| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /* | ||
| 2 | * Software License Agreement (BSD License) | ||
| 3 | * | ||
| 4 | * Copyright (c) 2024, INRIA | ||
| 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 INRIA 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 Louis Montaut */ | ||
| 36 | |||
| 37 | #define BOOST_TEST_MODULE COAL_CONTACT_PATCH | ||
| 38 | #include <boost/test/included/unit_test.hpp> | ||
| 39 | |||
| 40 | #include "coal/contact_patch.h" | ||
| 41 | |||
| 42 | #include "utility.h" | ||
| 43 | |||
| 44 | using namespace coal; | ||
| 45 | |||
| 46 |
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4 | BOOST_AUTO_TEST_CASE(box_box_no_collision) { |
| 47 | 2 | const Scalar halfside = Scalar(0.5); | |
| 48 |
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2 | const Box box1(2 * halfside, 2 * halfside, 2 * halfside); |
| 49 |
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2 | const Box box2(2 * halfside, 2 * halfside, 2 * halfside); |
| 50 | |||
| 51 |
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2 | const Transform3s tf1; |
| 52 |
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2 | Transform3s tf2; |
| 53 | // set translation to separate the shapes | ||
| 54 | 2 | const Scalar offset = Scalar(0.001); | |
| 55 |
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2 | tf2.setTranslation(Vec3s(0, 0, 2 * halfside + offset)); |
| 56 | |||
| 57 | 2 | const size_t num_max_contact = 1; | |
| 58 | const CollisionRequest col_req(CollisionRequestFlag::CONTACT, | ||
| 59 |
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2 | num_max_contact); |
| 60 |
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2 | CollisionResult col_res; |
| 61 | |||
| 62 |
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2 | coal::collide(&box1, tf1, &box2, tf2, col_req, col_res); |
| 63 | |||
| 64 |
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2 | BOOST_CHECK(!col_res.isCollision()); |
| 65 | |||
| 66 |
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2 | const ContactPatchRequest patch_req; |
| 67 |
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2 | ContactPatchResult patch_res(patch_req); |
| 68 |
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2 | coal::computeContactPatch(&box1, tf1, &box2, tf2, col_res, patch_req, |
| 69 | patch_res); | ||
| 70 |
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2 | BOOST_CHECK(patch_res.numContactPatches() == 0); |
| 71 | 2 | } | |
| 72 | |||
| 73 |
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4 | BOOST_AUTO_TEST_CASE(box_sphere) { |
| 74 | 2 | const Scalar halfside = Scalar(0.5); | |
| 75 |
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2 | const Box box(2 * halfside, 2 * halfside, 2 * halfside); |
| 76 |
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2 | const Sphere sphere(halfside); |
| 77 | |||
| 78 |
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2 | const Transform3s tf1; |
| 79 |
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2 | Transform3s tf2; |
| 80 | // set translation to have a collision | ||
| 81 | 2 | const Scalar offset = Scalar(0.001); | |
| 82 |
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2 | tf2.setTranslation(Vec3s(0, 0, 2 * halfside - offset)); |
| 83 | |||
| 84 | 2 | const size_t num_max_contact = 1; | |
| 85 | const CollisionRequest col_req(CollisionRequestFlag::CONTACT, | ||
| 86 |
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2 | num_max_contact); |
| 87 |
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2 | CollisionResult col_res; |
| 88 | |||
| 89 |
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2 | coal::collide(&box, tf1, &sphere, tf2, col_req, col_res); |
| 90 | |||
| 91 |
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2 | BOOST_CHECK(col_res.isCollision()); |
| 92 | |||
| 93 |
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2 | const ContactPatchRequest patch_req; |
| 94 |
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2 | ContactPatchResult patch_res(patch_req); |
| 95 |
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2 | coal::computeContactPatch(&box, tf1, &sphere, tf2, col_res, patch_req, |
| 96 | patch_res); | ||
| 97 |
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2 | BOOST_CHECK(patch_res.numContactPatches() == 1); |
| 98 |
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2 | if (patch_res.numContactPatches() > 0 && col_res.isCollision()) { |
| 99 |
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2 | const Contact &contact = col_res.getContact(0); |
| 100 |
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2 | const ContactPatch &contact_patch = patch_res.getContactPatch(0); |
| 101 |
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2 | BOOST_CHECK(contact_patch.size() == 1); |
| 102 | 2 | const Scalar tol = Scalar(1e-8); | |
| 103 |
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2 | EIGEN_VECTOR_IS_APPROX(contact_patch.getPoint(0), contact.pos, tol); |
| 104 |
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2 | EIGEN_VECTOR_IS_APPROX(contact_patch.tf.translation(), contact.pos, tol); |
| 105 |
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2 | EIGEN_VECTOR_IS_APPROX(contact_patch.getNormal(), contact.normal, tol); |
| 106 |
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2 | BOOST_CHECK(std::abs(contact_patch.penetration_depth - |
| 107 | contact.penetration_depth) < tol); | ||
| 108 | } | ||
| 109 | 2 | } | |
| 110 | |||
| 111 |
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4 | BOOST_AUTO_TEST_CASE(box_box) { |
| 112 | 2 | const Scalar halfside = 0.5; | |
| 113 |
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2 | const Box box1(2 * halfside, 2 * halfside, 2 * halfside); |
| 114 |
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2 | const Box box2(2 * halfside, 2 * halfside, 2 * halfside); |
| 115 | |||
| 116 |
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2 | const Transform3s tf1; |
| 117 |
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2 | Transform3s tf2; |
| 118 | // set translation to have a collision | ||
| 119 | 2 | const Scalar offset = Scalar(0.001); | |
| 120 |
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2 | tf2.setTranslation(Vec3s(0, 0, 2 * halfside - offset)); |
| 121 | |||
| 122 | 2 | const size_t num_max_contact = 1; | |
| 123 | const CollisionRequest col_req(CollisionRequestFlag::CONTACT, | ||
| 124 |
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2 | num_max_contact); |
| 125 |
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2 | CollisionResult col_res; |
| 126 | |||
| 127 |
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2 | coal::collide(&box1, tf1, &box2, tf2, col_req, col_res); |
| 128 | |||
| 129 |
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2 | BOOST_CHECK(col_res.isCollision()); |
| 130 | |||
| 131 |
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2 | const ContactPatchRequest patch_req; |
| 132 |
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2 | ContactPatchResult patch_res1(patch_req); |
| 133 |
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2 | ContactPatchResult patch_res2(patch_req); |
| 134 |
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2 | coal::computeContactPatch(&box1, tf1, &box2, tf2, col_res, patch_req, |
| 135 | patch_res1); | ||
| 136 |
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2 | coal::computeContactPatch(&box1, tf1, &box2, tf2, col_res, patch_req, |
| 137 | patch_res2); | ||
| 138 |
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2 | BOOST_CHECK(patch_res1.numContactPatches() == 1); |
| 139 |
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2 | BOOST_CHECK(patch_res2.numContactPatches() == 1); |
| 140 | |||
| 141 |
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4 | if (patch_res1.numContactPatches() > 0 && |
| 142 |
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4 | patch_res2.numContactPatches() > 0 && col_res.isCollision()) { |
| 143 |
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2 | const Contact &contact = col_res.getContact(0); |
| 144 | 2 | const Scalar tol = Scalar(1e-6); | |
| 145 |
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2 | EIGEN_VECTOR_IS_APPROX(contact.normal, Vec3s(0, 0, 1), tol); |
| 146 | |||
| 147 | 2 | const size_t expected_size = 4; | |
| 148 |
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2 | ContactPatch expected(expected_size); |
| 149 | 2 | expected.tf.rotation() = | |
| 150 |
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4 | constructOrthonormalBasisFromVector(contact.normal); |
| 151 |
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2 | expected.tf.translation() = contact.pos; |
| 152 | 2 | expected.penetration_depth = contact.penetration_depth; | |
| 153 | const std::array<Vec3s, 4> corners = { | ||
| 154 | Vec3s(halfside, halfside, halfside), | ||
| 155 | ✗ | Vec3s(halfside, -halfside, halfside), | |
| 156 | ✗ | Vec3s(-halfside, -halfside, halfside), | |
| 157 | ✗ | Vec3s(-halfside, halfside, halfside), | |
| 158 |
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2 | }; |
| 159 |
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10 | for (size_t i = 0; i < expected_size; ++i) { |
| 160 |
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8 | expected.addPoint(corners[i] + |
| 161 |
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16 | (contact.penetration_depth * contact.normal) / 2); |
| 162 | } | ||
| 163 | |||
| 164 |
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2 | BOOST_CHECK(patch_res1.getContactPatch(0).isSame(expected, tol)); |
| 165 |
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2 | BOOST_CHECK(patch_res2.getContactPatch(0).isSame(expected, tol)); |
| 166 | 2 | } | |
| 167 | 2 | } | |
| 168 | |||
| 169 |
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4 | BOOST_AUTO_TEST_CASE(halfspace_box) { |
| 170 |
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2 | const Halfspace hspace(0, 0, 1, 0); |
| 171 | 2 | const Scalar halfside = Scalar(0.5); | |
| 172 |
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2 | const Box box(2 * halfside, 2 * halfside, 2 * halfside); |
| 173 | |||
| 174 |
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2 | const Transform3s tf1; |
| 175 |
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2 | Transform3s tf2; |
| 176 | // set translation to have a collision | ||
| 177 | 2 | const Scalar offset = Scalar(0.001); | |
| 178 |
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2 | tf2.setTranslation(Vec3s(0, 0, halfside - offset)); |
| 179 | |||
| 180 | 2 | const size_t num_max_contact = 1; | |
| 181 | const CollisionRequest col_req(CollisionRequestFlag::CONTACT, | ||
| 182 |
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2 | num_max_contact); |
| 183 |
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2 | CollisionResult col_res; |
| 184 | |||
| 185 |
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2 | coal::collide(&hspace, tf1, &box, tf2, col_req, col_res); |
| 186 | |||
| 187 |
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2 | BOOST_CHECK(col_res.isCollision()); |
| 188 | |||
| 189 |
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2 | const ContactPatchRequest patch_req; |
| 190 |
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2 | ContactPatchResult patch_res1(patch_req); |
| 191 |
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2 | ContactPatchResult patch_res2(patch_req); |
| 192 |
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2 | coal::computeContactPatch(&hspace, tf1, &box, tf2, col_res, patch_req, |
| 193 | patch_res1); | ||
| 194 |
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2 | coal::computeContactPatch(&hspace, tf1, &box, tf2, col_res, patch_req, |
| 195 | patch_res2); | ||
| 196 |
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2 | BOOST_CHECK(patch_res1.numContactPatches() == 1); |
| 197 |
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2 | BOOST_CHECK(patch_res2.numContactPatches() == 1); |
| 198 | |||
| 199 |
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4 | if (patch_res1.numContactPatches() > 0 && |
| 200 |
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4 | patch_res2.numContactPatches() > 0 && col_res.isCollision()) { |
| 201 |
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2 | const Contact &contact = col_res.getContact(0); |
| 202 | 2 | const Scalar tol = Scalar(1e-6); | |
| 203 |
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2 | EIGEN_VECTOR_IS_APPROX(contact.normal, hspace.n, tol); |
| 204 |
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2 | EIGEN_VECTOR_IS_APPROX(hspace.n, Vec3s(0, 0, 1), tol); |
| 205 | |||
| 206 | 2 | const size_t expected_size = 4; | |
| 207 |
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2 | ContactPatch expected(expected_size); |
| 208 | 2 | expected.tf.rotation() = | |
| 209 |
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4 | constructOrthonormalBasisFromVector(contact.normal); |
| 210 |
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2 | expected.tf.translation() = contact.pos; |
| 211 | 2 | expected.penetration_depth = contact.penetration_depth; | |
| 212 | const std::array<Vec3s, 4> corners = { | ||
| 213 |
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2 | tf2.transform(Vec3s(halfside, halfside, -halfside)), |
| 214 |
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2 | tf2.transform(Vec3s(halfside, -halfside, -halfside)), |
| 215 |
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2 | tf2.transform(Vec3s(-halfside, -halfside, -halfside)), |
| 216 |
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2 | tf2.transform(Vec3s(-halfside, halfside, -halfside)), |
| 217 |
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8 | }; |
| 218 |
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10 | for (size_t i = 0; i < expected_size; ++i) { |
| 219 |
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8 | expected.addPoint(corners[i] - |
| 220 |
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16 | (contact.penetration_depth * contact.normal) / 2); |
| 221 | } | ||
| 222 | |||
| 223 |
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2 | BOOST_CHECK(patch_res1.getContactPatch(0).isSame(expected, tol)); |
| 224 |
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2 | BOOST_CHECK(patch_res2.getContactPatch(0).isSame(expected, tol)); |
| 225 | 2 | } | |
| 226 | 2 | } | |
| 227 | |||
| 228 |
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4 | BOOST_AUTO_TEST_CASE(halfspace_capsule) { |
| 229 |
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2 | const Halfspace hspace(0, 0, 1, 0); |
| 230 | 2 | const Scalar radius = Scalar(0.25); | |
| 231 | 2 | const Scalar height = 1.; | |
| 232 |
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2 | const Capsule capsule(radius, height); |
| 233 | |||
| 234 |
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2 | const Transform3s tf1; |
| 235 |
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2 | Transform3s tf2; |
| 236 | // set translation to have a collision | ||
| 237 | 2 | const Scalar offset = Scalar(0.001); | |
| 238 |
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2 | tf2.setTranslation(Vec3s(0, 0, height / 2 - offset)); |
| 239 | |||
| 240 | 2 | const size_t num_max_contact = 1; | |
| 241 | const CollisionRequest col_req(CollisionRequestFlag::CONTACT, | ||
| 242 |
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2 | num_max_contact); |
| 243 |
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2 | CollisionResult col_res; |
| 244 |
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2 | coal::collide(&hspace, tf1, &capsule, tf2, col_req, col_res); |
| 245 |
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2 | BOOST_CHECK(col_res.isCollision()); |
| 246 | |||
| 247 |
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2 | const ContactPatchRequest patch_req; |
| 248 |
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2 | BOOST_CHECK(patch_req.getNumSamplesCurvedShapes() == |
| 249 | ContactPatch::default_preallocated_size); | ||
| 250 |
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2 | ContactPatchResult patch_res(patch_req); |
| 251 |
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2 | coal::computeContactPatch(&hspace, tf1, &capsule, tf2, col_res, patch_req, |
| 252 | patch_res); | ||
| 253 |
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2 | BOOST_CHECK(patch_res.numContactPatches() == 1); |
| 254 | |||
| 255 |
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2 | if (patch_res.numContactPatches() > 0 && col_res.isCollision()) { |
| 256 |
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2 | const Contact &contact = col_res.getContact(0); |
| 257 | 2 | const Scalar tol = Scalar(1e-6); | |
| 258 |
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2 | EIGEN_VECTOR_IS_APPROX(contact.normal, hspace.n, tol); |
| 259 | |||
| 260 | 2 | const size_t expected_size = 1; | |
| 261 |
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2 | ContactPatch expected(expected_size); |
| 262 | 2 | expected.tf.rotation() = | |
| 263 |
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4 | constructOrthonormalBasisFromVector(contact.normal); |
| 264 |
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2 | expected.tf.translation() = contact.pos; |
| 265 | 2 | expected.penetration_depth = contact.penetration_depth; | |
| 266 |
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2 | const Vec3s capsule_end(0, 0, -capsule.halfLength); |
| 267 |
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2 | expected.addPoint(tf2.transform(capsule_end)); |
| 268 | |||
| 269 |
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2 | const ContactPatch &contact_patch = patch_res.getContactPatch(0); |
| 270 |
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2 | BOOST_CHECK(expected.tf == contact_patch.tf); |
| 271 |
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2 | BOOST_CHECK(expected.isSame(contact_patch, tol)); |
| 272 | 2 | } | |
| 273 | |||
| 274 | // Rotate capsule 180 degrees around y-axis | ||
| 275 | // Should only have one contact. | ||
| 276 |
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2 | tf2.rotation().col(0) << -1, 0, 0; |
| 277 |
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2 | tf2.rotation().col(1) << 0, 1, 0; |
| 278 |
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2 | tf2.rotation().col(2) << 0, 0, -1; |
| 279 |
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2 | col_res.clear(); |
| 280 |
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2 | coal::collide(&hspace, tf1, &capsule, tf2, col_req, col_res); |
| 281 |
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2 | BOOST_CHECK(col_res.isCollision()); |
| 282 |
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2 | patch_res.clear(); |
| 283 |
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2 | coal::computeContactPatch(&hspace, tf1, &capsule, tf2, col_res, patch_req, |
| 284 | patch_res); | ||
| 285 |
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2 | BOOST_CHECK(patch_res.numContactPatches() == 1); |
| 286 |
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2 | if (patch_res.numContactPatches() > 0 && col_res.isCollision()) { |
| 287 |
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2 | const Contact &contact = col_res.getContact(0); |
| 288 | 2 | const Scalar tol = Scalar(1e-6); | |
| 289 |
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2 | EIGEN_VECTOR_IS_APPROX(contact.normal, hspace.n, tol); |
| 290 | |||
| 291 | 2 | const size_t expected_size = 1; | |
| 292 |
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2 | ContactPatch expected(expected_size); |
| 293 | 2 | expected.tf.rotation() = | |
| 294 |
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4 | constructOrthonormalBasisFromVector(contact.normal); |
| 295 |
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2 | expected.tf.translation() = contact.pos; |
| 296 | 2 | expected.penetration_depth = contact.penetration_depth; | |
| 297 |
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2 | const Vec3s capsule_end(0, 0, capsule.halfLength); |
| 298 |
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2 | expected.addPoint(tf2.transform(capsule_end)); |
| 299 | |||
| 300 |
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2 | const ContactPatch &contact_patch = patch_res.getContactPatch(0); |
| 301 |
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2 | BOOST_CHECK(expected.tf == contact_patch.tf); |
| 302 |
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2 | BOOST_CHECK(expected.isSame(contact_patch, tol)); |
| 303 | 2 | } | |
| 304 | |||
| 305 | // Rotate cone 90 degrees around y-axis | ||
| 306 | // Should only have two contacts. | ||
| 307 |
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2 | tf2.rotation().col(0) << 0, 0, 1; |
| 308 |
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2 | tf2.rotation().col(1) << 0, 1, 0; |
| 309 |
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2 | tf2.rotation().col(2) << -1, 0, 0; |
| 310 |
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2 | tf2.translation() << 0, 0, capsule.radius - offset; |
| 311 |
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2 | col_res.clear(); |
| 312 |
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2 | coal::collide(&hspace, tf1, &capsule, tf2, col_req, col_res); |
| 313 |
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2 | BOOST_CHECK(col_res.isCollision()); |
| 314 |
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2 | patch_res.clear(); |
| 315 |
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2 | coal::computeContactPatch(&hspace, tf1, &capsule, tf2, col_res, patch_req, |
| 316 | patch_res); | ||
| 317 |
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2 | BOOST_CHECK(patch_res.numContactPatches() == 1); |
| 318 |
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2 | if (patch_res.numContactPatches() > 0 && col_res.isCollision()) { |
| 319 |
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2 | const Contact &contact = col_res.getContact(0); |
| 320 | 2 | const Scalar tol = Scalar(1e-6); | |
| 321 |
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2 | EIGEN_VECTOR_IS_APPROX(contact.normal, hspace.n, tol); |
| 322 | |||
| 323 | 2 | const size_t expected_size = 2; | |
| 324 |
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2 | ContactPatch expected(expected_size); |
| 325 | 2 | expected.tf.rotation() = | |
| 326 |
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4 | constructOrthonormalBasisFromVector(contact.normal); |
| 327 |
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2 | expected.tf.translation() = contact.pos; |
| 328 | 2 | expected.penetration_depth = contact.penetration_depth; | |
| 329 |
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2 | const Vec3s p1(-capsule.radius, 0, capsule.halfLength); |
| 330 |
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2 | const Vec3s p2(-capsule.radius, 0, -capsule.halfLength); |
| 331 |
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2 | expected.addPoint(tf2.transform(p1)); |
| 332 |
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2 | expected.addPoint(tf2.transform(p2)); |
| 333 | |||
| 334 |
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2 | const ContactPatch &contact_patch = patch_res.getContactPatch(0); |
| 335 |
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2 | BOOST_CHECK(expected.tf == contact_patch.tf); |
| 336 |
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2 | BOOST_CHECK(expected.isSame(contact_patch, tol)); |
| 337 | 2 | } | |
| 338 | 2 | } | |
| 339 | |||
| 340 |
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4 | BOOST_AUTO_TEST_CASE(halfspace_cone) { |
| 341 |
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2 | const Halfspace hspace(0, 0, 1, 0); |
| 342 | 2 | const Scalar radius = 0.25; | |
| 343 | 2 | const Scalar height = 1.; | |
| 344 |
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2 | const Cone cone(radius, height); |
| 345 | |||
| 346 |
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2 | const Transform3s tf1; |
| 347 |
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2 | Transform3s tf2; |
| 348 | // set translation to have a collision | ||
| 349 | 2 | const Scalar offset = Scalar(0.001); | |
| 350 |
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2 | tf2.setTranslation(Vec3s(0, 0, height / 2 - offset)); |
| 351 | |||
| 352 | 2 | const size_t num_max_contact = 1; | |
| 353 | const CollisionRequest col_req(CollisionRequestFlag::CONTACT, | ||
| 354 |
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2 | num_max_contact); |
| 355 |
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2 | CollisionResult col_res; |
| 356 |
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2 | coal::collide(&hspace, tf1, &cone, tf2, col_req, col_res); |
| 357 |
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2 | BOOST_CHECK(col_res.isCollision()); |
| 358 | |||
| 359 |
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2 | const ContactPatchRequest patch_req; |
| 360 |
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2 | BOOST_CHECK(patch_req.getNumSamplesCurvedShapes() == |
| 361 | ContactPatch::default_preallocated_size); | ||
| 362 |
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2 | ContactPatchResult patch_res(patch_req); |
| 363 |
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2 | coal::computeContactPatch(&hspace, tf1, &cone, tf2, col_res, patch_req, |
| 364 | patch_res); | ||
| 365 |
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2 | BOOST_CHECK(patch_res.numContactPatches() == 1); |
| 366 | |||
| 367 |
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2 | if (patch_res.numContactPatches() > 0 && col_res.isCollision()) { |
| 368 |
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2 | const Contact &contact = col_res.getContact(0); |
| 369 | 2 | const Scalar tol = Scalar(1e-6); | |
| 370 |
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2 | EIGEN_VECTOR_IS_APPROX(contact.normal, hspace.n, tol); |
| 371 | |||
| 372 | 2 | const size_t expected_size = ContactPatch::default_preallocated_size; | |
| 373 |
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2 | ContactPatch expected(expected_size); |
| 374 | 2 | expected.tf.rotation() = | |
| 375 |
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4 | constructOrthonormalBasisFromVector(contact.normal); |
| 376 |
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2 | expected.tf.translation() = contact.pos; |
| 377 | 2 | expected.penetration_depth = contact.penetration_depth; | |
| 378 |
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2 | std::array<Vec3s, ContactPatch::default_preallocated_size> points; |
| 379 | 2 | const Scalar angle_increment = 2.0 * (Scalar)(EIGEN_PI) / ((Scalar)(6)); | |
| 380 |
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26 | for (size_t i = 0; i < ContactPatch::default_preallocated_size; ++i) { |
| 381 | 24 | const Scalar theta = (Scalar)(i)*angle_increment; | |
| 382 | ✗ | Vec3s point_on_cone_base(std::cos(theta) * cone.radius, | |
| 383 |
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24 | std::sin(theta) * cone.radius, -cone.halfLength); |
| 384 |
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24 | expected.addPoint(tf2.transform(point_on_cone_base)); |
| 385 | } | ||
| 386 | |||
| 387 |
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2 | const ContactPatch &contact_patch = patch_res.getContactPatch(0); |
| 388 |
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2 | BOOST_CHECK(expected.tf == contact_patch.tf); |
| 389 |
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2 | BOOST_CHECK(expected.isSame(contact_patch, tol)); |
| 390 | 2 | } | |
| 391 | |||
| 392 | // Rotate cone 180 degrees around y-axis | ||
| 393 | // Should only have one contact, due to cone-tip/halfspace collision. | ||
| 394 |
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2 | tf2.rotation().col(0) << -1, 0, 0; |
| 395 |
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2 | tf2.rotation().col(1) << 0, 1, 0; |
| 396 |
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2 | tf2.rotation().col(2) << 0, 0, -1; |
| 397 |
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2 | col_res.clear(); |
| 398 |
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2 | coal::collide(&hspace, tf1, &cone, tf2, col_req, col_res); |
| 399 |
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2 | BOOST_CHECK(col_res.isCollision()); |
| 400 |
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2 | patch_res.clear(); |
| 401 |
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2 | coal::computeContactPatch(&hspace, tf1, &cone, tf2, col_res, patch_req, |
| 402 | patch_res); | ||
| 403 |
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2 | BOOST_CHECK(patch_res.numContactPatches() == 1); |
| 404 |
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2 | if (patch_res.numContactPatches() > 0 && col_res.isCollision()) { |
| 405 |
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2 | const Contact &contact = col_res.getContact(0); |
| 406 |
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2 | const ContactPatch &contact_patch = patch_res.getContactPatch(0); |
| 407 |
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2 | BOOST_CHECK(contact_patch.size() == 1); |
| 408 | 2 | const Scalar tol = Scalar(1e-8); | |
| 409 |
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2 | EIGEN_VECTOR_IS_APPROX(contact_patch.getPoint(0), contact.pos, tol); |
| 410 |
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2 | EIGEN_VECTOR_IS_APPROX(contact_patch.tf.translation(), contact.pos, tol); |
| 411 |
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2 | EIGEN_VECTOR_IS_APPROX(contact_patch.getNormal(), contact.normal, tol); |
| 412 |
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2 | BOOST_CHECK(std::abs(contact_patch.penetration_depth - |
| 413 | contact.penetration_depth) < tol); | ||
| 414 | |||
| 415 | 2 | const size_t expected_size = 1; | |
| 416 |
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2 | ContactPatch expected(expected_size); |
| 417 | 2 | expected.tf.rotation() = | |
| 418 |
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4 | constructOrthonormalBasisFromVector(contact.normal); |
| 419 |
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2 | expected.tf.translation() = contact.pos; |
| 420 | 2 | expected.penetration_depth = contact.penetration_depth; | |
| 421 |
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2 | const Vec3s cone_tip(0, 0, cone.halfLength); |
| 422 |
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2 | expected.addPoint(tf2.transform(cone_tip)); |
| 423 | |||
| 424 |
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2 | BOOST_CHECK(contact_patch.isSame(expected, tol)); |
| 425 | 2 | } | |
| 426 | |||
| 427 | // Rotate cone 90 degrees around y-axis | ||
| 428 | // Should only have one contact, on cone circle basis. | ||
| 429 |
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2 | tf2.rotation().col(0) << 0, 0, 1; |
| 430 |
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2 | tf2.rotation().col(1) << 0, 1, 0; |
| 431 |
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2 | tf2.rotation().col(2) << -1, 0, 0; |
| 432 |
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2 | tf2.translation() << 0, 0, cone.radius - offset; |
| 433 |
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2 | col_res.clear(); |
| 434 |
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2 | coal::collide(&hspace, tf1, &cone, tf2, col_req, col_res); |
| 435 |
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2 | BOOST_CHECK(col_res.isCollision()); |
| 436 |
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2 | patch_res.clear(); |
| 437 |
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2 | coal::computeContactPatch(&hspace, tf1, &cone, tf2, col_res, patch_req, |
| 438 | patch_res); | ||
| 439 |
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2 | BOOST_CHECK(patch_res.numContactPatches() == 1); |
| 440 |
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2 | if (patch_res.numContactPatches() > 0 && col_res.isCollision()) { |
| 441 |
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2 | const Contact &contact = col_res.getContact(0); |
| 442 |
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2 | const ContactPatch &contact_patch = patch_res.getContactPatch(0); |
| 443 |
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2 | BOOST_CHECK(contact_patch.size() == 1); |
| 444 | 2 | const Scalar tol = Scalar(1e-8); | |
| 445 |
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2 | EIGEN_VECTOR_IS_APPROX(contact_patch.getPoint(0), contact.pos, tol); |
| 446 |
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2 | EIGEN_VECTOR_IS_APPROX(contact_patch.tf.translation(), contact.pos, tol); |
| 447 |
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2 | EIGEN_VECTOR_IS_APPROX(contact_patch.getNormal(), contact.normal, tol); |
| 448 |
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2 | BOOST_CHECK(std::abs(contact_patch.penetration_depth - |
| 449 | contact.penetration_depth) < tol); | ||
| 450 | |||
| 451 | 2 | const size_t expected_size = 1; | |
| 452 |
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2 | ContactPatch expected(expected_size); |
| 453 | 2 | expected.tf.rotation() = | |
| 454 |
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4 | constructOrthonormalBasisFromVector(contact.normal); |
| 455 |
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2 | expected.tf.translation() = contact.pos; |
| 456 | 2 | expected.penetration_depth = contact.penetration_depth; | |
| 457 |
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2 | const Vec3s point_on_circle_basis(-cone.radius, 0, -cone.halfLength); |
| 458 |
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2 | expected.addPoint(tf2.transform(point_on_circle_basis)); |
| 459 | |||
| 460 |
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2 | BOOST_CHECK(contact_patch.isSame(expected, tol)); |
| 461 | 2 | } | |
| 462 | 2 | } | |
| 463 | |||
| 464 |
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4 | BOOST_AUTO_TEST_CASE(halfspace_cylinder) { |
| 465 |
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2 | const Halfspace hspace(0, 0, 1, 0); |
| 466 | 2 | const Scalar radius = Scalar(0.25); | |
| 467 | 2 | const Scalar height = 1; | |
| 468 |
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2 | const Cylinder cylinder(radius, height); |
| 469 | |||
| 470 |
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2 | const Transform3s tf1; |
| 471 |
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2 | Transform3s tf2; |
| 472 | // set translation to have a collision | ||
| 473 | 2 | const Scalar offset = Scalar(0.001); | |
| 474 |
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2 | tf2.setTranslation(Vec3s(0, 0, height / 2 - offset)); |
| 475 | |||
| 476 | 2 | const size_t num_max_contact = 1; | |
| 477 | const CollisionRequest col_req(CollisionRequestFlag::CONTACT, | ||
| 478 |
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2 | num_max_contact); |
| 479 |
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2 | CollisionResult col_res; |
| 480 |
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2 | coal::collide(&hspace, tf1, &cylinder, tf2, col_req, col_res); |
| 481 |
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2 | BOOST_CHECK(col_res.isCollision()); |
| 482 | |||
| 483 |
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2 | if (col_res.isCollision()) { |
| 484 |
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2 | const Contact &contact = col_res.getContact(0); |
| 485 | 2 | const size_t expected_size = ContactPatch::default_preallocated_size; | |
| 486 | 2 | const Scalar tol = Scalar(1e-6); | |
| 487 |
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2 | ContactPatch expected(expected_size); |
| 488 | 2 | expected.tf.rotation() = | |
| 489 |
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4 | constructOrthonormalBasisFromVector(contact.normal); |
| 490 |
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2 | expected.tf.translation() = contact.pos; |
| 491 | 2 | expected.penetration_depth = contact.penetration_depth; | |
| 492 |
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2 | std::array<Vec3s, ContactPatch::default_preallocated_size> points; |
| 493 | 2 | const Scalar angle_increment = 2.0 * (Scalar)(EIGEN_PI) / ((Scalar)(6)); | |
| 494 |
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26 | for (size_t i = 0; i < ContactPatch::default_preallocated_size; ++i) { |
| 495 | 24 | const Scalar theta = (Scalar)(i)*angle_increment; | |
| 496 | ✗ | Vec3s point_on_cone_base(std::cos(theta) * cylinder.radius, | |
| 497 | ✗ | std::sin(theta) * cylinder.radius, | |
| 498 |
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24 | -cylinder.halfLength); |
| 499 |
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24 | expected.addPoint(tf2.transform(point_on_cone_base)); |
| 500 | } | ||
| 501 | |||
| 502 |
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2 | const ContactPatchRequest patch_req; |
| 503 |
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2 | BOOST_CHECK(patch_req.getNumSamplesCurvedShapes() == |
| 504 | ContactPatch::default_preallocated_size); | ||
| 505 |
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2 | ContactPatchResult patch_res(patch_req); |
| 506 |
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2 | coal::computeContactPatch(&hspace, tf1, &cylinder, tf2, col_res, patch_req, |
| 507 | patch_res); | ||
| 508 |
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2 | BOOST_CHECK(patch_res.numContactPatches() == 1); |
| 509 | |||
| 510 |
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2 | if (patch_res.numContactPatches() > 0) { |
| 511 |
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2 | EIGEN_VECTOR_IS_APPROX(contact.normal, hspace.n, tol); |
| 512 |
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2 | const ContactPatch &contact_patch = patch_res.getContactPatch(0); |
| 513 |
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2 | BOOST_CHECK(expected.tf == contact_patch.tf); |
| 514 |
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2 | BOOST_CHECK(expected.isSame(contact_patch, tol)); |
| 515 | } | ||
| 516 | |||
| 517 | // Rotate cylinder 180 degrees around y-axis. | ||
| 518 | // Should only have the same contact-patch, due to cylinder symmetry. | ||
| 519 |
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2 | tf2.rotation().col(0) << -1, 0, 0; |
| 520 |
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2 | tf2.rotation().col(1) << 0, 1, 0; |
| 521 |
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2 | tf2.rotation().col(2) << 0, 0, -1; |
| 522 |
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2 | col_res.clear(); |
| 523 |
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2 | coal::collide(&hspace, tf1, &cylinder, tf2, col_req, col_res); |
| 524 |
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2 | BOOST_CHECK(col_res.isCollision()); |
| 525 |
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2 | patch_res.clear(); |
| 526 |
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2 | coal::computeContactPatch(&hspace, tf1, &cylinder, tf2, col_res, patch_req, |
| 527 | patch_res); | ||
| 528 |
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2 | BOOST_CHECK(patch_res.numContactPatches() == 1); |
| 529 |
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2 | if (patch_res.numContactPatches() > 0 && col_res.isCollision()) { |
| 530 |
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2 | EIGEN_VECTOR_IS_APPROX(contact.normal, hspace.n, tol); |
| 531 |
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2 | const ContactPatch &contact_patch = patch_res.getContactPatch(0); |
| 532 |
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2 | BOOST_CHECK(expected.tf == contact_patch.tf); |
| 533 |
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2 | BOOST_CHECK(expected.isSame(contact_patch, tol)); |
| 534 | } | ||
| 535 | 2 | } | |
| 536 | |||
| 537 | // Rotate cylinder 90 degrees around y-axis. | ||
| 538 | // Should have 2 contact points. | ||
| 539 |
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2 | tf2.rotation().col(0) << 0, 0, 1; |
| 540 |
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2 | tf2.rotation().col(1) << 0, 1, 0; |
| 541 |
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2 | tf2.rotation().col(2) << -1, 0, 0; |
| 542 |
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2 | tf2.translation() << 0, 0, cylinder.radius - offset; |
| 543 | |||
| 544 |
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2 | col_res.clear(); |
| 545 |
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2 | coal::collide(&hspace, tf1, &cylinder, tf2, col_req, col_res); |
| 546 |
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2 | BOOST_CHECK(col_res.isCollision()); |
| 547 | |||
| 548 |
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2 | const ContactPatchRequest patch_req; |
| 549 |
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2 | ContactPatchResult patch_res(patch_req); |
| 550 |
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2 | coal::computeContactPatch(&hspace, tf1, &cylinder, tf2, col_res, patch_req, |
| 551 | patch_res); | ||
| 552 |
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2 | BOOST_CHECK(patch_res.numContactPatches() == 1); |
| 553 |
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2 | if (col_res.isCollision() && patch_res.numContactPatches() > 0) { |
| 554 |
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2 | const Contact &contact = col_res.getContact(0); |
| 555 | 2 | const Scalar tol = Scalar(1e-6); | |
| 556 | |||
| 557 | 2 | const size_t expected_size = 2; | |
| 558 |
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2 | ContactPatch expected(expected_size); |
| 559 | 2 | expected.tf.rotation() = | |
| 560 |
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4 | constructOrthonormalBasisFromVector(contact.normal); |
| 561 |
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2 | expected.tf.translation() = contact.pos; |
| 562 | 2 | expected.penetration_depth = contact.penetration_depth; | |
| 563 |
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2 | expected.addPoint( |
| 564 |
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2 | tf2.transform(Vec3s(cylinder.radius, 0, cylinder.halfLength))); |
| 565 |
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2 | expected.addPoint( |
| 566 |
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2 | tf2.transform(Vec3s(cylinder.radius, 0, -cylinder.halfLength))); |
| 567 | |||
| 568 |
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2 | const ContactPatch &contact_patch = patch_res.getContactPatch(0); |
| 569 |
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2 | BOOST_CHECK(expected.isSame(contact_patch, tol)); |
| 570 | 2 | } | |
| 571 | 2 | } | |
| 572 | |||
| 573 |
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|
4 | BOOST_AUTO_TEST_CASE(convex_convex) { |
| 574 | 2 | const Scalar halfside = 0.5; | |
| 575 |
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2 | const ConvexTpl<Quadrilateral32> box1(buildBox(halfside, halfside, halfside)); |
| 576 |
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2 | const ConvexTpl<Quadrilateral32> box2(buildBox(halfside, halfside, halfside)); |
| 577 | |||
| 578 |
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2 | const Transform3s tf1; |
| 579 |
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2 | Transform3s tf2; |
| 580 | // set translation to have a collision | ||
| 581 | 2 | const Scalar offset = Scalar(0.001); | |
| 582 |
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2 | tf2.setTranslation(Vec3s(0, 0, 2 * halfside - offset)); |
| 583 | |||
| 584 | 2 | const size_t num_max_contact = 1; | |
| 585 | const CollisionRequest col_req(CollisionRequestFlag::CONTACT, | ||
| 586 |
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2 | num_max_contact); |
| 587 |
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2 | CollisionResult col_res; |
| 588 | |||
| 589 |
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2 | coal::collide(&box1, tf1, &box2, tf2, col_req, col_res); |
| 590 | |||
| 591 |
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2 | BOOST_CHECK(col_res.isCollision()); |
| 592 | |||
| 593 |
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2 | const ContactPatchRequest patch_req; |
| 594 |
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2 | ContactPatchResult patch_res1(patch_req); |
| 595 |
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2 | ContactPatchResult patch_res2(patch_req); |
| 596 |
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2 | coal::computeContactPatch(&box1, tf1, &box2, tf2, col_res, patch_req, |
| 597 | patch_res1); | ||
| 598 |
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2 | coal::computeContactPatch(&box1, tf1, &box2, tf2, col_res, patch_req, |
| 599 | patch_res2); | ||
| 600 |
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2 | BOOST_CHECK(patch_res1.numContactPatches() == 1); |
| 601 |
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2 | BOOST_CHECK(patch_res2.numContactPatches() == 1); |
| 602 | |||
| 603 |
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4 | if (patch_res1.numContactPatches() > 0 && |
| 604 |
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4 | patch_res2.numContactPatches() > 0 && col_res.isCollision()) { |
| 605 |
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2 | const Contact &contact = col_res.getContact(0); |
| 606 | 2 | const Scalar tol = Scalar(1e-6); | |
| 607 |
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2 | EIGEN_VECTOR_IS_APPROX(contact.normal, Vec3s(0, 0, 1), tol); |
| 608 | |||
| 609 | 2 | const size_t expected_size = 4; | |
| 610 |
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2 | ContactPatch expected(expected_size); |
| 611 | 2 | expected.tf.rotation() = | |
| 612 |
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4 | constructOrthonormalBasisFromVector(contact.normal); |
| 613 |
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2 | expected.tf.translation() = contact.pos; |
| 614 | 2 | expected.penetration_depth = contact.penetration_depth; | |
| 615 | const std::array<Vec3s, 4> corners = { | ||
| 616 | Vec3s(halfside, halfside, halfside), | ||
| 617 | ✗ | Vec3s(halfside, -halfside, halfside), | |
| 618 | ✗ | Vec3s(-halfside, -halfside, halfside), | |
| 619 | ✗ | Vec3s(-halfside, halfside, halfside), | |
| 620 |
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2 | }; |
| 621 |
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10 | for (size_t i = 0; i < expected_size; ++i) { |
| 622 |
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8 | expected.addPoint(corners[i] + |
| 623 |
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16 | (contact.penetration_depth * contact.normal) / 2); |
| 624 | } | ||
| 625 | |||
| 626 |
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2 | BOOST_CHECK(patch_res1.getContactPatch(0).isSame(expected, tol)); |
| 627 |
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2 | BOOST_CHECK(patch_res2.getContactPatch(0).isSame(expected, tol)); |
| 628 | 2 | } | |
| 629 | 2 | } | |
| 630 | |||
| 631 |
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4 | BOOST_AUTO_TEST_CASE(edge_case_segment_segment) { |
| 632 | // This case covers the segment-segment edge case of contact patches. | ||
| 633 | // Two tetrahedrons make contact on one of their edge. | ||
| 634 | |||
| 635 | 2 | const size_t expected_size = 2; | |
| 636 |
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2 | const Vec3s expected_cp1(0, 0.5, 0); |
| 637 |
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2 | const Vec3s expected_cp2(0, 1, 0); |
| 638 | |||
| 639 |
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2 | const Transform3s tf1; // identity |
| 640 |
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2 | const Transform3s tf2; // identity |
| 641 | |||
| 642 | 2 | const size_t num_max_contact = 1; | |
| 643 | const CollisionRequest col_req(CollisionRequestFlag::CONTACT, | ||
| 644 |
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2 | num_max_contact); |
| 645 |
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2 | CollisionResult col_res; |
| 646 |
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2 | const ContactPatchRequest patch_req; |
| 647 |
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2 | ContactPatchResult patch_res(patch_req); |
| 648 | |||
| 649 | { | ||
| 650 | // Case 1 - Face-Face contact | ||
| 651 | std::shared_ptr<std::vector<Vec3s>> pts1(new std::vector<Vec3s>({ | ||
| 652 | Vec3s(-1, 0, 0), | ||
| 653 | Vec3s(0, 0, 0), | ||
| 654 | Vec3s(0, 1, 0), | ||
| 655 | Vec3s(-1, -1, -1), | ||
| 656 |
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4 | })); |
| 657 | std::shared_ptr<std::vector<Triangle32>> tris1(new std::vector<Triangle32>( | ||
| 658 | {Triangle32(0, 1, 2), Triangle32(0, 2, 3), Triangle32(0, 3, 1), | ||
| 659 |
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4 | Triangle32(2, 1, 3)})); |
| 660 |
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2 | ConvexTpl<Triangle32> tetra1(pts1, 4, tris1, 4); |
| 661 | |||
| 662 | std::shared_ptr<std::vector<Vec3s>> pts2(new std::vector<Vec3s>({ | ||
| 663 | ✗ | Vec3s(0, 0.5, 0), | |
| 664 | ✗ | Vec3s(0, 1.5, 0), | |
| 665 | ✗ | Vec3s(1, 0.5, 0), | |
| 666 | Vec3s(1, 1, 1), | ||
| 667 |
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4 | })); |
| 668 | std::shared_ptr<std::vector<Triangle32>> tris2(new std::vector<Triangle32>( | ||
| 669 | {Triangle32(0, 1, 2), Triangle32(0, 2, 3), Triangle32(0, 3, 1), | ||
| 670 |
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4 | Triangle32(2, 1, 3)})); |
| 671 |
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2 | ConvexTpl<Triangle32> tetra2(pts2, 4, tris2, 4); |
| 672 | |||
| 673 |
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2 | col_res.clear(); |
| 674 |
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2 | coal::collide(&tetra1, tf1, &tetra2, tf2, col_req, col_res); |
| 675 |
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2 | BOOST_CHECK(col_res.isCollision()); |
| 676 |
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2 | patch_res.clear(); |
| 677 |
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2 | coal::computeContactPatch(&tetra1, tf1, &tetra2, tf2, col_res, patch_req, |
| 678 | patch_res); | ||
| 679 |
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2 | BOOST_CHECK(patch_res.numContactPatches() == 1); |
| 680 | |||
| 681 |
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2 | if (patch_res.numContactPatches() > 0) { |
| 682 |
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2 | const Contact &contact = col_res.getContact(0); |
| 683 | 2 | const Scalar tol = Scalar(1e-6); | |
| 684 | |||
| 685 |
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2 | ContactPatch expected(expected_size); |
| 686 | // GJK/EPA can return any normal which is in the dual cone | ||
| 687 | // of the cone {(-1, 0, 0)}. | ||
| 688 | 2 | expected.tf.rotation() = | |
| 689 |
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4 | constructOrthonormalBasisFromVector(contact.normal); |
| 690 |
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2 | expected.tf.translation() = contact.pos; |
| 691 | 2 | expected.penetration_depth = contact.penetration_depth; | |
| 692 |
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2 | expected.addPoint(expected_cp1); |
| 693 |
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2 | expected.addPoint(expected_cp2); |
| 694 | |||
| 695 |
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2 | const ContactPatch &contact_patch = patch_res.getContactPatch(0); |
| 696 |
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2 | BOOST_CHECK(expected.isSame(contact_patch, tol)); |
| 697 | 2 | } | |
| 698 | 2 | } | |
| 699 | |||
| 700 | { | ||
| 701 | // Case 2 - Face-Segment contact | ||
| 702 | std::shared_ptr<std::vector<Vec3s>> pts1(new std::vector<Vec3s>({ | ||
| 703 | ✗ | Vec3s(-1, 0, Scalar(-0.2)), | |
| 704 | Vec3s(0, 0, 0), | ||
| 705 | Vec3s(0, 1, 0), | ||
| 706 | Vec3s(-1, -1, -1), | ||
| 707 |
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4 | })); |
| 708 | std::shared_ptr<std::vector<Triangle32>> tris1(new std::vector<Triangle32>( | ||
| 709 | {Triangle32(0, 1, 2), Triangle32(0, 2, 3), Triangle32(0, 3, 1), | ||
| 710 |
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4 | Triangle32(2, 1, 3)})); |
| 711 |
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2 | ConvexTpl<Triangle32> tetra1(pts1, 4, tris1, 4); |
| 712 | |||
| 713 | std::shared_ptr<std::vector<Vec3s>> pts2(new std::vector<Vec3s>({ | ||
| 714 | ✗ | Vec3s(0, 0.5, 0), | |
| 715 | ✗ | Vec3s(0, 1.5, 0), | |
| 716 | ✗ | Vec3s(1, 0.5, 0), | |
| 717 | Vec3s(1, 1, 1), | ||
| 718 |
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4 | })); |
| 719 | std::shared_ptr<std::vector<Triangle32>> tris2(new std::vector<Triangle32>( | ||
| 720 | {Triangle32(0, 1, 2), Triangle32(0, 2, 3), Triangle32(0, 3, 1), | ||
| 721 |
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4 | Triangle32(2, 1, 3)})); |
| 722 |
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2 | ConvexTpl<Triangle32> tetra2(pts2, 4, tris2, 4); |
| 723 | |||
| 724 |
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2 | col_res.clear(); |
| 725 |
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2 | coal::collide(&tetra1, tf1, &tetra2, tf2, col_req, col_res); |
| 726 |
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2 | BOOST_CHECK(col_res.isCollision()); |
| 727 |
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2 | patch_res.clear(); |
| 728 |
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2 | coal::computeContactPatch(&tetra1, tf1, &tetra2, tf2, col_res, patch_req, |
| 729 | patch_res); | ||
| 730 |
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2 | BOOST_CHECK(patch_res.numContactPatches() == 1); |
| 731 | |||
| 732 |
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2 | if (patch_res.numContactPatches() > 0) { |
| 733 |
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2 | const Contact &contact = col_res.getContact(0); |
| 734 | 2 | const Scalar tol = Scalar(1e-6); | |
| 735 | |||
| 736 |
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2 | ContactPatch expected(expected_size); |
| 737 | 2 | expected.tf.rotation() = | |
| 738 |
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4 | constructOrthonormalBasisFromVector(contact.normal); |
| 739 |
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2 | expected.tf.translation() = contact.pos; |
| 740 | 2 | expected.penetration_depth = contact.penetration_depth; | |
| 741 |
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2 | expected.addPoint(expected_cp1); |
| 742 |
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2 | expected.addPoint(expected_cp2); |
| 743 | |||
| 744 |
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2 | const ContactPatch &contact_patch = patch_res.getContactPatch(0); |
| 745 |
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2 | BOOST_CHECK(expected.isSame(contact_patch, tol)); |
| 746 | 2 | } | |
| 747 | 2 | } | |
| 748 | |||
| 749 | { | ||
| 750 | // Case 3 - Segment-Segment contact | ||
| 751 | std::shared_ptr<std::vector<Vec3s>> pts1(new std::vector<Vec3s>({ | ||
| 752 | ✗ | Vec3s(-1, 0, Scalar(-0.2)), | |
| 753 | Vec3s(0, 0, 0), | ||
| 754 | Vec3s(0, 1, 0), | ||
| 755 | Vec3s(-1, -1, -1), | ||
| 756 |
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4 | })); |
| 757 | std::shared_ptr<std::vector<Triangle32>> tris1(new std::vector<Triangle32>( | ||
| 758 | {Triangle32(0, 1, 2), Triangle32(0, 2, 3), Triangle32(0, 3, 1), | ||
| 759 |
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4 | Triangle32(2, 1, 3)})); |
| 760 |
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2 | ConvexTpl<Triangle32> tetra1(pts1, 4, tris1, 4); |
| 761 | |||
| 762 | std::shared_ptr<std::vector<Vec3s>> pts2(new std::vector<Vec3s>({ | ||
| 763 | ✗ | Vec3s(0, 0.5, 0), | |
| 764 | ✗ | Vec3s(0, 1.5, 0), | |
| 765 | ✗ | Vec3s(1, 0.5, 0.5), | |
| 766 | Vec3s(1, 1, 1), | ||
| 767 |
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4 | })); |
| 768 | std::shared_ptr<std::vector<Triangle32>> tris2(new std::vector<Triangle32>( | ||
| 769 | {Triangle32(0, 1, 2), Triangle32(0, 2, 3), Triangle32(0, 3, 1), | ||
| 770 |
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4 | Triangle32(2, 1, 3)})); |
| 771 |
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2 | ConvexTpl<Triangle32> tetra2(pts2, 4, tris2, 4); |
| 772 | |||
| 773 |
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2 | col_res.clear(); |
| 774 |
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2 | coal::collide(&tetra1, tf1, &tetra2, tf2, col_req, col_res); |
| 775 |
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2 | BOOST_CHECK(col_res.isCollision()); |
| 776 |
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2 | patch_res.clear(); |
| 777 |
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2 | coal::computeContactPatch(&tetra1, tf1, &tetra2, tf2, col_res, patch_req, |
| 778 | patch_res); | ||
| 779 |
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2 | BOOST_CHECK(patch_res.numContactPatches() == 1); |
| 780 | |||
| 781 |
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2 | if (patch_res.numContactPatches() > 0) { |
| 782 |
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2 | const Contact &contact = col_res.getContact(0); |
| 783 | 2 | const Scalar tol = Scalar(1e-6); | |
| 784 | |||
| 785 |
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2 | ContactPatch expected(expected_size); |
| 786 | 2 | expected.tf.rotation() = | |
| 787 |
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4 | constructOrthonormalBasisFromVector(contact.normal); |
| 788 |
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2 | expected.tf.translation() = contact.pos; |
| 789 | 2 | expected.penetration_depth = contact.penetration_depth; | |
| 790 |
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2 | expected.addPoint(expected_cp1); |
| 791 |
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2 | expected.addPoint(expected_cp2); |
| 792 | |||
| 793 |
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2 | const ContactPatch &contact_patch = patch_res.getContactPatch(0); |
| 794 |
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2 | BOOST_CHECK(expected.isSame(contact_patch, tol)); |
| 795 | 2 | } | |
| 796 | 2 | } | |
| 797 | 2 | } | |
| 798 | |||
| 799 |
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|
4 | BOOST_AUTO_TEST_CASE(edge_case_vertex_vertex) { |
| 800 | // This case covers the vertex-vertex edge case of contact patches. | ||
| 801 | // Two tetrahedrons make contact on one of their vertex. | ||
| 802 | 2 | const size_t expected_size = 1; | |
| 803 |
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2 | const Vec3s expected_cp(0, 0, 0); |
| 804 | |||
| 805 |
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2 | const Transform3s tf1; // identity |
| 806 |
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2 | const Transform3s tf2; // identity |
| 807 | |||
| 808 | 2 | const size_t num_max_contact = 1; | |
| 809 | const CollisionRequest col_req(CollisionRequestFlag::CONTACT, | ||
| 810 |
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2 | num_max_contact); |
| 811 |
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2 | CollisionResult col_res; |
| 812 |
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2 | const ContactPatchRequest patch_req; |
| 813 |
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2 | ContactPatchResult patch_res(patch_req); |
| 814 | |||
| 815 | { | ||
| 816 | // Case 1 - Face-Face contact | ||
| 817 | std::shared_ptr<std::vector<Vec3s>> pts1(new std::vector<Vec3s>({ | ||
| 818 | Vec3s(-1, 0, 0), | ||
| 819 | Vec3s(0, 0, 0), | ||
| 820 | Vec3s(0, 1, 0), | ||
| 821 | Vec3s(-1, -1, -1), | ||
| 822 |
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4 | })); |
| 823 | std::shared_ptr<std::vector<Triangle32>> tris1(new std::vector<Triangle32>( | ||
| 824 | {Triangle32(0, 1, 2), Triangle32(0, 2, 3), Triangle32(0, 3, 1), | ||
| 825 |
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4 | Triangle32(2, 1, 3)})); |
| 826 |
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2 | ConvexTpl<Triangle32> tetra1(pts1, 4, tris1, 4); |
| 827 | |||
| 828 | std::shared_ptr<std::vector<Vec3s>> pts2(new std::vector<Vec3s>({ | ||
| 829 | Vec3s(1, 0, 0), | ||
| 830 | Vec3s(0, 0, 0), | ||
| 831 | Vec3s(0, -1, 0), | ||
| 832 | Vec3s(1, 1, 1), | ||
| 833 |
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4 | })); |
| 834 | std::shared_ptr<std::vector<Triangle32>> tris2(new std::vector<Triangle32>( | ||
| 835 | {Triangle32(0, 1, 2), Triangle32(0, 2, 3), Triangle32(0, 3, 1), | ||
| 836 |
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4 | Triangle32(2, 1, 3)})); |
| 837 |
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2 | ConvexTpl<Triangle32> tetra2(pts2, 4, tris2, 4); |
| 838 | |||
| 839 |
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2 | col_res.clear(); |
| 840 |
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2 | coal::collide(&tetra1, tf1, &tetra2, tf2, col_req, col_res); |
| 841 |
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2 | BOOST_CHECK(col_res.isCollision()); |
| 842 |
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2 | patch_res.clear(); |
| 843 |
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2 | coal::computeContactPatch(&tetra1, tf1, &tetra2, tf2, col_res, patch_req, |
| 844 | patch_res); | ||
| 845 |
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2 | BOOST_CHECK(patch_res.numContactPatches() == 1); |
| 846 | |||
| 847 |
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2 | if (patch_res.numContactPatches() > 0) { |
| 848 |
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2 | const Contact &contact = col_res.getContact(0); |
| 849 | 2 | const Scalar tol = Scalar(1e-6); | |
| 850 | |||
| 851 |
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2 | ContactPatch expected(expected_size); |
| 852 | 2 | expected.tf.rotation() = | |
| 853 |
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4 | constructOrthonormalBasisFromVector(contact.normal); |
| 854 |
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2 | expected.tf.translation() = contact.pos; |
| 855 | 2 | expected.penetration_depth = contact.penetration_depth; | |
| 856 |
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2 | expected.addPoint(expected_cp); |
| 857 | |||
| 858 |
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2 | const ContactPatch &contact_patch = patch_res.getContactPatch(0); |
| 859 |
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2 | BOOST_CHECK(expected.isSame(contact_patch, tol)); |
| 860 | 2 | } | |
| 861 | 2 | } | |
| 862 | |||
| 863 | { | ||
| 864 | // Case 2 - Segment-Face contact | ||
| 865 | std::shared_ptr<std::vector<Vec3s>> pts1(new std::vector<Vec3s>({ | ||
| 866 | ✗ | Vec3s(-1, 0, -0.5), | |
| 867 | Vec3s(0, 0, 0), | ||
| 868 | Vec3s(0, 1, 0), | ||
| 869 | Vec3s(-1, -1, -1), | ||
| 870 |
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4 | })); |
| 871 | std::shared_ptr<std::vector<Triangle32>> tris1(new std::vector<Triangle32>( | ||
| 872 | {Triangle32(0, 1, 2), Triangle32(0, 2, 3), Triangle32(0, 3, 1), | ||
| 873 |
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4 | Triangle32(2, 1, 3)})); |
| 874 |
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2 | ConvexTpl<Triangle32> tetra1(pts1, 4, tris1, 4); |
| 875 | |||
| 876 | std::shared_ptr<std::vector<Vec3s>> pts2(new std::vector<Vec3s>({ | ||
| 877 | Vec3s(1, 0, 0), | ||
| 878 | Vec3s(0, 0, 0), | ||
| 879 | Vec3s(0, -1, 0), | ||
| 880 | Vec3s(1, 1, 1), | ||
| 881 |
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4 | })); |
| 882 | std::shared_ptr<std::vector<Triangle32>> tris2(new std::vector<Triangle32>( | ||
| 883 | {Triangle32(0, 1, 2), Triangle32(0, 2, 3), Triangle32(0, 3, 1), | ||
| 884 |
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4 | Triangle32(2, 1, 3)})); |
| 885 |
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2 | ConvexTpl<Triangle32> tetra2(pts2, 4, tris2, 4); |
| 886 | |||
| 887 |
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2 | col_res.clear(); |
| 888 |
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2 | coal::collide(&tetra1, tf1, &tetra2, tf2, col_req, col_res); |
| 889 |
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2 | BOOST_CHECK(col_res.isCollision()); |
| 890 |
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2 | patch_res.clear(); |
| 891 |
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2 | coal::computeContactPatch(&tetra1, tf1, &tetra2, tf2, col_res, patch_req, |
| 892 | patch_res); | ||
| 893 |
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2 | BOOST_CHECK(patch_res.numContactPatches() == 1); |
| 894 | |||
| 895 |
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2 | if (patch_res.numContactPatches() > 0) { |
| 896 |
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2 | const Contact &contact = col_res.getContact(0); |
| 897 | 2 | const Scalar tol = Scalar(1e-6); | |
| 898 | |||
| 899 |
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2 | ContactPatch expected(expected_size); |
| 900 | 2 | expected.tf.rotation() = | |
| 901 |
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4 | constructOrthonormalBasisFromVector(contact.normal); |
| 902 |
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2 | expected.tf.translation() = contact.pos; |
| 903 | 2 | expected.penetration_depth = contact.penetration_depth; | |
| 904 |
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2 | expected.addPoint(expected_cp); |
| 905 | |||
| 906 |
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2 | const ContactPatch &contact_patch = patch_res.getContactPatch(0); |
| 907 |
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2 | BOOST_CHECK(expected.isSame(contact_patch, tol)); |
| 908 | 2 | } | |
| 909 | 2 | } | |
| 910 | |||
| 911 | { | ||
| 912 | // Case 2 - Segment-Segment contact | ||
| 913 | std::shared_ptr<std::vector<Vec3s>> pts1(new std::vector<Vec3s>({ | ||
| 914 | ✗ | Vec3s(-1, 0, Scalar(-0.2)), | |
| 915 | Vec3s(0, 0, 0), | ||
| 916 | Vec3s(0, 1, 0), | ||
| 917 | Vec3s(-1, -1, -1), | ||
| 918 |
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4 | })); |
| 919 | std::shared_ptr<std::vector<Triangle32>> tris1(new std::vector<Triangle32>( | ||
| 920 | {Triangle32(0, 1, 2), Triangle32(0, 2, 3), Triangle32(0, 3, 1), | ||
| 921 |
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4 | Triangle32(2, 1, 3)})); |
| 922 |
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2 | ConvexTpl<Triangle32> tetra1(pts1, 4, tris1, 4); |
| 923 | |||
| 924 | std::shared_ptr<std::vector<Vec3s>> pts2(new std::vector<Vec3s>({ | ||
| 925 | Vec3s(1, 0, 0), | ||
| 926 | Vec3s(0, 0, 0), | ||
| 927 | ✗ | Vec3s(0, -1, 0.5), | |
| 928 | Vec3s(1, 1, 1), | ||
| 929 |
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4 | })); |
| 930 | std::shared_ptr<std::vector<Triangle32>> tris2(new std::vector<Triangle32>( | ||
| 931 | {Triangle32(0, 1, 2), Triangle32(0, 2, 3), Triangle32(0, 3, 1), | ||
| 932 |
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4 | Triangle32(2, 1, 3)})); |
| 933 |
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2 | ConvexTpl<Triangle32> tetra2(pts2, 4, tris2, 4); |
| 934 | |||
| 935 |
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2 | col_res.clear(); |
| 936 |
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2 | coal::collide(&tetra1, tf1, &tetra2, tf2, col_req, col_res); |
| 937 |
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2 | BOOST_CHECK(col_res.isCollision()); |
| 938 |
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2 | patch_res.clear(); |
| 939 |
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2 | coal::computeContactPatch(&tetra1, tf1, &tetra2, tf2, col_res, patch_req, |
| 940 | patch_res); | ||
| 941 |
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2 | BOOST_CHECK(patch_res.numContactPatches() == 1); |
| 942 | |||
| 943 |
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2 | if (patch_res.numContactPatches() > 0) { |
| 944 |
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2 | const Contact &contact = col_res.getContact(0); |
| 945 | 2 | const Scalar tol = Scalar(1e-6); | |
| 946 | |||
| 947 |
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2 | ContactPatch expected(expected_size); |
| 948 | 2 | expected.tf.rotation() = | |
| 949 |
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4 | constructOrthonormalBasisFromVector(contact.normal); |
| 950 |
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2 | expected.tf.translation() = contact.pos; |
| 951 | 2 | expected.penetration_depth = contact.penetration_depth; | |
| 952 |
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2 | expected.addPoint(expected_cp); |
| 953 | |||
| 954 |
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2 | const ContactPatch &contact_patch = patch_res.getContactPatch(0); |
| 955 |
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2 | BOOST_CHECK(expected.isSame(contact_patch, tol)); |
| 956 | 2 | } | |
| 957 | 2 | } | |
| 958 | 2 | } | |
| 959 | |||
| 960 |
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4 | BOOST_AUTO_TEST_CASE(edge_case_segment_face) { |
| 961 | // This case covers the segment-face edge case of contact patches. | ||
| 962 | // Two tetrahedrons make contact on one of their segment/face respectively. | ||
| 963 | 2 | const size_t expected_size = 2; | |
| 964 |
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2 | const Vec3s expected_cp1(0, 0, 0); |
| 965 |
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2 | const Vec3s expected_cp2(-0.5, 0.5, 0); |
| 966 | |||
| 967 |
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2 | const Transform3s tf1; // identity |
| 968 |
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2 | const Transform3s tf2; // identity |
| 969 | |||
| 970 | 2 | const size_t num_max_contact = 1; | |
| 971 | const CollisionRequest col_req(CollisionRequestFlag::CONTACT, | ||
| 972 |
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2 | num_max_contact); |
| 973 |
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2 | CollisionResult col_res; |
| 974 |
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2 | const ContactPatchRequest patch_req; |
| 975 |
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2 | ContactPatchResult patch_res(patch_req); |
| 976 | |||
| 977 | { | ||
| 978 | std::shared_ptr<std::vector<Vec3s>> pts1(new std::vector<Vec3s>({ | ||
| 979 | Vec3s(-1, 0, -0), | ||
| 980 | Vec3s(0, 0, 0), | ||
| 981 | Vec3s(0, 1, 0), | ||
| 982 | Vec3s(-1, -1, -1), | ||
| 983 |
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4 | })); |
| 984 | std::shared_ptr<std::vector<Triangle32>> tris1(new std::vector<Triangle32>( | ||
| 985 | {Triangle32(0, 1, 2), Triangle32(0, 2, 3), Triangle32(0, 3, 1), | ||
| 986 |
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4 | Triangle32(2, 1, 3)})); |
| 987 |
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2 | ConvexTpl<Triangle32> tetra1(pts1, 4, tris1, 4); |
| 988 | |||
| 989 | std::shared_ptr<std::vector<Vec3s>> pts2(new std::vector<Vec3s>({ | ||
| 990 | ✗ | Vec3s(-0.5, 0.5, 0), | |
| 991 | ✗ | Vec3s(0.5, -0.5, 0), | |
| 992 | ✗ | Vec3s(1, 0.5, 0.5), | |
| 993 | Vec3s(1, 1, 1), | ||
| 994 |
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4 | })); |
| 995 | std::shared_ptr<std::vector<Triangle32>> tris2(new std::vector<Triangle32>( | ||
| 996 | {Triangle32(0, 1, 2), Triangle32(0, 2, 3), Triangle32(0, 3, 1), | ||
| 997 |
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4 | Triangle32(2, 1, 3)})); |
| 998 |
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2 | ConvexTpl<Triangle32> tetra2(pts2, 4, tris2, 4); |
| 999 | |||
| 1000 |
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2 | col_res.clear(); |
| 1001 |
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2 | coal::collide(&tetra1, tf1, &tetra2, tf2, col_req, col_res); |
| 1002 |
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2 | BOOST_CHECK(col_res.isCollision()); |
| 1003 |
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2 | patch_res.clear(); |
| 1004 |
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2 | coal::computeContactPatch(&tetra1, tf1, &tetra2, tf2, col_res, patch_req, |
| 1005 | patch_res); | ||
| 1006 |
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2 | BOOST_CHECK(patch_res.numContactPatches() == 1); |
| 1007 | |||
| 1008 |
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2 | if (patch_res.numContactPatches() > 0) { |
| 1009 |
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2 | const Contact &contact = col_res.getContact(0); |
| 1010 | 2 | const Scalar tol = Scalar(1e-6); | |
| 1011 | |||
| 1012 |
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2 | ContactPatch expected(expected_size); |
| 1013 | 2 | expected.tf.rotation() = | |
| 1014 |
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4 | constructOrthonormalBasisFromVector(contact.normal); |
| 1015 |
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2 | expected.tf.translation() = contact.pos; |
| 1016 | 2 | expected.penetration_depth = contact.penetration_depth; | |
| 1017 |
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2 | expected.addPoint(expected_cp1); |
| 1018 |
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2 | expected.addPoint(expected_cp2); |
| 1019 | |||
| 1020 |
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2 | const ContactPatch &contact_patch = patch_res.getContactPatch(0); |
| 1021 |
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2 | BOOST_CHECK(expected.isSame(contact_patch, tol)); |
| 1022 | 2 | } | |
| 1023 | 2 | } | |
| 1024 | 2 | } | |
| 1025 |