| 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 Jia Pan */ | ||
| 37 | |||
| 38 | #define BOOST_TEST_MODULE COAL_DISTANCE | ||
| 39 | #include <chrono> | ||
| 40 | |||
| 41 | #include <boost/test/included/unit_test.hpp> | ||
| 42 | #include <boost/filesystem.hpp> | ||
| 43 | |||
| 44 | #include "coal/internal/traversal_node_bvhs.h" | ||
| 45 | #include "coal/internal/traversal_node_setup.h" | ||
| 46 | #include "../src/collision_node.h" | ||
| 47 | #include "coal/internal/BV_splitter.h" | ||
| 48 | |||
| 49 | #include "utility.h" | ||
| 50 | #include "fcl_resources/config.h" | ||
| 51 | |||
| 52 | using namespace coal; | ||
| 53 | namespace utf = boost::unit_test::framework; | ||
| 54 | |||
| 55 | bool verbose = false; | ||
| 56 | Scalar DELTA = Scalar(0.001); | ||
| 57 | |||
| 58 | template <typename BV> | ||
| 59 | void distance_Test(const Transform3s& tf, const std::vector<Vec3s>& vertices1, | ||
| 60 | const std::vector<Triangle32>& triangles1, | ||
| 61 | const std::vector<Vec3s>& vertices2, | ||
| 62 | const std::vector<Triangle32>& triangles2, | ||
| 63 | SplitMethodType split_method, unsigned int qsize, | ||
| 64 | DistanceRes& distance_result, bool verbose = true); | ||
| 65 | |||
| 66 | bool collide_Test_OBB(const Transform3s& tf, | ||
| 67 | const std::vector<Vec3s>& vertices1, | ||
| 68 | const std::vector<Triangle32>& triangles1, | ||
| 69 | const std::vector<Vec3s>& vertices2, | ||
| 70 | const std::vector<Triangle32>& triangles2, | ||
| 71 | SplitMethodType split_method, bool verbose); | ||
| 72 | |||
| 73 | template <typename BV, typename TraversalNode> | ||
| 74 | void distance_Test_Oriented(const Transform3s& tf, | ||
| 75 | const std::vector<Vec3s>& vertices1, | ||
| 76 | const std::vector<Triangle32>& triangles1, | ||
| 77 | const std::vector<Vec3s>& vertices2, | ||
| 78 | const std::vector<Triangle32>& triangles2, | ||
| 79 | SplitMethodType split_method, unsigned int qsize, | ||
| 80 | DistanceRes& distance_result, bool verbose = true); | ||
| 81 | |||
| 82 | ✗ | inline bool nearlyEqual(const Vec3s& a, const Vec3s& b) { | |
| 83 | ✗ | if (fabs(a[0] - b[0]) > DELTA) return false; | |
| 84 | ✗ | if (fabs(a[1] - b[1]) > DELTA) return false; | |
| 85 | ✗ | if (fabs(a[2] - b[2]) > DELTA) return false; | |
| 86 | ✗ | return true; | |
| 87 | } | ||
| 88 | |||
| 89 |
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4 | BOOST_AUTO_TEST_CASE(mesh_distance) { |
| 90 | 2 | std::vector<Vec3s> p1, p2; | |
| 91 | 2 | std::vector<Triangle32> t1, t2; | |
| 92 |
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2 | boost::filesystem::path path(TEST_RESOURCES_DIR); |
| 93 |
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4 | loadOBJFile((path / "env.obj").string().c_str(), p1, t1); |
| 94 |
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4 | loadOBJFile((path / "rob.obj").string().c_str(), p2, t2); |
| 95 | |||
| 96 | 2 | std::vector<Transform3s> transforms; // t0 | |
| 97 | 2 | Scalar extents[] = {-3000, -3000, 0, 3000, 3000, 3000}; | |
| 98 | #ifndef NDEBUG // if debug mode | ||
| 99 | 2 | std::size_t n = 1; | |
| 100 | #else | ||
| 101 | std::size_t n = 10; | ||
| 102 | #endif | ||
| 103 |
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2 | n = getNbRun(utf::master_test_suite().argc, utf::master_test_suite().argv, n); |
| 104 | |||
| 105 |
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2 | generateRandomTransforms(extents, transforms, n); |
| 106 | |||
| 107 | 2 | double dis_time = 0; | |
| 108 | 2 | double col_time = 0; | |
| 109 | |||
| 110 |
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2 | DistanceRes res, res_now; |
| 111 |
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4 | for (std::size_t i = 0; i < transforms.size(); ++i) { |
| 112 | 2 | auto timer_col = std::chrono::high_resolution_clock::now(); | |
| 113 |
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2 | collide_Test_OBB(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose); |
| 114 |
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2 | col_time += std::chrono::duration_cast<std::chrono::duration<double>>( |
| 115 |
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2 | std::chrono::high_resolution_clock::now() - timer_col) |
| 116 | 2 | .count(); | |
| 117 | |||
| 118 | 2 | auto timer_dist = std::chrono::high_resolution_clock::now(); | |
| 119 |
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2 | distance_Test_Oriented<RSS, MeshDistanceTraversalNodeRSS>( |
| 120 | 2 | transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 2, res, verbose); | |
| 121 |
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2 | dis_time += std::chrono::duration_cast<std::chrono::duration<double>>( |
| 122 |
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2 | std::chrono::high_resolution_clock::now() - timer_dist) |
| 123 | 2 | .count(); | |
| 124 | |||
| 125 |
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2 | distance_Test_Oriented<RSS, MeshDistanceTraversalNodeRSS>( |
| 126 | 2 | transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 2, res_now, | |
| 127 | verbose); | ||
| 128 | |||
| 129 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 130 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 131 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 132 | nearlyEqual(res.p2, res_now.p2))); | ||
| 133 | |||
| 134 |
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2 | distance_Test_Oriented<RSS, MeshDistanceTraversalNodeRSS>( |
| 135 | 2 | transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 2, res_now, | |
| 136 | verbose); | ||
| 137 | |||
| 138 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 139 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 140 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 141 | nearlyEqual(res.p2, res_now.p2))); | ||
| 142 | |||
| 143 |
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2 | distance_Test_Oriented<RSS, MeshDistanceTraversalNodeRSS>( |
| 144 | 2 | transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 20, res_now, verbose); | |
| 145 | |||
| 146 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 147 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 148 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 149 | nearlyEqual(res.p2, res_now.p2))); | ||
| 150 | |||
| 151 |
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2 | distance_Test_Oriented<RSS, MeshDistanceTraversalNodeRSS>( |
| 152 | 2 | transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 20, res_now, | |
| 153 | verbose); | ||
| 154 | |||
| 155 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 156 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 157 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 158 | nearlyEqual(res.p2, res_now.p2))); | ||
| 159 | |||
| 160 |
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2 | distance_Test_Oriented<RSS, MeshDistanceTraversalNodeRSS>( |
| 161 | 2 | transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 20, res_now, | |
| 162 | verbose); | ||
| 163 | |||
| 164 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 165 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 166 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 167 | nearlyEqual(res.p2, res_now.p2))); | ||
| 168 | |||
| 169 |
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2 | distance_Test_Oriented<kIOS, MeshDistanceTraversalNodekIOS>( |
| 170 | 2 | transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 2, res_now, verbose); | |
| 171 | |||
| 172 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 173 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 174 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 175 | nearlyEqual(res.p2, res_now.p2))); | ||
| 176 | |||
| 177 |
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2 | distance_Test_Oriented<kIOS, MeshDistanceTraversalNodekIOS>( |
| 178 | 2 | transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 2, res_now, | |
| 179 | verbose); | ||
| 180 | |||
| 181 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 183 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 184 | nearlyEqual(res.p2, res_now.p2))); | ||
| 185 | |||
| 186 |
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2 | distance_Test_Oriented<kIOS, MeshDistanceTraversalNodekIOS>( |
| 187 | 2 | transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 2, res_now, | |
| 188 | verbose); | ||
| 189 | |||
| 190 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 192 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 193 | nearlyEqual(res.p2, res_now.p2))); | ||
| 194 | |||
| 195 |
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2 | distance_Test_Oriented<kIOS, MeshDistanceTraversalNodekIOS>( |
| 196 | 2 | transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 20, res_now, verbose); | |
| 197 | |||
| 198 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 199 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 200 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 201 | nearlyEqual(res.p2, res_now.p2))); | ||
| 202 | |||
| 203 |
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2 | distance_Test_Oriented<kIOS, MeshDistanceTraversalNodekIOS>( |
| 204 | 2 | transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 20, res_now, | |
| 205 | verbose); | ||
| 206 | |||
| 207 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 208 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 209 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 210 | nearlyEqual(res.p2, res_now.p2))); | ||
| 211 | |||
| 212 |
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2 | distance_Test_Oriented<kIOS, MeshDistanceTraversalNodekIOS>( |
| 213 | 2 | transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 20, res_now, | |
| 214 | verbose); | ||
| 215 | |||
| 216 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 217 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 218 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 219 | nearlyEqual(res.p2, res_now.p2))); | ||
| 220 | |||
| 221 |
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2 | distance_Test_Oriented<OBBRSS, MeshDistanceTraversalNodeOBBRSS>( |
| 222 | 2 | transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 2, res_now, verbose); | |
| 223 | |||
| 224 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 225 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 226 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 227 | nearlyEqual(res.p2, res_now.p2))); | ||
| 228 | |||
| 229 |
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2 | distance_Test_Oriented<OBBRSS, MeshDistanceTraversalNodeOBBRSS>( |
| 230 | 2 | transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 2, res_now, | |
| 231 | verbose); | ||
| 232 | |||
| 233 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 234 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 235 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 236 | nearlyEqual(res.p2, res_now.p2))); | ||
| 237 | |||
| 238 |
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2 | distance_Test_Oriented<OBBRSS, MeshDistanceTraversalNodeOBBRSS>( |
| 239 | 2 | transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 2, res_now, | |
| 240 | verbose); | ||
| 241 | |||
| 242 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 243 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 244 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 245 | nearlyEqual(res.p2, res_now.p2))); | ||
| 246 | |||
| 247 |
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2 | distance_Test_Oriented<OBBRSS, MeshDistanceTraversalNodeOBBRSS>( |
| 248 | 2 | transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 20, res_now, verbose); | |
| 249 | |||
| 250 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 251 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 252 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 253 | nearlyEqual(res.p2, res_now.p2))); | ||
| 254 | |||
| 255 |
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2 | distance_Test_Oriented<OBBRSS, MeshDistanceTraversalNodeOBBRSS>( |
| 256 | 2 | transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 20, res_now, | |
| 257 | verbose); | ||
| 258 | |||
| 259 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 260 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 261 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 262 | nearlyEqual(res.p2, res_now.p2))); | ||
| 263 | |||
| 264 |
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2 | distance_Test_Oriented<OBBRSS, MeshDistanceTraversalNodeOBBRSS>( |
| 265 | 2 | transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 20, res_now, | |
| 266 | verbose); | ||
| 267 | |||
| 268 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 269 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 270 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 271 | nearlyEqual(res.p2, res_now.p2))); | ||
| 272 | |||
| 273 |
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2 | distance_Test<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 2, |
| 274 | res_now, verbose); | ||
| 275 | |||
| 276 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 277 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 278 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 279 | nearlyEqual(res.p2, res_now.p2))); | ||
| 280 | |||
| 281 |
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2 | distance_Test<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 2, |
| 282 | res_now, verbose); | ||
| 283 | |||
| 284 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 285 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 286 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 287 | nearlyEqual(res.p2, res_now.p2))); | ||
| 288 | |||
| 289 |
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2 | distance_Test<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 2, |
| 290 | res_now, verbose); | ||
| 291 | |||
| 292 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 293 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 294 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 295 | nearlyEqual(res.p2, res_now.p2))); | ||
| 296 | |||
| 297 |
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2 | distance_Test<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 20, |
| 298 | res_now, verbose); | ||
| 299 | |||
| 300 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 301 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 302 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 303 | nearlyEqual(res.p2, res_now.p2))); | ||
| 304 | |||
| 305 |
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2 | distance_Test<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, |
| 306 | 20, res_now, verbose); | ||
| 307 | |||
| 308 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 309 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 310 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 311 | nearlyEqual(res.p2, res_now.p2))); | ||
| 312 | |||
| 313 |
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2 | distance_Test<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 20, |
| 314 | res_now, verbose); | ||
| 315 | |||
| 316 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 317 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 318 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 319 | nearlyEqual(res.p2, res_now.p2))); | ||
| 320 | |||
| 321 |
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2 | distance_Test<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 2, |
| 322 | res_now, verbose); | ||
| 323 | |||
| 324 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 325 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 326 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 327 | nearlyEqual(res.p2, res_now.p2))); | ||
| 328 | |||
| 329 |
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2 | distance_Test<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 2, |
| 330 | res_now, verbose); | ||
| 331 | |||
| 332 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 333 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 334 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 335 | nearlyEqual(res.p2, res_now.p2))); | ||
| 336 | |||
| 337 |
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2 | distance_Test<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 2, |
| 338 | res_now, verbose); | ||
| 339 | |||
| 340 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 341 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 342 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 343 | nearlyEqual(res.p2, res_now.p2))); | ||
| 344 | |||
| 345 |
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2 | distance_Test<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 20, |
| 346 | res_now, verbose); | ||
| 347 | |||
| 348 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 349 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 350 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 351 | nearlyEqual(res.p2, res_now.p2))); | ||
| 352 | |||
| 353 |
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2 | distance_Test<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, |
| 354 | 20, res_now, verbose); | ||
| 355 | |||
| 356 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 357 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 358 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 359 | nearlyEqual(res.p2, res_now.p2))); | ||
| 360 | |||
| 361 |
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2 | distance_Test<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 20, |
| 362 | res_now, verbose); | ||
| 363 | |||
| 364 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 365 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 366 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 367 | nearlyEqual(res.p2, res_now.p2))); | ||
| 368 | |||
| 369 |
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2 | distance_Test<kIOS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 2, |
| 370 | res_now, verbose); | ||
| 371 | |||
| 372 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 373 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 374 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 375 | nearlyEqual(res.p2, res_now.p2))); | ||
| 376 | |||
| 377 |
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2 | distance_Test<kIOS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 2, |
| 378 | res_now, verbose); | ||
| 379 | |||
| 380 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 381 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 382 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 383 | nearlyEqual(res.p2, res_now.p2))); | ||
| 384 | |||
| 385 |
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2 | distance_Test<kIOS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, |
| 386 | 2, res_now, verbose); | ||
| 387 | |||
| 388 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 389 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 390 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 391 | nearlyEqual(res.p2, res_now.p2))); | ||
| 392 | |||
| 393 |
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2 | distance_Test<kIOS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 20, |
| 394 | res_now, verbose); | ||
| 395 | |||
| 396 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 397 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 398 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 399 | nearlyEqual(res.p2, res_now.p2))); | ||
| 400 | |||
| 401 |
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2 | distance_Test<kIOS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 20, |
| 402 | res_now, verbose); | ||
| 403 | |||
| 404 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 405 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 406 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 407 | nearlyEqual(res.p2, res_now.p2))); | ||
| 408 | |||
| 409 |
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2 | distance_Test<kIOS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, |
| 410 | 20, res_now, verbose); | ||
| 411 | |||
| 412 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 413 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 414 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 415 | nearlyEqual(res.p2, res_now.p2))); | ||
| 416 | |||
| 417 |
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2 | distance_Test<OBBRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 2, |
| 418 | res_now, verbose); | ||
| 419 | |||
| 420 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 421 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 422 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 423 | nearlyEqual(res.p2, res_now.p2))); | ||
| 424 | |||
| 425 |
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2 | distance_Test<OBBRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 2, |
| 426 | res_now, verbose); | ||
| 427 | |||
| 428 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 429 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 430 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 431 | nearlyEqual(res.p2, res_now.p2))); | ||
| 432 | |||
| 433 |
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2 | distance_Test<OBBRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, |
| 434 | 2, res_now, verbose); | ||
| 435 | |||
| 436 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 437 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 438 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 439 | nearlyEqual(res.p2, res_now.p2))); | ||
| 440 | |||
| 441 |
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2 | distance_Test<OBBRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 20, |
| 442 | res_now, verbose); | ||
| 443 | |||
| 444 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 445 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 446 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 447 | nearlyEqual(res.p2, res_now.p2))); | ||
| 448 | |||
| 449 |
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2 | distance_Test<OBBRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, |
| 450 | 20, res_now, verbose); | ||
| 451 | |||
| 452 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 453 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 454 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 455 | nearlyEqual(res.p2, res_now.p2))); | ||
| 456 | |||
| 457 |
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2 | distance_Test<OBBRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, |
| 458 | 20, res_now, verbose); | ||
| 459 | |||
| 460 |
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2 | BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA); |
| 461 |
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2 | BOOST_CHECK(fabs(res.distance) < DELTA || |
| 462 | (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && | ||
| 463 | nearlyEqual(res.p2, res_now.p2))); | ||
| 464 | } | ||
| 465 | |||
| 466 |
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2 | BOOST_TEST_MESSAGE("distance timing: " << dis_time << " sec"); |
| 467 |
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2 | BOOST_TEST_MESSAGE("collision timing: " << col_time << " sec"); |
| 468 | 2 | } | |
| 469 | |||
| 470 | template <typename BV, typename TraversalNode> | ||
| 471 | 36 | void distance_Test_Oriented(const Transform3s& tf, | |
| 472 | const std::vector<Vec3s>& vertices1, | ||
| 473 | const std::vector<Triangle32>& triangles1, | ||
| 474 | const std::vector<Vec3s>& vertices2, | ||
| 475 | const std::vector<Triangle32>& triangles2, | ||
| 476 | SplitMethodType split_method, unsigned int qsize, | ||
| 477 | DistanceRes& distance_result, bool verbose) { | ||
| 478 |
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36 | BVHModel<BV> m1; |
| 479 |
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36 | BVHModel<BV> m2; |
| 480 |
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36 | m1.bv_splitter.reset(new BVSplitter<BV>(split_method)); |
| 481 |
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36 | m2.bv_splitter.reset(new BVSplitter<BV>(split_method)); |
| 482 | |||
| 483 |
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36 | m1.beginModel(); |
| 484 |
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36 | m1.addSubModel(vertices1, triangles1); |
| 485 |
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36 | m1.endModel(); |
| 486 | |||
| 487 |
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36 | m2.beginModel(); |
| 488 |
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36 | m2.addSubModel(vertices2, triangles2); |
| 489 |
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36 | m2.endModel(); |
| 490 | |||
| 491 |
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36 | DistanceResult local_result; |
| 492 |
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36 | TraversalNode node; |
| 493 |
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36 | if (!initialize(node, (const BVHModel<BV>&)m1, tf, (const BVHModel<BV>&)m2, |
| 494 |
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72 | Transform3s(), DistanceRequest(true), local_result)) |
| 495 | ✗ | std::cout << "initialize error" << std::endl; | |
| 496 | |||
| 497 | 36 | node.enable_statistics = verbose; | |
| 498 | |||
| 499 |
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36 | distance(&node, NULL, qsize); |
| 500 | |||
| 501 | // points are in local coordinate, to global coordinate | ||
| 502 |
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36 | Vec3s p1 = local_result.nearest_points[0]; |
| 503 |
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36 | Vec3s p2 = local_result.nearest_points[1]; |
| 504 | |||
| 505 | 36 | distance_result.distance = local_result.min_distance; | |
| 506 |
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36 | distance_result.p1 = p1; |
| 507 |
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36 | distance_result.p2 = p2; |
| 508 | |||
| 509 |
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36 | if (verbose) { |
| 510 | ✗ | std::cout << "distance " << local_result.min_distance << std::endl; | |
| 511 | |||
| 512 | ✗ | std::cout << p1[0] << " " << p1[1] << " " << p1[2] << std::endl; | |
| 513 | ✗ | std::cout << p2[0] << " " << p2[1] << " " << p2[2] << std::endl; | |
| 514 | ✗ | std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl; | |
| 515 | } | ||
| 516 | 36 | } | |
| 517 | |||
| 518 | template <typename BV> | ||
| 519 | 48 | void distance_Test(const Transform3s& tf, const std::vector<Vec3s>& vertices1, | |
| 520 | const std::vector<Triangle32>& triangles1, | ||
| 521 | const std::vector<Vec3s>& vertices2, | ||
| 522 | const std::vector<Triangle32>& triangles2, | ||
| 523 | SplitMethodType split_method, unsigned int qsize, | ||
| 524 | DistanceRes& distance_result, bool verbose) { | ||
| 525 |
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48 | BVHModel<BV> m1; |
| 526 |
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48 | BVHModel<BV> m2; |
| 527 |
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48 | m1.bv_splitter.reset(new BVSplitter<BV>(split_method)); |
| 528 |
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48 | m2.bv_splitter.reset(new BVSplitter<BV>(split_method)); |
| 529 | |||
| 530 |
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48 | m1.beginModel(); |
| 531 |
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48 | m1.addSubModel(vertices1, triangles1); |
| 532 |
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48 | m1.endModel(); |
| 533 | |||
| 534 |
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48 | m2.beginModel(); |
| 535 |
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48 | m2.addSubModel(vertices2, triangles2); |
| 536 |
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48 | m2.endModel(); |
| 537 | |||
| 538 |
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48 | Transform3s pose1(tf), pose2; |
| 539 | |||
| 540 |
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48 | DistanceResult local_result; |
| 541 |
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48 | MeshDistanceTraversalNode<BV> node; |
| 542 | |||
| 543 |
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48 | if (!initialize<BV>(node, m1, pose1, m2, pose2, DistanceRequest(true), |
| 544 | local_result)) | ||
| 545 | ✗ | std::cout << "initialize error" << std::endl; | |
| 546 | |||
| 547 | 48 | node.enable_statistics = verbose; | |
| 548 | |||
| 549 |
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48 | distance(&node, NULL, qsize); |
| 550 | |||
| 551 | 48 | distance_result.distance = local_result.min_distance; | |
| 552 |
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48 | distance_result.p1 = local_result.nearest_points[0]; |
| 553 |
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48 | distance_result.p2 = local_result.nearest_points[1]; |
| 554 | |||
| 555 |
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48 | if (verbose) { |
| 556 | ✗ | std::cout << "distance " << local_result.min_distance << std::endl; | |
| 557 | |||
| 558 | ✗ | std::cout << local_result.nearest_points[0][0] << " " | |
| 559 | ✗ | << local_result.nearest_points[0][1] << " " | |
| 560 | ✗ | << local_result.nearest_points[0][2] << std::endl; | |
| 561 | ✗ | std::cout << local_result.nearest_points[1][0] << " " | |
| 562 | ✗ | << local_result.nearest_points[1][1] << " " | |
| 563 | ✗ | << local_result.nearest_points[1][2] << std::endl; | |
| 564 | ✗ | std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl; | |
| 565 | } | ||
| 566 | 48 | } | |
| 567 | |||
| 568 | 1 | bool collide_Test_OBB(const Transform3s& tf, | |
| 569 | const std::vector<Vec3s>& vertices1, | ||
| 570 | const std::vector<Triangle32>& triangles1, | ||
| 571 | const std::vector<Vec3s>& vertices2, | ||
| 572 | const std::vector<Triangle32>& triangles2, | ||
| 573 | SplitMethodType split_method, bool verbose) { | ||
| 574 |
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1 | BVHModel<OBB> m1; |
| 575 |
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1 | BVHModel<OBB> m2; |
| 576 |
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1 | m1.bv_splitter.reset(new BVSplitter<OBB>(split_method)); |
| 577 |
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1 | m2.bv_splitter.reset(new BVSplitter<OBB>(split_method)); |
| 578 | |||
| 579 |
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1 | m1.beginModel(); |
| 580 |
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1 | m1.addSubModel(vertices1, triangles1); |
| 581 |
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1 | m1.endModel(); |
| 582 | |||
| 583 |
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1 | m2.beginModel(); |
| 584 |
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1 | m2.addSubModel(vertices2, triangles2); |
| 585 |
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1 | m2.endModel(); |
| 586 | |||
| 587 |
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1 | CollisionResult local_result; |
| 588 |
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1 | CollisionRequest request(CONTACT | DISTANCE_LOWER_BOUND, 1); |
| 589 |
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1 | MeshCollisionTraversalNodeOBB node(request); |
| 590 |
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1 | bool success(initialize(node, (const BVHModel<OBB>&)m1, tf, |
| 591 |
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2 | (const BVHModel<OBB>&)m2, Transform3s(), |
| 592 | local_result)); | ||
| 593 |
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1 | BOOST_REQUIRE(success); |
| 594 | |||
| 595 | 1 | node.enable_statistics = verbose; | |
| 596 | |||
| 597 |
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1 | collide(&node, request, local_result); |
| 598 | |||
| 599 |
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1 | if (local_result.numContacts() > 0) |
| 600 | 1 | return true; | |
| 601 | else | ||
| 602 | ✗ | return false; | |
| 603 | 1 | } | |
| 604 |