| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /* | ||
| 2 | * Software License Agreement (BSD License) | ||
| 3 | * | ||
| 4 | * Copyright (c) 2022, 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 Willow Garage, Inc. 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_SECURITY_MARGIN | ||
| 36 | #include <boost/test/included/unit_test.hpp> | ||
| 37 | |||
| 38 | #include <cmath> | ||
| 39 | #include <iostream> | ||
| 40 | #include "coal/distance.h" | ||
| 41 | #include "coal/math/transform.h" | ||
| 42 | #include "coal/collision.h" | ||
| 43 | #include "coal/collision_object.h" | ||
| 44 | #include "coal/shape/geometric_shapes.h" | ||
| 45 | #include "coal/shape/geometric_shapes_utility.h" | ||
| 46 | #include "coal/shape/geometric_shape_to_BVH_model.h" | ||
| 47 | |||
| 48 | #include "utility.h" | ||
| 49 | |||
| 50 | using namespace coal; | ||
| 51 | using coal::CollisionGeometryPtr_t; | ||
| 52 | using coal::CollisionRequest; | ||
| 53 | using coal::CollisionResult; | ||
| 54 | using coal::Transform3s; | ||
| 55 | using coal::Vec3s; | ||
| 56 | |||
| 57 | #define MATH_SQUARED(x) (x * x) | ||
| 58 | |||
| 59 |
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4 | BOOST_AUTO_TEST_CASE(aabb_aabb) { |
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2 | CollisionGeometryPtr_t b1(new coal::Box(1, 1, 1)); |
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2 | CollisionGeometryPtr_t b2(new coal::Box(1, 1, 1)); |
| 62 | |||
| 63 |
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2 | const Transform3s tf1; |
| 64 |
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2 | const Transform3s tf2_collision(Vec3s(0, 1, 1)); |
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2 | coal::Box s1(1, 1, 1); |
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2 | coal::Box s2(1, 1, 1); |
| 67 | 2 | const Scalar tol = Scalar(1e-8); | |
| 68 | |||
| 69 |
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2 | AABB bv1, bv2; |
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2 | computeBV(s1, Transform3s(), bv1); |
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2 | computeBV(s2, Transform3s(), bv2); |
| 72 | |||
| 73 | // No security margin - collision | ||
| 74 | { | ||
| 75 |
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2 | CollisionRequest collisionRequest(CONTACT, 1); |
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2 | AABB bv2_transformed; |
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2 | computeBV(s2, tf2_collision, bv2_transformed); |
| 78 | Scalar sqrDistLowerBound; | ||
| 79 | bool res = | ||
| 80 |
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2 | bv1.overlap(bv2_transformed, collisionRequest, sqrDistLowerBound); |
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2 | BOOST_CHECK(res); |
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2 | BOOST_CHECK_CLOSE(sqrDistLowerBound, 0, tol); |
| 83 | } | ||
| 84 | |||
| 85 | // No security margin - no collision | ||
| 86 | { | ||
| 87 |
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2 | CollisionRequest collisionRequest(CONTACT, 1); |
| 88 | 2 | const Scalar distance = Scalar(0.01); | |
| 89 | Transform3s tf2_no_collision( | ||
| 90 |
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2 | Vec3s(tf2_collision.getTranslation() + Vec3s(0, 0, distance))); |
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2 | AABB bv2_transformed; |
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2 | computeBV(s2, tf2_no_collision, bv2_transformed); |
| 93 | Scalar sqrDistLowerBound; | ||
| 94 | bool res = | ||
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2 | bv1.overlap(bv2_transformed, collisionRequest, sqrDistLowerBound); |
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2 | BOOST_CHECK(!res); |
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2 | BOOST_CHECK_CLOSE(sqrDistLowerBound, MATH_SQUARED(distance), tol); |
| 98 | } | ||
| 99 | |||
| 100 | // Security margin - collision | ||
| 101 | { | ||
| 102 |
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2 | CollisionRequest collisionRequest(CONTACT, 1); |
| 103 | 2 | const Scalar distance = Scalar(0.01); | |
| 104 | 2 | collisionRequest.security_margin = distance; | |
| 105 | Transform3s tf2_no_collision( | ||
| 106 |
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2 | Vec3s(tf2_collision.getTranslation() + Vec3s(0, 0, distance))); |
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2 | AABB bv2_transformed; |
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2 | computeBV(s2, tf2_no_collision, bv2_transformed); |
| 109 | Scalar sqrDistLowerBound; | ||
| 110 | bool res = | ||
| 111 |
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2 | bv1.overlap(bv2_transformed, collisionRequest, sqrDistLowerBound); |
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2 | BOOST_CHECK(res); |
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2 | BOOST_CHECK_SMALL(sqrDistLowerBound, tol); |
| 114 | } | ||
| 115 | |||
| 116 | // Negative security margin - collion because the two boxes are in contact | ||
| 117 | { | ||
| 118 |
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2 | CollisionRequest collisionRequest(CONTACT, 1); |
| 119 | 2 | const Scalar distance = Scalar(-0.01); | |
| 120 | 2 | collisionRequest.security_margin = distance; | |
| 121 | const Transform3s tf2( | ||
| 122 |
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2 | Vec3s(tf2_collision.getTranslation() + Vec3s(0, distance, distance))); |
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2 | AABB bv2_transformed; |
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2 | computeBV(s2, tf2, bv2_transformed); |
| 125 | Scalar sqrDistLowerBound; | ||
| 126 | bool res = | ||
| 127 |
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2 | bv1.overlap(bv2_transformed, collisionRequest, sqrDistLowerBound); |
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2 | BOOST_CHECK(res); |
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2 | BOOST_CHECK_SMALL(sqrDistLowerBound, tol); |
| 130 | } | ||
| 131 | |||
| 132 | // Negative security margin - no collision | ||
| 133 | { | ||
| 134 |
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2 | CollisionRequest collisionRequest(CONTACT, 1); |
| 135 | 2 | const Scalar distance = Scalar(-0.01); | |
| 136 | 2 | collisionRequest.security_margin = distance; | |
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2 | AABB bv2_transformed; |
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2 | computeBV(s2, tf2_collision, bv2_transformed); |
| 139 | Scalar sqrDistLowerBound; | ||
| 140 | bool res = | ||
| 141 |
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2 | bv1.overlap(bv2_transformed, collisionRequest, sqrDistLowerBound); |
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2 | BOOST_CHECK(!res); |
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2 | BOOST_CHECK_CLOSE( |
| 144 | sqrDistLowerBound, | ||
| 145 | MATH_SQUARED((std::sqrt(2) * collisionRequest.security_margin)), tol); | ||
| 146 | } | ||
| 147 | 2 | } | |
| 148 | |||
| 149 |
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4 | BOOST_AUTO_TEST_CASE(aabb_aabb_degenerated_cases) { |
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2 | CollisionGeometryPtr_t b1(new coal::Box(1, 1, 1)); |
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2 | CollisionGeometryPtr_t b2(new coal::Box(1, 1, 1)); |
| 152 | |||
| 153 |
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2 | const Transform3s tf1; |
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2 | const Transform3s tf2_collision(Vec3s(0, 0, 0)); |
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2 | coal::Box s1(1, 1, 1); |
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2 | coal::Box s2(1, 1, 1); |
| 157 | |||
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2 | AABB bv1, bv2; |
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2 | computeBV(s1, Transform3s(), bv1); |
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2 | computeBV(s2, Transform3s(), bv2); |
| 161 | |||
| 162 | // The two AABB are collocated | ||
| 163 | { | ||
| 164 |
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2 | CollisionRequest collisionRequest(CONTACT, 1); |
| 165 | 2 | const Scalar distance = -2.; | |
| 166 | 2 | collisionRequest.security_margin = distance; | |
| 167 |
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2 | AABB bv2_transformed; |
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2 | computeBV(s2, tf2_collision, bv2_transformed); |
| 169 | Scalar sqrDistLowerBound; | ||
| 170 | bool res = | ||
| 171 |
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2 | bv1.overlap(bv2_transformed, collisionRequest, sqrDistLowerBound); |
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2 | BOOST_CHECK(!res); |
| 173 | } | ||
| 174 | |||
| 175 |
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2 | const AABB bv3; |
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2 | BOOST_CHECK(!bv1.overlap(bv3)); |
| 177 | 2 | } | |
| 178 | |||
| 179 |
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4 | BOOST_AUTO_TEST_CASE(sphere_sphere) { |
| 180 |
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2 | CollisionGeometryPtr_t s1(new coal::Sphere(1)); |
| 181 |
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2 | CollisionGeometryPtr_t s2(new coal::Sphere(2)); |
| 182 | |||
| 183 |
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2 | const Transform3s tf1; |
| 184 |
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2 | const Transform3s tf2_collision(Vec3s(0, 0, 3)); |
| 185 | |||
| 186 | // NOTE: when comparing a result to zero, **do not use BOOST_CHECK_CLOSE**! | ||
| 187 | // Zero is not close to any other number, so the test will always fail. | ||
| 188 | // Instead, use BOOST_CHECK_SMALL. | ||
| 189 | |||
| 190 | // No security margin - collision | ||
| 191 | { | ||
| 192 |
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2 | CollisionRequest collisionRequest(CONTACT, 1); |
| 193 |
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2 | CollisionResult collisionResult; |
| 194 |
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2 | collide(s1.get(), tf1, s2.get(), tf2_collision, collisionRequest, |
| 195 | collisionResult); | ||
| 196 |
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2 | BOOST_CHECK(collisionResult.isCollision()); |
| 197 |
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2 | BOOST_CHECK_SMALL(collisionResult.distance_lower_bound, Scalar(1e-8)); |
| 198 |
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2 | BOOST_CHECK_SMALL(collisionResult.getContact(0).penetration_depth, |
| 199 | Scalar(1e-8)); | ||
| 200 | 2 | } | |
| 201 | |||
| 202 | // No security margin - no collision | ||
| 203 | { | ||
| 204 |
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2 | CollisionRequest collisionRequest(CONTACT, 1); |
| 205 |
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2 | CollisionResult collisionResult; |
| 206 | 2 | const Scalar distance = Scalar(0.01); | |
| 207 | Transform3s tf2_no_collision( | ||
| 208 |
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2 | Vec3s(tf2_collision.getTranslation() + Vec3s(0, 0, distance))); |
| 209 |
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2 | collide(s1.get(), tf1, s2.get(), tf2_no_collision, collisionRequest, |
| 210 | collisionResult); | ||
| 211 |
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2 | BOOST_CHECK(!collisionResult.isCollision()); |
| 212 |
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2 | BOOST_CHECK_CLOSE(collisionResult.distance_lower_bound, distance, |
| 213 | Scalar(1e-8)); | ||
| 214 | 2 | } | |
| 215 | |||
| 216 | // Positive security margin - collision | ||
| 217 | { | ||
| 218 |
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2 | CollisionRequest collisionRequest(CONTACT, 1); |
| 219 |
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2 | CollisionResult collisionResult; |
| 220 | 2 | const Scalar distance = Scalar(0.01); | |
| 221 | 2 | collisionRequest.security_margin = distance; | |
| 222 | Transform3s tf2( | ||
| 223 |
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2 | Vec3s(tf2_collision.getTranslation() + Vec3s(0, 0, distance))); |
| 224 |
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2 | collide(s1.get(), tf1, s2.get(), tf2, collisionRequest, collisionResult); |
| 225 |
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2 | BOOST_CHECK(collisionResult.isCollision()); |
| 226 |
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2 | BOOST_CHECK_SMALL(collisionResult.distance_lower_bound, Scalar(1e-8)); |
| 227 |
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2 | BOOST_CHECK_CLOSE(collisionResult.getContact(0).penetration_depth, distance, |
| 228 | 1e-8); | ||
| 229 | 2 | } | |
| 230 | |||
| 231 | // Negative security margin - collion because the two spheres are in contact | ||
| 232 | { | ||
| 233 |
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2 | CollisionRequest collisionRequest(CONTACT, 1); |
| 234 |
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2 | CollisionResult collisionResult; |
| 235 | 2 | const Scalar distance = Scalar(-0.01); | |
| 236 | 2 | collisionRequest.security_margin = distance; | |
| 237 | Transform3s tf2( | ||
| 238 |
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2 | Vec3s(tf2_collision.getTranslation() + Vec3s(0, 0, distance))); |
| 239 |
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2 | collide(s1.get(), tf1, s2.get(), tf2, collisionRequest, collisionResult); |
| 240 |
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2 | BOOST_CHECK(collisionResult.isCollision()); |
| 241 |
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2 | BOOST_CHECK_SMALL(collisionResult.distance_lower_bound, Scalar(1e-8)); |
| 242 |
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2 | BOOST_CHECK_CLOSE(collisionResult.getContact(0).penetration_depth, distance, |
| 243 | Scalar(1e-8)); | ||
| 244 | 2 | } | |
| 245 | |||
| 246 | // Negative security margin - no collision | ||
| 247 | { | ||
| 248 |
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2 | CollisionRequest collisionRequest(CONTACT, 1); |
| 249 |
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2 | CollisionResult collisionResult; |
| 250 | 2 | collisionRequest.security_margin = Scalar(-0.01); | |
| 251 |
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2 | collide(s1.get(), tf1, s2.get(), tf2_collision, collisionRequest, |
| 252 | collisionResult); | ||
| 253 |
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2 | BOOST_CHECK(!collisionResult.isCollision()); |
| 254 |
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2 | BOOST_CHECK_CLOSE(collisionResult.distance_lower_bound, |
| 255 | -collisionRequest.security_margin, Scalar(1e-8)); | ||
| 256 | 2 | } | |
| 257 | 2 | } | |
| 258 | |||
| 259 |
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4 | BOOST_AUTO_TEST_CASE(capsule_capsule) { |
| 260 |
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2 | CollisionGeometryPtr_t c1(new coal::Capsule(0.5, 1.)); |
| 261 |
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2 | CollisionGeometryPtr_t c2(new coal::Capsule(0.5, 1.)); |
| 262 | |||
| 263 |
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2 | const Transform3s tf1; |
| 264 |
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2 | const Transform3s tf2_collision(Vec3s(0, 1., 0)); |
| 265 | |||
| 266 | // No security margin - collision | ||
| 267 | { | ||
| 268 |
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2 | CollisionRequest collisionRequest(CONTACT, 1); |
| 269 |
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2 | CollisionResult collisionResult; |
| 270 |
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2 | collide(c1.get(), tf1, c2.get(), tf2_collision, collisionRequest, |
| 271 | collisionResult); | ||
| 272 |
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2 | BOOST_CHECK(collisionResult.isCollision()); |
| 273 |
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2 | BOOST_CHECK_SMALL(collisionResult.distance_lower_bound, Scalar(1e-8)); |
| 274 |
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2 | BOOST_CHECK_SMALL(collisionResult.getContact(0).penetration_depth, |
| 275 | Scalar(1e-8)); | ||
| 276 | 2 | } | |
| 277 | |||
| 278 | // No security margin - no collision | ||
| 279 | { | ||
| 280 |
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2 | CollisionRequest collisionRequest(CONTACT, 1); |
| 281 |
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2 | CollisionResult collisionResult; |
| 282 | 2 | const Scalar distance = Scalar(0.01); | |
| 283 | Transform3s tf2_no_collision( | ||
| 284 |
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2 | Vec3s(tf2_collision.getTranslation() + Vec3s(0, distance, 0))); |
| 285 |
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2 | collide(c1.get(), tf1, c2.get(), tf2_no_collision, collisionRequest, |
| 286 | collisionResult); | ||
| 287 |
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2 | BOOST_CHECK(!collisionResult.isCollision()); |
| 288 |
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2 | BOOST_CHECK_CLOSE(collisionResult.distance_lower_bound, distance, |
| 289 | Scalar(1e-8)); | ||
| 290 | 2 | } | |
| 291 | |||
| 292 | // Positive security margin - collision | ||
| 293 | { | ||
| 294 |
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2 | CollisionRequest collisionRequest(CONTACT, 1); |
| 295 |
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2 | CollisionResult collisionResult; |
| 296 | 2 | const Scalar distance = Scalar(0.01); | |
| 297 | 2 | collisionRequest.security_margin = distance; | |
| 298 | Transform3s tf2_no_collision( | ||
| 299 |
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2 | Vec3s(tf2_collision.getTranslation() + Vec3s(0, distance, 0))); |
| 300 |
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2 | collide(c1.get(), tf1, c2.get(), tf2_no_collision, collisionRequest, |
| 301 | collisionResult); | ||
| 302 |
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2 | BOOST_CHECK(collisionResult.isCollision()); |
| 303 |
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2 | BOOST_CHECK_SMALL(collisionResult.distance_lower_bound, Scalar(1e-8)); |
| 304 |
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2 | BOOST_CHECK_CLOSE(collisionResult.getContact(0).penetration_depth, distance, |
| 305 | Scalar(1e-8)); | ||
| 306 | 2 | } | |
| 307 | |||
| 308 | // Negative security margin - collion because the two capsules are in contact | ||
| 309 | { | ||
| 310 |
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2 | CollisionRequest collisionRequest(CONTACT, 1); |
| 311 |
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2 | CollisionResult collisionResult; |
| 312 | 2 | const Scalar distance = Scalar(-0.01); | |
| 313 | 2 | collisionRequest.security_margin = distance; | |
| 314 | Transform3s tf2( | ||
| 315 |
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2 | Vec3s(tf2_collision.getTranslation() + Vec3s(0, distance, 0))); |
| 316 |
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2 | collide(c1.get(), tf1, c2.get(), tf2, collisionRequest, collisionResult); |
| 317 |
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2 | BOOST_CHECK(collisionResult.isCollision()); |
| 318 |
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2 | BOOST_CHECK_SMALL(collisionResult.distance_lower_bound, Scalar(1e-8)); |
| 319 |
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2 | BOOST_CHECK_CLOSE(collisionResult.getContact(0).penetration_depth, distance, |
| 320 | Scalar(1e-8)); | ||
| 321 | 2 | } | |
| 322 | |||
| 323 | // Negative security margin - no collision | ||
| 324 | { | ||
| 325 |
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2 | CollisionRequest collisionRequest(CONTACT, 1); |
| 326 |
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2 | CollisionResult collisionResult; |
| 327 | 2 | collisionRequest.security_margin = Scalar(-0.01); | |
| 328 |
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2 | collide(c1.get(), tf1, c2.get(), tf2_collision, collisionRequest, |
| 329 | collisionResult); | ||
| 330 |
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2 | BOOST_CHECK(!collisionResult.isCollision()); |
| 331 |
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2 | BOOST_CHECK_CLOSE(collisionResult.distance_lower_bound, Scalar(0.01), |
| 332 | Scalar(1e-8)); | ||
| 333 | 2 | } | |
| 334 | 2 | } | |
| 335 | |||
| 336 |
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4 | BOOST_AUTO_TEST_CASE(box_box) { |
| 337 |
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2 | CollisionGeometryPtr_t b1(new coal::Box(1, 1, 1)); |
| 338 |
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2 | CollisionGeometryPtr_t b2(new coal::Box(1, 1, 1)); |
| 339 | |||
| 340 |
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2 | const Transform3s tf1; |
| 341 |
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2 | const Transform3s tf2_collision(Vec3s(0, 1, 1)); |
| 342 | |||
| 343 | 2 | const Scalar tol = Scalar(1e-3); | |
| 344 | |||
| 345 | // No security margin - collision | ||
| 346 | { | ||
| 347 |
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2 | CollisionRequest collisionRequest(CONTACT, 1); |
| 348 |
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2 | CollisionResult collisionResult; |
| 349 |
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2 | collide(b1.get(), tf1, b2.get(), tf2_collision, collisionRequest, |
| 350 | collisionResult); | ||
| 351 |
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2 | BOOST_CHECK(collisionResult.isCollision()); |
| 352 |
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2 | BOOST_CHECK_SMALL(collisionResult.distance_lower_bound, tol); |
| 353 |
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2 | BOOST_CHECK_SMALL(collisionResult.getContact(0).penetration_depth, |
| 354 | Scalar(1e-8)); | ||
| 355 | 2 | } | |
| 356 | |||
| 357 | // No security margin - no collision | ||
| 358 | { | ||
| 359 |
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2 | CollisionRequest collisionRequest(CONTACT, 1); |
| 360 | 2 | const Scalar distance = Scalar(0.01); | |
| 361 | const Transform3s tf2_no_collision( | ||
| 362 |
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2 | (tf2_collision.getTranslation() + Vec3s(0, 0, distance)).eval()); |
| 363 | |||
| 364 |
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2 | CollisionResult collisionResult; |
| 365 |
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2 | collide(b1.get(), tf1, b2.get(), tf2_no_collision, collisionRequest, |
| 366 | collisionResult); | ||
| 367 |
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2 | BOOST_CHECK(!collisionResult.isCollision()); |
| 368 |
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2 | BOOST_CHECK_CLOSE(collisionResult.distance_lower_bound, distance, tol); |
| 369 | 2 | } | |
| 370 | |||
| 371 | // Positive security margin - collision | ||
| 372 | { | ||
| 373 |
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2 | CollisionRequest collisionRequest(CONTACT, 1); |
| 374 | 2 | const Scalar distance = Scalar(0.01); | |
| 375 | 2 | collisionRequest.security_margin = distance; | |
| 376 |
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2 | CollisionResult collisionResult; |
| 377 |
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2 | collide(b1.get(), tf1, b2.get(), tf2_collision, collisionRequest, |
| 378 | collisionResult); | ||
| 379 |
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2 | BOOST_CHECK(collisionResult.isCollision()); |
| 380 |
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2 | BOOST_CHECK_CLOSE(collisionResult.distance_lower_bound, |
| 381 | -collisionRequest.security_margin, tol); | ||
| 382 |
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2 | BOOST_CHECK_SMALL(collisionResult.getContact(0).penetration_depth, |
| 383 | Scalar(1e-8)); | ||
| 384 | 2 | } | |
| 385 | |||
| 386 | // Negative security margin - no collision | ||
| 387 | { | ||
| 388 |
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2 | CollisionRequest collisionRequest(CONTACT, 1); |
| 389 | 2 | collisionRequest.security_margin = Scalar(-0.01); | |
| 390 |
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2 | CollisionResult collisionResult; |
| 391 |
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2 | collide(b1.get(), tf1, b2.get(), tf2_collision, collisionRequest, |
| 392 | collisionResult); | ||
| 393 |
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2 | BOOST_CHECK(!collisionResult.isCollision()); |
| 394 |
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2 | BOOST_CHECK_CLOSE(collisionResult.distance_lower_bound, |
| 395 | -collisionRequest.security_margin, tol); | ||
| 396 | 2 | } | |
| 397 | |||
| 398 | // Negative security margin - collision | ||
| 399 | { | ||
| 400 |
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2 | CollisionRequest collisionRequest(CONTACT, 1); |
| 401 | 2 | const Scalar distance = Scalar(-0.01); | |
| 402 | 2 | collisionRequest.security_margin = distance; | |
| 403 |
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2 | CollisionResult collisionResult; |
| 404 | |||
| 405 |
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2 | const Transform3s tf2((tf2_collision.getTranslation() + |
| 406 |
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2 | Vec3s(0, collisionRequest.security_margin, |
| 407 | collisionRequest.security_margin)) | ||
| 408 |
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2 | .eval()); |
| 409 |
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2 | collide(b1.get(), tf1, b2.get(), tf2, collisionRequest, collisionResult); |
| 410 |
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2 | BOOST_CHECK(collisionResult.isCollision()); |
| 411 |
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2 | BOOST_CHECK_SMALL(collisionResult.distance_lower_bound, tol); |
| 412 |
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2 | BOOST_CHECK_CLOSE(collisionResult.getContact(0).penetration_depth, distance, |
| 413 | tol); | ||
| 414 | 2 | } | |
| 415 | 2 | } | |
| 416 | |||
| 417 | template <typename ShapeType1, typename ShapeType2> | ||
| 418 | 4 | void test_shape_shape(const ShapeType1& shape1, const Transform3s& tf1, | |
| 419 | const ShapeType2& shape2, | ||
| 420 | const Transform3s& tf2_collision, const Scalar tol) { | ||
| 421 | // No security margin - collision | ||
| 422 | { | ||
| 423 |
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4 | CollisionRequest collisionRequest(CONTACT, 1); |
| 424 |
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4 | CollisionResult collisionResult; |
| 425 |
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4 | collide(&shape1, tf1, &shape2, tf2_collision, collisionRequest, |
| 426 | collisionResult); | ||
| 427 |
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4 | BOOST_CHECK(collisionResult.isCollision()); |
| 428 |
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4 | BOOST_CHECK_SMALL(collisionResult.distance_lower_bound, tol); |
| 429 |
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4 | BOOST_CHECK_SMALL(collisionResult.getContact(0).penetration_depth, |
| 430 | Scalar(1e-8)); | ||
| 431 | 4 | } | |
| 432 | |||
| 433 | // No security margin - no collision | ||
| 434 | { | ||
| 435 |
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4 | CollisionRequest collisionRequest(CONTACT, 1); |
| 436 | 4 | const Scalar distance = Scalar(0.01); | |
| 437 |
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4 | const Transform3s tf2_no_collision( |
| 438 |
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4 | (tf2_collision.getTranslation() + Vec3s(0, 0, distance)).eval()); |
| 439 | |||
| 440 |
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4 | CollisionResult collisionResult; |
| 441 |
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4 | collide(&shape1, tf1, &shape2, tf2_no_collision, collisionRequest, |
| 442 | collisionResult); | ||
| 443 |
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4 | BOOST_CHECK(!collisionResult.isCollision()); |
| 444 |
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4 | BOOST_CHECK_CLOSE(collisionResult.distance_lower_bound, distance, tol); |
| 445 | 4 | } | |
| 446 | |||
| 447 | // Positive security margin - collision | ||
| 448 | { | ||
| 449 |
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4 | CollisionRequest collisionRequest(CONTACT, 1); |
| 450 | 4 | const Scalar distance = Scalar(0.01); | |
| 451 | 4 | collisionRequest.security_margin = distance; | |
| 452 |
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4 | CollisionResult collisionResult; |
| 453 |
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4 | collide(&shape1, tf1, &shape2, tf2_collision, collisionRequest, |
| 454 | collisionResult); | ||
| 455 |
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4 | BOOST_CHECK(collisionResult.isCollision()); |
| 456 |
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4 | BOOST_CHECK_CLOSE(collisionResult.distance_lower_bound, |
| 457 | -collisionRequest.security_margin, tol); | ||
| 458 |
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4 | BOOST_CHECK_SMALL(collisionResult.getContact(0).penetration_depth, |
| 459 | Scalar(1e-8)); | ||
| 460 | 4 | } | |
| 461 | |||
| 462 | // Negative security margin - no collision | ||
| 463 | { | ||
| 464 |
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4 | CollisionRequest collisionRequest(CONTACT, 1); |
| 465 | 4 | collisionRequest.security_margin = Scalar(-0.01); | |
| 466 |
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4 | CollisionResult collisionResult; |
| 467 |
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4 | collide(&shape1, tf1, &shape2, tf2_collision, collisionRequest, |
| 468 | collisionResult); | ||
| 469 |
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4 | BOOST_CHECK(!collisionResult.isCollision()); |
| 470 |
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4 | BOOST_CHECK_CLOSE( |
| 471 | collisionResult.distance_lower_bound, | ||
| 472 | (collisionRequest.security_margin * tf2_collision.getTranslation()) | ||
| 473 | .norm(), | ||
| 474 | tol); | ||
| 475 | 4 | } | |
| 476 | |||
| 477 | // Negative security margin - collision | ||
| 478 | { | ||
| 479 |
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4 | CollisionRequest collisionRequest(CONTACT, 1); |
| 480 | 4 | const Scalar distance = Scalar(-0.01); | |
| 481 | 4 | collisionRequest.security_margin = distance; | |
| 482 |
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4 | CollisionResult collisionResult; |
| 483 | |||
| 484 |
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4 | const Transform3s tf2((tf2_collision.getTranslation() + |
| 485 |
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4 | Vec3s(0, collisionRequest.security_margin, |
| 486 | collisionRequest.security_margin)) | ||
| 487 | .eval()); | ||
| 488 |
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4 | collide(&shape1, tf1, &shape2, tf2, collisionRequest, collisionResult); |
| 489 |
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4 | BOOST_CHECK(collisionResult.isCollision()); |
| 490 |
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4 | BOOST_CHECK_SMALL(collisionResult.distance_lower_bound, tol); |
| 491 |
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4 | BOOST_CHECK_CLOSE(collisionResult.getContact(0).penetration_depth, distance, |
| 492 | tol); | ||
| 493 | 4 | } | |
| 494 | 4 | } | |
| 495 | |||
| 496 |
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4 | BOOST_AUTO_TEST_CASE(sphere_box) { |
| 497 |
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2 | Box* box_ptr = new coal::Box(1, 1, 1); |
| 498 |
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2 | CollisionGeometryPtr_t b1(box_ptr); |
| 499 |
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2 | BVHModel<OBBRSS> box_bvh_model = BVHModel<OBBRSS>(); |
| 500 |
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2 | generateBVHModel(box_bvh_model, *box_ptr, Transform3s()); |
| 501 |
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2 | box_bvh_model.buildConvexRepresentation(false); |
| 502 | 2 | ConvexBase32& box_convex = *box_bvh_model.convex.get(); | |
| 503 |
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2 | CollisionGeometryPtr_t s2(new coal::Sphere(0.5)); |
| 504 | |||
| 505 |
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2 | const Transform3s tf1; |
| 506 |
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2 | const Transform3s tf2_collision(Vec3s(0, 0, 1)); |
| 507 | |||
| 508 | 2 | const Scalar tol = Scalar(1e-6); | |
| 509 | |||
| 510 |
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2 | test_shape_shape(*b1.get(), tf1, *s2.get(), tf2_collision, tol); |
| 511 |
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2 | test_shape_shape(box_convex, tf1, *s2.get(), tf2_collision, tol); |
| 512 | 2 | } | |
| 513 |