GCC Code Coverage Report

Directory: ./
File: test/frontlist.cpp
Date: 2025-04-01 09:23:31
Exec Total Coverage
Lines: 192 194 99.0%
Branches: 358 702 51.0%
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1 /*
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2011-2014, Willow Garage, Inc.
5 * Copyright (c) 2014-2015, Open Source Robotics Foundation
6 * All rights reserved.
7 *
8 * Redistribution and use in source and binary forms, with or without
9 * modification, are permitted provided that the following conditions
10 * are met:
11 *
12 * * Redistributions of source code must retain the above copyright
13 * notice, this list of conditions and the following disclaimer.
14 * * Redistributions in binary form must reproduce the above
15 * copyright notice, this list of conditions and the following
16 * disclaimer in the documentation and/or other materials provided
17 * with the distribution.
18 * * Neither the name of Open Source Robotics Foundation nor the names of its
19 * contributors may be used to endorse or promote products derived
20 * from this software without specific prior written permission.
21 *
22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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_FRONT_LIST
39 #include <boost/test/included/unit_test.hpp>
40
41 #include "coal/internal/traversal_node_bvhs.h"
42 #include "coal/internal/traversal_node_setup.h"
43 #include <../src/collision_node.h>
44 #include "coal/internal/BV_splitter.h"
45 #include "utility.h"
46
47 #include "fcl_resources/config.h"
48 #include <boost/filesystem.hpp>
49
50 using namespace coal;
51 namespace utf = boost::unit_test::framework;
52
53 template <typename BV>
54 bool collide_front_list_Test(const Transform3s& tf1, const Transform3s& tf2,
55 const std::vector<Vec3s>& vertices1,
56 const std::vector<Triangle>& triangles1,
57 const std::vector<Vec3s>& vertices2,
58 const std::vector<Triangle>& triangles2,
59 SplitMethodType split_method, bool refit_bottomup,
60 bool verbose);
61
62 template <typename BV, typename TraversalNode>
63 bool collide_front_list_Test_Oriented(const Transform3s& tf1,
64 const Transform3s& tf2,
65 const std::vector<Vec3s>& vertices1,
66 const std::vector<Triangle>& triangles1,
67 const std::vector<Vec3s>& vertices2,
68 const std::vector<Triangle>& triangles2,
69 SplitMethodType split_method,
70 bool verbose);
71
72 template <typename BV>
73 bool collide_Test(const Transform3s& tf, const std::vector<Vec3s>& vertices1,
74 const std::vector<Triangle>& triangles1,
75 const std::vector<Vec3s>& vertices2,
76 const std::vector<Triangle>& triangles2,
77 SplitMethodType split_method, bool verbose);
78
79 // TODO: randomly still have some runtime error
80
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 4 BOOST_AUTO_TEST_CASE(front_list) {
81 2 std::vector<Vec3s> p1, p2;
82 2 std::vector<Triangle> t1, t2;
83
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 2 boost::filesystem::path path(TEST_RESOURCES_DIR);
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 2 loadOBJFile((path / "env.obj").string().c_str(), p1, t1);
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 2 loadOBJFile((path / "rob.obj").string().c_str(), p2, t2);
86
87 2 std::vector<Transform3s> transforms; // t0
88 2 std::vector<Transform3s> transforms2; // t1
89 2 Scalar extents[] = {-3000, -3000, 0, 3000, 3000, 3000};
90 2 Scalar delta_trans[] = {1, 1, 1};
91 #ifndef NDEBUG // if debug mode
92 2 std::size_t n = 2;
93 #else
94 std::size_t n = 20;
95 #endif
96
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 2 n = getNbRun(utf::master_test_suite().argc, utf::master_test_suite().argv, n);
97 2 bool verbose = false;
98
99
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 2 generateRandomTransforms(extents, delta_trans, Scalar(0.005 * 2 * 3.1415),
100 transforms, transforms2, n);
101
102 bool res, res2;
103
104
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 6 for (std::size_t i = 0; i < transforms.size(); ++i) {
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 4 res = collide_Test<AABB>(transforms2[i], p1, t1, p2, t2,
106 SPLIT_METHOD_MEDIAN, verbose);
107 res2 =
108
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 4 collide_front_list_Test<AABB>(transforms[i], transforms2[i], p1, t1, p2,
109 t2, SPLIT_METHOD_MEDIAN, false, verbose);
110
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 4 BOOST_CHECK(res == res2);
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 4 res = collide_Test<AABB>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN,
112 verbose);
113 res2 =
114
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 4 collide_front_list_Test<AABB>(transforms[i], transforms2[i], p1, t1, p2,
115 t2, SPLIT_METHOD_MEAN, false, verbose);
116
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 4 BOOST_CHECK(res == res2);
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 4 res = collide_Test<AABB>(transforms2[i], p1, t1, p2, t2,
118 SPLIT_METHOD_BV_CENTER, verbose);
119
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 4 res2 = collide_front_list_Test<AABB>(transforms[i], transforms2[i], p1, t1,
120 p2, t2, SPLIT_METHOD_BV_CENTER, false,
121 verbose);
122
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 4 BOOST_CHECK(res == res2);
123 }
124
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 6 for (std::size_t i = 0; i < transforms.size(); ++i) {
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 4 res = collide_Test<OBB>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN,
127 verbose);
128 res2 =
129
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 4 collide_front_list_Test<OBB>(transforms[i], transforms2[i], p1, t1, p2,
130 t2, SPLIT_METHOD_MEDIAN, false, verbose);
131
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 4 BOOST_CHECK(res == res2);
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 4 res = collide_Test<OBB>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN,
133 verbose);
134 res2 =
135
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 4 collide_front_list_Test<OBB>(transforms[i], transforms2[i], p1, t1, p2,
136 t2, SPLIT_METHOD_MEAN, false, verbose);
137
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 4 BOOST_CHECK(res == res2);
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 4 res = collide_Test<OBB>(transforms2[i], p1, t1, p2, t2,
139 SPLIT_METHOD_BV_CENTER, verbose);
140
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 4 res2 = collide_front_list_Test<OBB>(transforms[i], transforms2[i], p1, t1,
141 p2, t2, SPLIT_METHOD_BV_CENTER, false,
142 verbose);
143
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 4 BOOST_CHECK(res == res2);
144 }
145
146
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 6 for (std::size_t i = 0; i < transforms.size(); ++i) {
147 // Disabled broken test lines. Please see #25.
148 // res = collide_Test<RSS>(transforms2[i], p1, t1, p2, t2,
149 // SPLIT_METHOD_MEDIAN, verbose); res2 =
150 // collide_front_list_Test<RSS>(transforms[i], transforms2[i], p1, t1, p2,
151 // t2, SPLIT_METHOD_MEDIAN, false, verbose); BOOST_CHECK(res == res2);
152
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 4 res = collide_Test<RSS>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN,
153 verbose);
154 res2 =
155
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 4 collide_front_list_Test<RSS>(transforms[i], transforms2[i], p1, t1, p2,
156 t2, SPLIT_METHOD_MEAN, false, verbose);
157
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 4 BOOST_CHECK(res == res2);
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 4 res = collide_Test<RSS>(transforms2[i], p1, t1, p2, t2,
159 SPLIT_METHOD_BV_CENTER, verbose);
160
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 4 res2 = collide_front_list_Test<RSS>(transforms[i], transforms2[i], p1, t1,
161 p2, t2, SPLIT_METHOD_BV_CENTER, false,
162 verbose);
163
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 4 BOOST_CHECK(res == res2);
164 }
165
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 6 for (std::size_t i = 0; i < transforms.size(); ++i) {
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 4 res = collide_Test<KDOP<16> >(transforms2[i], p1, t1, p2, t2,
168 SPLIT_METHOD_MEDIAN, verbose);
169
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 4 res2 = collide_front_list_Test<KDOP<16> >(transforms[i], transforms2[i], p1,
170 t1, p2, t2, SPLIT_METHOD_MEDIAN,
171 false, verbose);
172
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 4 BOOST_CHECK(res == res2);
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 4 res = collide_Test<KDOP<16> >(transforms2[i], p1, t1, p2, t2,
174 SPLIT_METHOD_MEAN, verbose);
175
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 4 res2 = collide_front_list_Test<KDOP<16> >(transforms[i], transforms2[i], p1,
176 t1, p2, t2, SPLIT_METHOD_MEAN,
177 false, verbose);
178
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 4 BOOST_CHECK(res == res2);
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 4 res = collide_Test<KDOP<16> >(transforms2[i], p1, t1, p2, t2,
180 SPLIT_METHOD_BV_CENTER, verbose);
181
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 4 res2 = collide_front_list_Test<KDOP<16> >(
182 4 transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER,
183 false, verbose);
184
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 4 BOOST_CHECK(res == res2);
185 }
186
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 6 for (std::size_t i = 0; i < transforms.size(); ++i) {
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 4 res = collide_Test<KDOP<18> >(transforms2[i], p1, t1, p2, t2,
189 SPLIT_METHOD_MEDIAN, verbose);
190
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 4 res2 = collide_front_list_Test<KDOP<18> >(transforms[i], transforms2[i], p1,
191 t1, p2, t2, SPLIT_METHOD_MEDIAN,
192 false, verbose);
193
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 4 BOOST_CHECK(res == res2);
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 4 res = collide_Test<KDOP<18> >(transforms2[i], p1, t1, p2, t2,
195 SPLIT_METHOD_MEAN, verbose);
196
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 4 res2 = collide_front_list_Test<KDOP<18> >(transforms[i], transforms2[i], p1,
197 t1, p2, t2, SPLIT_METHOD_MEAN,
198 false, verbose);
199
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 4 BOOST_CHECK(res == res2);
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 4 res = collide_Test<KDOP<18> >(transforms2[i], p1, t1, p2, t2,
201 SPLIT_METHOD_BV_CENTER, verbose);
202
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 4 res2 = collide_front_list_Test<KDOP<18> >(
203 4 transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER,
204 false, verbose);
205
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 4 BOOST_CHECK(res == res2);
206 }
207
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 6 for (std::size_t i = 0; i < transforms.size(); ++i) {
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 4 res = collide_Test<KDOP<24> >(transforms2[i], p1, t1, p2, t2,
210 SPLIT_METHOD_MEDIAN, verbose);
211
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 4 res2 = collide_front_list_Test<KDOP<24> >(transforms[i], transforms2[i], p1,
212 t1, p2, t2, SPLIT_METHOD_MEDIAN,
213 false, verbose);
214
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 4 BOOST_CHECK(res == res2);
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 4 res = collide_Test<KDOP<24> >(transforms2[i], p1, t1, p2, t2,
216 SPLIT_METHOD_MEAN, verbose);
217
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 4 res2 = collide_front_list_Test<KDOP<24> >(transforms[i], transforms2[i], p1,
218 t1, p2, t2, SPLIT_METHOD_MEAN,
219 false, verbose);
220
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 4 BOOST_CHECK(res == res2);
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 4 res = collide_Test<KDOP<24> >(transforms2[i], p1, t1, p2, t2,
222 SPLIT_METHOD_BV_CENTER, verbose);
223
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 4 res2 = collide_front_list_Test<KDOP<24> >(
224 4 transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER,
225 false, verbose);
226
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 4 BOOST_CHECK(res == res2);
227 }
228
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 6 for (std::size_t i = 0; i < transforms.size(); ++i) {
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 4 res = collide_Test<RSS>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN,
231 verbose);
232
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 4 res2 = collide_front_list_Test_Oriented<RSS, MeshCollisionTraversalNodeRSS>(
233 4 transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN,
234 verbose);
235
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 4 BOOST_CHECK(res == res2);
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237 verbose);
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 4 res2 = collide_front_list_Test_Oriented<RSS, MeshCollisionTraversalNodeRSS>(
239 4 transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN,
240 verbose);
241
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 4 res = collide_Test<RSS>(transforms2[i], p1, t1, p2, t2,
243 SPLIT_METHOD_BV_CENTER, verbose);
244
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 4 res2 = collide_front_list_Test_Oriented<RSS, MeshCollisionTraversalNodeRSS>(
245 4 transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER,
246 verbose);
247
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 4 BOOST_CHECK(res == res2);
248 }
249
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 6 for (std::size_t i = 0; i < transforms.size(); ++i) {
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 4 res = collide_Test<OBB>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN,
252 verbose);
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 4 res2 = collide_front_list_Test_Oriented<OBB, MeshCollisionTraversalNodeOBB>(
254 4 transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN,
255 verbose);
256
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258 verbose);
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 4 res2 = collide_front_list_Test_Oriented<OBB, MeshCollisionTraversalNodeOBB>(
260 4 transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN,
261 verbose);
262
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264 SPLIT_METHOD_BV_CENTER, verbose);
265
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 4 res2 = collide_front_list_Test_Oriented<OBB, MeshCollisionTraversalNodeOBB>(
266 4 transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER,
267 verbose);
268
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 4 BOOST_CHECK(res == res2);
269 }
270 2 }
271
272 template <typename BV>
273 68 bool collide_front_list_Test(const Transform3s& tf1, const Transform3s& tf2,
274 const std::vector<Vec3s>& vertices1,
275 const std::vector<Triangle>& triangles1,
276 const std::vector<Vec3s>& vertices2,
277 const std::vector<Triangle>& triangles2,
278 SplitMethodType split_method, bool refit_bottomup,
279 bool verbose) {
280
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 68 BVHModel<BV> m1;
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 68 BVHModel<BV> m2;
282
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 68 m1.bv_splitter.reset(new BVSplitter<BV>(split_method));
283
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 68 m2.bv_splitter.reset(new BVSplitter<BV>(split_method));
284
285 68 BVHFrontList front_list;
286
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 68 std::vector<Vec3s> vertices1_new(vertices1.size());
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 444788 for (std::size_t i = 0; i < vertices1_new.size(); ++i) {
289
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 444720 vertices1_new[i] = tf1.transform(vertices1[i]);
290 }
291
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 68 m1.beginModel();
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 68 m1.addSubModel(vertices1_new, triangles1);
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 68 m1.endModel();
295
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 68 m2.beginModel();
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 68 m2.addSubModel(vertices2, triangles2);
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 68 m2.endModel();
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 68 Transform3s pose1, pose2;
301
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 68 CollisionResult local_result;
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 68 CollisionRequest request(NO_REQUEST, (std::numeric_limits<int>::max)());
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 68 MeshCollisionTraversalNode<BV> node(request);
305
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 68 bool success = initialize<BV>(node, m1, pose1, m2, pose2, local_result);
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 68 BOOST_REQUIRE(success);
308
309 68 node.enable_statistics = verbose;
310
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 68 collide(&node, request, local_result, &front_list);
312
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 68 if (verbose)
314 ✗ std::cout << "front list size " << front_list.size() << std::endl;
315
316 // update the mesh
317
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 444788 for (std::size_t i = 0; i < vertices1.size(); ++i) {
318
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 444720 vertices1_new[i] = tf2.transform(vertices1[i]);
319 }
320
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 68 m1.beginReplaceModel();
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 68 m1.replaceSubModel(vertices1_new);
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 68 m1.endReplaceModel(true, refit_bottomup);
324
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 68 m2.replaceSubModel(vertices2);
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 68 m2.endReplaceModel(true, refit_bottomup);
328
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 68 local_result.clear();
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 68 collide(&node, request, local_result, &front_list);
331
332
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 68 if (local_result.numContacts() > 0)
333 34 return true;
334 else
335 34 return false;
336 68 }
337
338 template <typename BV, typename TraversalNode>
339 24 bool collide_front_list_Test_Oriented(const Transform3s& tf1,
340 const Transform3s& tf2,
341 const std::vector<Vec3s>& vertices1,
342 const std::vector<Triangle>& triangles1,
343 const std::vector<Vec3s>& vertices2,
344 const std::vector<Triangle>& triangles2,
345 SplitMethodType split_method,
346 bool verbose) {
347
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 24 BVHModel<BV> m1;
348
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 24 BVHModel<BV> m2;
349
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 24 m1.bv_splitter.reset(new BVSplitter<BV>(split_method));
350
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 24 m2.bv_splitter.reset(new BVSplitter<BV>(split_method));
351
352 24 BVHFrontList front_list;
353
354
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 24 m1.addSubModel(vertices1, triangles1);
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 24 m1.endModel();
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 24 m2.addSubModel(vertices2, triangles2);
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 24 m2.endModel();
361
362
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 24 Transform3s pose1(tf1), pose2;
363
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 24 CollisionResult local_result;
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 24 CollisionRequest request(NO_REQUEST, (std::numeric_limits<int>::max)());
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 24 TraversalNode node(request);
367
368
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 24 bool success = initialize(node, (const BVHModel<BV>&)m1, pose1,
369 (const BVHModel<BV>&)m2, pose2, local_result);
370
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 24 BOOST_REQUIRE(success);
371
372 24 node.enable_statistics = verbose;
373
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 24 collide(&node, request, local_result, &front_list);
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 24 if (verbose)
377 ✗ std::cout << "front list size " << front_list.size() << std::endl;
378
379 // update the mesh
380
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 24 pose1 = tf2;
381
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 24 success = initialize(node, (const BVHModel<BV>&)m1, pose1,
382 (const BVHModel<BV>&)m2, pose2, local_result);
383
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 24 BOOST_REQUIRE(success);
384
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 24 local_result.clear();
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 24 collide(&node, request, local_result, &front_list);
387
388
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 24 if (local_result.numContacts() > 0)
389 12 return true;
390 else
391 12 return false;
392 24 }
393
394 template <typename BV>
395 92 bool collide_Test(const Transform3s& tf, const std::vector<Vec3s>& vertices1,
396 const std::vector<Triangle>& triangles1,
397 const std::vector<Vec3s>& vertices2,
398 const std::vector<Triangle>& triangles2,
399 SplitMethodType split_method, bool verbose) {
400
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 92 BVHModel<BV> m1;
401
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 92 BVHModel<BV> m2;
402
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 92 m1.bv_splitter.reset(new BVSplitter<BV>(split_method));
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 92 m2.bv_splitter.reset(new BVSplitter<BV>(split_method));
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 92 m1.beginModel();
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 92 m1.addSubModel(vertices1, triangles1);
407
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 92 m1.endModel();
408
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 92 m2.beginModel();
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 92 m2.addSubModel(vertices2, triangles2);
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 92 m2.endModel();
412
413
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 92 Transform3s pose1(tf), pose2;
414
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 92 CollisionResult local_result;
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 92 CollisionRequest request(NO_REQUEST, (std::numeric_limits<int>::max)());
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 92 MeshCollisionTraversalNode<BV> node(request);
418
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 92 bool success = initialize<BV>(node, m1, pose1, m2, pose2, local_result);
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 92 BOOST_REQUIRE(success);
421
422 92 node.enable_statistics = verbose;
423
424
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 92 collide(&node, request, local_result);
425
426
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 92 if (local_result.numContacts() > 0)
427 46 return true;
428 else
429 46 return false;
430 92 }
431