| Line | Branch | Exec | Source |
|---|---|---|---|
| 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 | ||
| 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 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; |
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2 | Transform3s tf2; |
| 75 | |||
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2002 | for (int i = 0; i < num_tests; ++i) { |
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2000 | Vec3s p1 = Vec3s::Random() * (2. * radius); |
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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(); |
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2000 | Matrix3s rot2 = Quat(Vec4s::Random().normalized()).toRotationMatrix(); |
| 82 | |||
| 83 |
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2000 | tf1.setTranslation(p1); |
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2000 | tf1.setRotation(rot1); |
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2000 | tf2.setTranslation(p2); |
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2000 | tf2.setRotation(rot2); |
| 87 | |||
| 88 |
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2000 | CollisionObject capsule_o1(c1, tf1); |
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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) |
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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; |
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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) { |
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2000 | Matrix3s rot = Quat(Vec4s::Random().normalized()).toRotationMatrix(); |
| 133 | |||
| 134 |
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2000 | tf1.setTranslation(p1); |
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2000 | tf1.setRotation(rot); |
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2000 | tf2.setTranslation(p2_no_collision); |
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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))); |
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2002 | for (int i = 0; i < num_tests; ++i) { |
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2000 | Matrix3s rot = Quat(Vec4s::Random().normalized()).toRotationMatrix(); |
| 156 | |||
| 157 |
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2000 | tf1.setTranslation(p1); |
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2000 | tf1.setRotation(rot); |
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2000 | tf2.setTranslation(p2_with_collision); |
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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) { |
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2000 | Matrix3s rot = Quat(Vec4s::Random().normalized()).toRotationMatrix(); |
| 182 |
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2000 | Vec3s trans = Vec3s::Random(); |
| 183 | |||
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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; |
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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 | |||
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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; |
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2 | distance(&o1, &o2, distanceRequest, distanceResult); |
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2 | std::cerr << "Applied rotation and translation on two capsules" << std::endl; |
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2 | std::cerr << "R1 = " << tf1.getRotation() << std::endl |
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2 | << "T1 = " << tf1.getTranslation().transpose() << std::endl |
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2 | << "R2 = " << tf2.getRotation() << std::endl |
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2 | << "T2 = " << tf2.getTranslation().transpose() << std::endl; |
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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() |
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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 | |||
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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 |