisionGeometryPtr_t c1(new Capsule(radius, length)); |
115 |
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2 | CollisionGeometryPtr_t c2(new Capsule(radius, length)); |
116 | #ifndef NDEBUG | ||
117 | 2 | int num_tests = 1e3; | |
118 | #else | ||
119 | int num_tests = 1e6; | ||
120 | #endif | ||
121 | |||
122 |
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2 | Transform3s tf1; |
123 |
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2 | Transform3s tf2; |
124 | |||
125 |
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2 | Vec3s p1 = Vec3s::Zero(); |
126 | Vec3s p2_no_collision = | ||
127 | Vec3s(0, 0, | ||
128 | ✗ | Scalar(2 * (length / 2. + radius) + | |
129 |
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2 | 1e-3)); // because capsule are along the Z axis |
130 | |||
131 |
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2002 | for (int i = 0; i < num_tests; ++i) { |
132 |
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2000 | Matrix3s rot = Quat(Vec4s::Random().normalized()).toRotationMatrix(); |
133 | |||
134 |
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2000 | tf1.setTranslation(p1); |
135 |
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2000 | tf1.setRotation(rot); |
136 |
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2000 | tf2.setTranslation(p2_no_collision); |
137 |
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2000 | tf2.setRotation(rot); |
138 | |||
139 |
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2000 | CollisionObject capsule_o1(c1, tf1); |
140 |
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2000 | CollisionObject capsule_o2(c2, tf2); |
141 | |||
142 | // Enable computation of nearest points | ||
143 |
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2000 | CollisionRequest collisionRequest; |
144 |
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2000 | CollisionResult capsule_collisionResult; |
145 | |||
146 |
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2000 | size_t capsule_num_collisions = collide( |
147 | &capsule_o1, &capsule_o2, collisionRequest, capsule_collisionResult); | ||
148 | |||
149 |
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2000 | BOOST_CHECK(capsule_num_collisions == 0); |
150 | 2000 | } | |
151 | |||
152 | Vec3s p2_with_collision = | ||
153 |
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2 | Vec3s(0, 0, Scalar(std::min(length / 2, radius) * (1. - 1e-2))); |
154 |
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2002 | for (int i = 0; i < num_tests; ++i) { |
155 |
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2000 | Matrix3s rot = Quat(Vec4s::Random().normalized()).toRotationMatrix(); |
156 | |||
157 |
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2000 | tf1.setTranslation(p1); |
158 |
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2000 | tf1.setRotation(rot); |
159 |
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2000 | tf2.setTranslation(p2_with_collision); |
160 |
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2000 | tf2.setRotation(rot); |
161 | |||
162 |
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2000 | CollisionObject capsule_o1(c1, tf1); |
163 |
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2000 | CollisionObject capsule_o2(c2, tf2); |
164 | |||
165 | // Enable computation of nearest points | ||
166 |
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2000 | CollisionRequest collisionRequest; |
167 |
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2000 | CollisionResult capsule_collisionResult; |
168 | |||
169 |
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2000 | size_t capsule_num_collisions = collide( |
170 | &capsule_o1, &capsule_o2, collisionRequest, capsule_collisionResult); | ||
171 | |||
172 |
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2000 | BOOST_CHECK(capsule_num_collisions > 0); |
173 | 2000 | } | |
174 | |||
175 |
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2 | p2_no_collision = Vec3s(0, 0, Scalar(2 * (length / 2. + radius) + 1e-3)); |
176 | |||
177 |
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2 | Transform3s geom1_placement(Matrix3s::Identity(), Vec3s::Zero()); |
178 |
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2 | Transform3s geom2_placement(Matrix3s::Identity(), p2_no_collision); |
179 | |||
180 |
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2002 | for (int i = 0; i < num_tests; ++i) { |
181 |
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2000 | Matrix3s rot = Quat(Vec4s::Random().normalized()).toRotationMatrix(); |
182 |
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2000 | Vec3s trans = Vec3s::Random(); |
183 | |||
184 |
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2000 | Transform3s displacement(rot, trans); |
185 |
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2000 | Transform3s tf1 = displacement * geom1_placement; |
186 |
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2000 | Transform3s tf2 = displacement * geom2_placement; |
187 | |||
188 |
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2000 | CollisionObject capsule_o1(c1, tf1); |
189 |
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2000 | CollisionObject capsule_o2(c2, tf2); |
190 | |||
191 | // Enable computation of nearest points | ||
192 |
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2000 | CollisionRequest collisionRequest; |
193 |
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2000 | CollisionResult capsule_collisionResult; |
194 | |||
195 |
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2000 | size_t capsule_num_collisions = collide( |
196 | &capsule_o1, &capsule_o2, collisionRequest, capsule_collisionResult); | ||
197 | |||
198 |
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2000 | BOOST_CHECK(capsule_num_collisions == 0); |
199 | 2000 | } | |
200 | |||
201 | // p2_with_collision = | ||
202 | // Vec3s(0.,0.,std::min(length/2.,radius)*(1.-1e-2)); | ||
203 |
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2 | p2_with_collision = Vec3s(0, 0, Scalar(0.01)); |
204 |
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2 | geom2_placement.setTranslation(p2_with_collision); |
205 | |||
206 |
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2002 | for (int i = 0; i < num_tests; ++i) { |
207 |
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2000 | Matrix3s rot = Quat(Vec4s::Random().normalized()).toRotationMatrix(); |
208 |
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2000 | Vec3s trans = Vec3s::Random(); |
209 | |||
210 |
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2000 | Transform3s displacement(rot, trans); |
211 |
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2000 | Transform3s tf1 = displacement * geom1_placement; |
212 |
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2000 | Transform3s tf2 = displacement * geom2_placement; |
213 | |||
214 |
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2000 | CollisionObject capsule_o1(c1, tf1); |
215 |
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2000 | CollisionObject capsule_o2(c2, tf2); |
216 | |||
217 | // Enable computation of nearest points | ||
218 |
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2000 | CollisionRequest collisionRequest; |
219 |
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2000 | CollisionResult capsule_collisionResult; |
220 | |||
221 |
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2000 | size_t capsule_num_collisions = collide( |
222 | &capsule_o1, &capsule_o2, collisionRequest, capsule_collisionResult); | ||
223 | |||
224 |
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2000 | BOOST_CHECK(capsule_num_collisions > 0); |
225 | 2000 | } | |
226 | 2 | } | |
227 | |||
228 |
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4 | BOOST_AUTO_TEST_CASE(distance_capsulecapsule_origin) { |
229 |
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2 | CollisionGeometryPtr_t s1(new Capsule(5, 10)); |
230 |
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2 | CollisionGeometryPtr_t s2(new Capsule(5, 10)); |
231 | |||
232 |
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2 | Transform3s tf1; |
233 |
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2 | Transform3s tf2(Vec3s(Scalar(20.1), 0, 0)); |
234 | |||
235 |
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2 | CollisionObject o1(s1, tf1); |
236 |
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2 | CollisionObject o2(s2, tf2); |
237 | |||
238 | // Enable computation of nearest points | ||
239 |
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2 | DistanceRequest distanceRequest(true); |
240 |
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2 | DistanceResult distanceResult; |
241 | |||
242 |
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2 | distance(&o1, &o2, distanceRequest, distanceResult); |
243 | |||
244 |
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2 | std::cerr << "Applied translation on two capsules"; |
245 |
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2 | std::cerr << " T1 = " << tf1.getTranslation() |
246 |
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2 | << ", T2 = " << tf2.getTranslation() << std::endl; |
247 |
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2 | std::cerr << "Closest points: p1 = " << distanceResult.nearest_points[0] |
248 |
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2 | << ", p2 = " << distanceResult.nearest_points[1] |
249 |
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2 | << ", distance = " << distanceResult.min_distance << std::endl; |
250 | |||
251 |
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2 | BOOST_CHECK_CLOSE(distanceResult.min_distance, 10.1, 1e-6); |
252 | 2 | } | |
253 | |||
254 |
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4 | BOOST_AUTO_TEST_CASE(distance_capsulecapsule_transformXY) { |
255 |
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2 | CollisionGeometryPtr_t s1(new Capsule(5, 10)); |
256 |
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2 | CollisionGeometryPtr_t s2(new Capsule(5, 10)); |
257 | |||
258 |
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2 | Transform3s tf1; |
259 |
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2 | Transform3s tf2(Vec3s(20, 20, 0)); |
260 | |||
261 |
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2 | CollisionObject o1(s1, tf1); |
262 |
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2 | CollisionObject o2(s2, tf2); |
263 | |||
264 | // Enable computation of nearest points | ||
265 |
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2 | DistanceRequest distanceRequest(true); |
266 |
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2 | DistanceResult distanceResult; |
267 | |||
268 |
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2 | distance(&o1, &o2, distanceRequest, distanceResult); |
269 | |||
270 |
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2 | std::cerr << "Applied translation on two capsules"; |
271 |
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2 | std::cerr << " T1 = " << tf1.getTranslation() |
272 |
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2 | << ", T2 = " << tf2.getTranslation() << std::endl; |
273 |
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2 | std::cerr << "Closest points: p1 = " << distanceResult.nearest_points[0] |
274 |
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2 | << ", p2 = " << distanceResult.nearest_points[1] |
275 |
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2 | << ", distance = " << distanceResult.min_distance << std::endl; |
276 | |||
277 | 2 | Scalar expected = sqrt(Scalar(800)) - 10; | |
278 |
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2 | BOOST_CHECK_CLOSE(distanceResult.min_distance, expected, 1e-6); |
279 | 2 | } | |
280 | |||
281 |
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4 | BOOST_AUTO_TEST_CASE(distance_capsulecapsule_transformZ) { |
282 |
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2 | CollisionGeometryPtr_t s1(new Capsule(5, 10)); |
283 |
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2 | CollisionGeometryPtr_t s2(new Capsule(5, 10)); |
284 | |||
285 |
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2 | Transform3s tf1; |
286 |
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2 | Transform3s tf2(Vec3s(0, 0, Scalar(20.1))); |
287 | |||
288 |
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2 | CollisionObject o1(s1, tf1); |
289 |
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2 | CollisionObject o2(s2, tf2); |
290 | |||
291 | // Enable computation of nearest points | ||
292 |
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2 | DistanceRequest distanceRequest(true); |
293 |
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2 | DistanceResult distanceResult; |
294 | |||
295 |
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2 | distance(&o1, &o2, distanceRequest, distanceResult); |
296 | |||
297 |
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2 | std::cerr << "Applied translation on two capsules"; |
298 |
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2 | std::cerr << " T1 = " << tf1.getTranslation() |
299 |
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2 | << ", T2 = " << tf2.getTranslation() << std::endl; |
300 |
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2 | std::cerr << "Closest points: p1 = " << distanceResult.nearest_points[0] |
301 |
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2 | << ", p2 = " << distanceResult.nearest_points[1] |
302 |
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2 | << ", distance = " << distanceResult.min_distance << std::endl; |
303 | |||
304 |
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2 | BOOST_CHECK_CLOSE(distanceResult.min_distance, 0.1, 1e-6); |
305 | 2 | } | |
306 | |||
307 |
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4 | BOOST_AUTO_TEST_CASE(distance_capsulecapsule_transformZ2) { |
308 |
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2 | CollisionGeometryPtr_t s1(new Capsule(5, 10)); |
309 |
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2 | CollisionGeometryPtr_t s2(new Capsule(5, 10)); |
310 | |||
311 |
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2 | Transform3s tf1; |
312 |
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2 | Transform3s tf2(makeQuat(sqrt(Scalar(2)) / 2, 0, sqrt(Scalar(2)) / 2, 0), |
313 |
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4 | Vec3s(0, 0, Scalar(25.1))); |
314 | |||
315 |
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2 | CollisionObject o1(s1, tf1); |
316 |
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2 | CollisionObject o2(s2, tf2); |
317 | |||
318 | // Enable computation of nearest points | ||
319 |
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2 | DistanceRequest distanceRequest(true); |
320 |
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2 | DistanceResult distanceResult; |
321 | |||
322 |
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2 | distance(&o1, &o2, distanceRequest, distanceResult); |
323 | |||
324 |
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2 | std::cerr << "Applied rotation and translation on two capsules" << std::endl; |
325 |
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2 | std::cerr << "R1 = " << tf1.getRotation() << std::endl |
326 |
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2 | << "T1 = " << tf1.getTranslation().transpose() << std::endl |
327 |
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2 | << "R2 = " << tf2.getRotation() << std::endl |
328 |
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2 | << "T2 = " << tf2.getTranslation().transpose() << std::endl; |
329 |
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2 | std::cerr << "Closest points:" << std::endl |
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2 | << "p1 = " << distanceResult.nearest_points[0].transpose() |
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2 | << std::endl |
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2 | << "p2 = " << distanceResult.nearest_points[1].transpose() |
333 |
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2 | << std::endl |
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2 | << "distance = " << distanceResult.min_distance << std::endl; |
335 | |||
336 | 2 | const Vec3s& p1 = distanceResult.nearest_points[0]; | |
337 | 2 | const Vec3s& p2 = distanceResult.nearest_points[1]; | |
338 | |||
339 |
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2 | BOOST_CHECK_CLOSE(distanceResult.min_distance, 10.1, 1e-6); |
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2 | CHECK_CLOSE_TO_0(p1[0], 1e-4); |
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2 | CHECK_CLOSE_TO_0(p1[1], 1e-4); |
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2 | BOOST_CHECK_CLOSE(p1[2], 10, 1e-4); |
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2 | CHECK_CLOSE_TO_0(p2[0], 1e-4); |
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2 | CHECK_CLOSE_TO_0(p2[1], 1e-4); |
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2 | BOOST_CHECK_CLOSE(p2[2], 20.1, 1e-4); |
346 | 2 | } | |
347 |