| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /* | ||
| 2 | * Software License Agreement (BSD License) | ||
| 3 | * | ||
| 4 | * Copyright (c) 2014-2016, CNRS-LAAS | ||
| 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 CNRS-LAAS 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 | #define BOOST_TEST_MODULE COAL_DISTANCE_LOWER_BOUND | ||
| 36 | #include <boost/test/included/unit_test.hpp> | ||
| 37 | #include <boost/filesystem.hpp> | ||
| 38 | |||
| 39 | #include "coal/fwd.hh" | ||
| 40 | #include "coal/data_types.h" | ||
| 41 | #include "coal/BV/OBBRSS.h" | ||
| 42 | #include "coal/BVH/BVH_model.h" | ||
| 43 | #include "coal/narrowphase/narrowphase.h" | ||
| 44 | #include "coal/collision.h" | ||
| 45 | #include "coal/distance.h" | ||
| 46 | #include "utility.h" | ||
| 47 | #include "fcl_resources/config.h" | ||
| 48 | |||
| 49 | using coal::BVHModel; | ||
| 50 | using coal::CollisionGeometryPtr_t; | ||
| 51 | using coal::CollisionObject; | ||
| 52 | using coal::CollisionRequest; | ||
| 53 | using coal::CollisionResult; | ||
| 54 | using coal::DistanceRequest; | ||
| 55 | using coal::DistanceResult; | ||
| 56 | using coal::OBBRSS; | ||
| 57 | using coal::Scalar; | ||
| 58 | using coal::shared_ptr; | ||
| 59 | using coal::Transform3s; | ||
| 60 | using coal::Triangle32; | ||
| 61 | using coal::Vec3s; | ||
| 62 | |||
| 63 | 2202 | bool testDistanceLowerBound(const Transform3s& tf, | |
| 64 | const CollisionGeometryPtr_t& m1, | ||
| 65 | const CollisionGeometryPtr_t& m2, | ||
| 66 | Scalar& distance) { | ||
| 67 |
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2202 | Transform3s pose1(tf), pose2; |
| 68 | |||
| 69 |
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2202 | CollisionRequest request; |
| 70 | |||
| 71 |
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2202 | CollisionResult result; |
| 72 |
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2202 | CollisionObject co1(m1, pose1); |
| 73 |
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2202 | CollisionObject co2(m2, pose2); |
| 74 | |||
| 75 |
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2202 | coal::collide(&co1, &co2, request, result); |
| 76 | 2202 | distance = result.distance_lower_bound; | |
| 77 | |||
| 78 | 4404 | return result.isCollision(); | |
| 79 | 2202 | } | |
| 80 | |||
| 81 | 100 | bool testCollide(const Transform3s& tf, const CollisionGeometryPtr_t& m1, | |
| 82 | const CollisionGeometryPtr_t& m2) { | ||
| 83 |
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100 | Transform3s pose1(tf), pose2; |
| 84 | |||
| 85 |
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100 | CollisionRequest request(coal::NO_REQUEST, 1); |
| 86 | 100 | request.enable_distance_lower_bound = false; | |
| 87 | |||
| 88 |
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100 | CollisionResult result; |
| 89 |
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100 | CollisionObject co1(m1, pose1); |
| 90 |
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100 | CollisionObject co2(m2, pose2); |
| 91 | |||
| 92 |
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100 | coal::collide(&co1, &co2, request, result); |
| 93 | 200 | return result.isCollision(); | |
| 94 | 100 | } | |
| 95 | |||
| 96 | 2202 | bool testDistance(const Transform3s& tf, const CollisionGeometryPtr_t& m1, | |
| 97 | const CollisionGeometryPtr_t& m2, Scalar& distance) { | ||
| 98 |
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2202 | Transform3s pose1(tf), pose2; |
| 99 | |||
| 100 |
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2202 | DistanceRequest request; |
| 101 |
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2202 | DistanceResult result; |
| 102 |
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2202 | CollisionObject co1(m1, pose1); |
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2202 | CollisionObject co2(m2, pose2); |
| 104 | |||
| 105 |
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2202 | coal::distance(&co1, &co2, request, result); |
| 106 | 2202 | distance = result.min_distance; | |
| 107 | |||
| 108 |
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2202 | if (result.min_distance <= 0) { |
| 109 | 417 | return true; | |
| 110 | } else { | ||
| 111 | 1785 | return false; | |
| 112 | } | ||
| 113 | 2202 | } | |
| 114 | |||
| 115 |
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4 | BOOST_AUTO_TEST_CASE(mesh_mesh) { |
| 116 | 2 | std::vector<Vec3s> p1, p2; | |
| 117 | 2 | std::vector<Triangle32> t1, t2; | |
| 118 |
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2 | boost::filesystem::path path(TEST_RESOURCES_DIR); |
| 119 | |||
| 120 |
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4 | loadOBJFile((path / "env.obj").string().c_str(), p1, t1); |
| 121 |
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4 | loadOBJFile((path / "rob.obj").string().c_str(), p2, t2); |
| 122 | |||
| 123 |
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2 | shared_ptr<BVHModel<OBBRSS> > m1(new BVHModel<OBBRSS>); |
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2 | shared_ptr<BVHModel<OBBRSS> > m2(new BVHModel<OBBRSS>); |
| 125 | |||
| 126 |
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2 | m1->beginModel(); |
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2 | m1->addSubModel(p1, t1); |
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2 | m1->endModel(); |
| 129 | |||
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2 | m2->beginModel(); |
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2 | m2->addSubModel(p2, t2); |
| 132 |
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2 | m2->endModel(); |
| 133 | |||
| 134 | 2 | std::vector<Transform3s> transforms; | |
| 135 | 2 | Scalar extents[] = {-3000, -3000, 0, 3000, 3000, 3000}; | |
| 136 | 2 | std::size_t n = 100; | |
| 137 | |||
| 138 |
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2 | generateRandomTransforms(extents, transforms, n); |
| 139 | |||
| 140 | // collision | ||
| 141 |
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202 | for (std::size_t i = 0; i < transforms.size(); ++i) { |
| 142 | Scalar distanceLowerBound, distance; | ||
| 143 | bool col1, col2, col3; | ||
| 144 |
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200 | col1 = testDistanceLowerBound(transforms[i], m1, m2, distanceLowerBound); |
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200 | col2 = testDistance(transforms[i], m1, m2, distance); |
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200 | col3 = testCollide(transforms[i], m1, m2); |
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200 | std::cout << "col1 = " << col1 << ", col2 = " << col2 << ", col3 = " << col3 |
| 148 |
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200 | << std::endl; |
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200 | std::cout << "distance lower bound = " << distanceLowerBound << std::endl; |
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200 | std::cout << "distance = " << distance << std::endl; |
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200 | BOOST_CHECK(col1 == col3); |
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200 | if (!col1) { |
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120 | BOOST_CHECK_MESSAGE(distanceLowerBound <= distance, |
| 154 | "distance = " << distance << ", lower bound = " | ||
| 155 | << distanceLowerBound); | ||
| 156 | } | ||
| 157 | } | ||
| 158 | 2 | } | |
| 159 | |||
| 160 |
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4 | BOOST_AUTO_TEST_CASE(box_sphere) { |
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2 | shared_ptr<coal::Sphere> sphere(new coal::Sphere(0.5)); |
| 162 |
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2 | shared_ptr<coal::Box> box(new coal::Box(1., 1., 1.)); |
| 163 | |||
| 164 |
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2 | Transform3s M1; |
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2 | M1.setIdentity(); |
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2 | Transform3s M2; |
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2 | M2.setIdentity(); |
| 168 | |||
| 169 | 2 | std::vector<Transform3s> transforms; | |
| 170 | 2 | Scalar extents[] = {-2., -2., -2., 2., 2., 2.}; | |
| 171 | 2 | const std::size_t n = 1000; | |
| 172 | |||
| 173 |
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2 | generateRandomTransforms(extents, transforms, n); |
| 174 | |||
| 175 | Scalar distanceLowerBound, distance; | ||
| 176 | bool col1, col2; | ||
| 177 |
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2 | col1 = testDistanceLowerBound(M1, sphere, box, distanceLowerBound); |
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2 | col2 = testDistance(M1, sphere, box, distance); |
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2 | BOOST_CHECK(col1 == col2); |
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2 | BOOST_CHECK(distanceLowerBound <= distance); |
| 181 | |||
| 182 |
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2002 | for (std::size_t i = 0; i < transforms.size(); ++i) { |
| 183 | Scalar distanceLowerBound, distance; | ||
| 184 | bool col1, col2; | ||
| 185 | col1 = | ||
| 186 |
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2000 | testDistanceLowerBound(transforms[i], sphere, box, distanceLowerBound); |
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2000 | col2 = testDistance(transforms[i], sphere, box, distance); |
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2000 | BOOST_CHECK(col1 == col2); |
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2000 | if (!col1) { |
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1742 | BOOST_CHECK_MESSAGE(distanceLowerBound <= distance, |
| 191 | "distance = " << distance << ", lower bound = " | ||
| 192 | << distanceLowerBound); | ||
| 193 | } | ||
| 194 | } | ||
| 195 | 2 | } | |
| 196 | |||
| 197 |
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4 | BOOST_AUTO_TEST_CASE(sphere_sphere) { |
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2 | shared_ptr<coal::Sphere> sphere1(new coal::Sphere(0.5)); |
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2 | shared_ptr<coal::Sphere> sphere2(new coal::Sphere(1.)); |
| 200 | |||
| 201 |
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2 | Transform3s M1; |
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2 | M1.setIdentity(); |
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2 | Transform3s M2; |
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2 | M2.setIdentity(); |
| 205 | |||
| 206 | 2 | std::vector<Transform3s> transforms; | |
| 207 | 2 | Scalar extents[] = {-2., -2., -2., 2., 2., 2.}; | |
| 208 | 2 | const std::size_t n = 1000; | |
| 209 | |||
| 210 |
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2 | generateRandomTransforms(extents, transforms, n); |
| 211 | |||
| 212 | Scalar distanceLowerBound, distance; | ||
| 213 | bool col1, col2; | ||
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2 | col1 = testDistanceLowerBound(M1, sphere1, sphere2, distanceLowerBound); |
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2 | col2 = testDistance(M1, sphere1, sphere2, distance); |
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2 | BOOST_CHECK(col1 == col2); |
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2 | BOOST_CHECK(distanceLowerBound <= distance); |
| 218 | |||
| 219 |
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2002 | for (std::size_t i = 0; i < transforms.size(); ++i) { |
| 220 | Scalar distanceLowerBound, distance; | ||
| 221 | bool col1, col2; | ||
| 222 |
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2000 | col1 = testDistanceLowerBound(transforms[i], sphere1, sphere2, |
| 223 | distanceLowerBound); | ||
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2000 | col2 = testDistance(transforms[i], sphere1, sphere2, distance); |
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2000 | BOOST_CHECK(col1 == col2); |
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2000 | if (!col1) { |
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1548 | BOOST_CHECK_MESSAGE(distanceLowerBound <= distance, |
| 228 | "distance = " << distance << ", lower bound = " | ||
| 229 | << distanceLowerBound); | ||
| 230 | } | ||
| 231 | } | ||
| 232 | 2 | } | |
| 233 | |||
| 234 |
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4 | BOOST_AUTO_TEST_CASE(box_mesh) { |
| 235 | 2 | std::vector<Vec3s> p1; | |
| 236 | 2 | std::vector<Triangle32> t1; | |
| 237 |
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2 | boost::filesystem::path path(TEST_RESOURCES_DIR); |
| 238 | |||
| 239 |
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4 | loadOBJFile((path / "env.obj").string().c_str(), p1, t1); |
| 240 | |||
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2 | shared_ptr<BVHModel<OBBRSS> > m1(new BVHModel<OBBRSS>); |
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2 | shared_ptr<coal::Box> m2(new coal::Box(500, 200, 150)); |
| 243 | |||
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2 | m1->beginModel(); |
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2 | m1->addSubModel(p1, t1); |
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2 | m1->endModel(); |
| 247 | |||
| 248 | 2 | std::vector<Transform3s> transforms; | |
| 249 | 2 | Scalar extents[] = {-3000, -3000, 0, 3000, 3000, 3000}; | |
| 250 | 2 | std::size_t n = 100; | |
| 251 | |||
| 252 |
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2 | generateRandomTransforms(extents, transforms, n); |
| 253 | |||
| 254 | // collision | ||
| 255 |
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202 | for (std::size_t i = 0; i < transforms.size(); ++i) { |
| 256 | Scalar distanceLowerBound, distance; | ||
| 257 | bool col1, col2; | ||
| 258 |
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200 | col1 = testDistanceLowerBound(transforms[i], m1, m2, distanceLowerBound); |
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200 | col2 = testDistance(transforms[i], m1, m2, distance); |
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200 | BOOST_CHECK(col1 == col2); |
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200 | if (!col1) { |
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160 | BOOST_CHECK_MESSAGE(distanceLowerBound <= distance, |
| 263 | "distance = " << distance << ", lower bound = " | ||
| 264 | << distanceLowerBound); | ||
| 265 | } | ||
| 266 | } | ||
| 267 | 2 | } | |
| 268 |