Directory: | ./ |
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File: | test/gjk_asserts.cpp |
Date: | 2025-04-01 09:23:31 |
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Lines: | 53 | 53 | 100.0% |
Branches: | 109 | 186 | 58.6% |
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1 | #define BOOST_TEST_MODULE COAL_GJK_ASSERTS | ||
2 | |||
3 | #include <boost/test/included/unit_test.hpp> | ||
4 | #include <boost/math/constants/constants.hpp> | ||
5 | #include "coal/BVH/BVH_model.h" | ||
6 | #include "coal/collision.h" | ||
7 | |||
8 | using namespace coal; | ||
9 | |||
10 | constexpr Scalar pi = boost::math::constants::pi<Scalar>(); | ||
11 | |||
12 | 16 | Scalar DegToRad(const Scalar& deg) { | |
13 | static Scalar degToRad = pi / Scalar(180); | ||
14 | 16 | return deg * degToRad; | |
15 | } | ||
16 | std::vector<Vec3s> dirs{Vec3s::UnitZ(), -Vec3s::UnitZ(), Vec3s::UnitY(), | ||
17 | -Vec3s::UnitY(), Vec3s::UnitX(), -Vec3s::UnitX()}; | ||
18 | |||
19 | 2 | void CreateSphereMesh(BVHModel<OBBRSS>& model, const Scalar& radius) { | |
20 | 2 | size_t polarSteps{32}; | |
21 | 2 | size_t azimuthSteps{32}; | |
22 | |||
23 | 2 | const float PI = static_cast<float>(pi); | |
24 | |||
25 | 2 | const float polarStep = PI / (float)(polarSteps - 1); | |
26 | 2 | const float azimuthStep = 2.0f * PI / (float)(azimuthSteps - 1); | |
27 | 2 | std::vector<Vec3s> vertices; | |
28 | 2 | std::vector<Triangle> triangles; | |
29 | |||
30 |
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66 | for (size_t p = 0; p < polarSteps; ++p) { |
31 |
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2112 | for (size_t a = 0; a < azimuthSteps; ++a) { |
32 | const float x = | ||
33 | 2048 | std::sin((float)p * polarStep) * std::cos((float)a * azimuthStep); | |
34 | const float y = | ||
35 | 2048 | std::sin((float)p * polarStep) * std::sin((float)a * azimuthStep); | |
36 | 2048 | const float z = std::cos((float)p * polarStep); | |
37 |
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2048 | vertices.emplace_back(radius * x, radius * y, radius * z); |
38 | } | ||
39 | } | ||
40 | |||
41 |
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64 | for (size_t p = 0; p < polarSteps - 1; ++p) { |
42 |
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1984 | for (size_t a = 0; a < azimuthSteps - 1; ++a) { |
43 | 1922 | size_t p0 = p * azimuthSteps + a; | |
44 | 1922 | size_t p1 = p * azimuthSteps + (a + 1); | |
45 | 1922 | size_t p2 = (p + 1) * azimuthSteps + (a + 1); | |
46 | 1922 | size_t p3 = (p + 1) * azimuthSteps + a; | |
47 |
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1922 | triangles.emplace_back(p0, p2, p1); |
48 |
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1922 | triangles.emplace_back(p0, p3, p2); |
49 | } | ||
50 | } | ||
51 |
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2 | model.beginModel(); |
52 |
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2 | model.addSubModel(vertices, triangles); |
53 |
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2 | model.endModel(); |
54 | 2 | } | |
55 | |||
56 |
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4 | BOOST_AUTO_TEST_CASE(TestSpheres) { |
57 |
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2 | BVHModel<OBBRSS> sphere1{}; |
58 |
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2 | BVHModel<OBBRSS> sphere2{}; |
59 | |||
60 |
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2 | CreateSphereMesh(sphere1, 1.); |
61 |
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2 | CreateSphereMesh(sphere2, 2.); |
62 | |||
63 |
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2 | CollisionRequest request(CONTACT | DISTANCE_LOWER_BOUND, 1); |
64 | |||
65 |
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2 | ComputeCollision compute(&sphere2, &sphere1); |
66 | |||
67 |
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2 | Transform3s sphere1Tf = Transform3s::Identity(); |
68 |
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2 | Transform3s sphere2Tf = Transform3s::Identity(); |
69 | |||
70 |
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722 | for (int i = 0; i < 360; ++i) { |
71 |
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130320 | for (int j = 0; j < 180; ++j) { |
72 |
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129600 | if ( |
73 | /// assertion: src/narrowphase/gjk.cpp:331 | ||
74 |
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129600 | (i == 5 && j == 48) || (i == 64 && j == 151) || |
75 |
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129596 | (i == 98 && j == 47) || (i == 355 && j == 48) || |
76 | /// assertion: src/narrowphase/gjk.cpp:1263 | ||
77 |
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129592 | (i == 86 && j == 52) || (i == 89 && j == 17) || |
78 |
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129588 | (i == 89 && j == 58) || (i == 89 && j == 145)) { |
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16 | sphere2Tf.setQuatRotation( |
80 |
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16 | Eigen::AngleAxis<Scalar>(DegToRad(Scalar(i)), Vec3s::UnitZ()) * |
81 |
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16 | Eigen::AngleAxis<Scalar>(DegToRad(Scalar(j)), Vec3s::UnitY())); |
82 |
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112 | for (const Vec3s& dir : dirs) { |
83 |
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96 | sphere2Tf.setTranslation(dir); |
84 |
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96 | CollisionResult result; |
85 | |||
86 |
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96 | BOOST_CHECK_NO_THROW(compute(sphere2Tf, sphere1Tf, request, result)); |
87 | 96 | } | |
88 | } | ||
89 | } | ||
90 | } | ||
91 | 2 | } | |
92 |