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Directory: ./
File: test/swept_sphere_radius.cpp
Date: 2025-04-01 09:23:31
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1 /*
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2024, INRIA
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6 *
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8 * modification, are permitted provided that the following conditions
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11 * * Redistributions of source code must retain the above copyright
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20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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32 * POSSIBILITY OF SUCH DAMAGE.
33 */
34
35 /** \author Louis Montaut */
36
37 #define BOOST_TEST_MODULE COAL_SWEPT_SPHERE_RADIUS
38 #include <boost/test/included/unit_test.hpp>
39
40 #include "coal/narrowphase/narrowphase.h"
41 #include "coal/collision_utility.h"
42
43 #include "coal/serialization/geometric_shapes.h"
44 #include "coal/serialization/convex.h"
45 #include "coal/serialization/transform.h"
46 #include "coal/serialization/archive.h"
47
48 #include "utility.h"
49
50 using namespace coal;
51
52 NODE_TYPE node1_type;
53 NODE_TYPE node2_type;
54 int line;
55
56 #define SET_LINE \
57 node1_type = shape1.getNodeType(); \
58 node2_type = shape2.getNodeType(); \
59 line = __LINE__
60
61 #define COAL_CHECK(cond) \
62 BOOST_CHECK_MESSAGE( \
63 cond, "from line " << line << ", for collision pair: " \
64 << get_node_type_name(node1_type) << " - " \
65 << get_node_type_name(node2_type) \
66 << " with ssr1 = " << shape1.getSweptSphereRadius() \
67 << ", ssr2 = " << shape2.getSweptSphereRadius() \
68 << ": " #cond)
69
70 #define COAL_CHECK_VECTOR_CLOSE(v1, v2, tol) \
71 EIGEN_VECTOR_IS_APPROX(v1, v2, tol); \
72 COAL_CHECK(((v1) - (v2)).isZero(tol))
73
74 #define COAL_CHECK_REAL_CLOSE(v1, v2, tol) \
75 Scalar_IS_APPROX(v1, v2, tol); \
76 COAL_CHECK(std::abs((v1) - (v2)) < tol)
77
78 #define COAL_CHECK_CONDITION(cond) \
79 BOOST_CHECK(cond); \
80 COAL_CHECK(cond)
81
82 // Preambule: swept sphere radius allows to virually convolve geometric shapes
83 // by a sphere with positive radius (Minkowski sum).
84 // Sweeping a shape by a sphere corresponds to doing a Minkowski addition of the
85 // shape with a sphere of radius r. Essentially, this rounds the shape's corners
86 // and edges, which can be useful to smooth collision detection algorithms.
87 //
88 // A nice mathematical property of GJK and EPA is that it is not
89 // necessary to take into account the swept sphere radius in the iterations of
90 // the algorithms. This is because the GJK and EPA algorithms are based on the
91 // Minkowski difference of the two objects.
92 // With spheres of radii r1 and r2 swept around the shapes s1 and s2 of a
93 // collision pair, the Minkowski difference is simply the Minkowski difference
94 // of s1 and s2, summed with a sphere of radius r1 + r2.
95 // This means that running GJK and EPA on the swept-sphere shapes is equivalent
96 // to running GJK and EPA on the original shapes, and then augmenting the
97 // distance by r1 + r2.
98 // This does not modify the normal returned by GJK and EPA.
99 // So we can also easily recover the witness points of the swept sphere shapes.
100 //
101 // This suite of test is designed to verify that property and generally test for
102 // swept-sphere radius support in Coal.
103 // Notes:
104 // - not all collision pairs use GJK/EPA, so this test makes sure that
105 // swept-sphere radius is taken into account even for specialized collision
106 // algorithms.
107 // - when manually taking swept-sphere radius into account in GJK/EPA, we
108 // strongly deteriorate the convergence properties of the algorithms. This
109 // is because certain parts of the shapes become locally strictly convex,
110 // which GJK/EPA are not designed to handle. This becomes particularly the
111 // bigger the swept-sphere radius. So don't be surprised if the tests fail
112 // for large radii.
113
114 struct SweptSphereGJKSolver : public GJKSolver {
115 template <typename S1, typename S2>
116 6400 Scalar shapeDistance(
117 const S1& s1, const Transform3s& tf1, const S2& s2,
118 const Transform3s& tf2, bool compute_penetration, Vec3s& p1, Vec3s& p2,
119 Vec3s& normal, bool use_swept_sphere_radius_in_gjk_epa_iterations) const {
120
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 6400 if (use_swept_sphere_radius_in_gjk_epa_iterations) {
121 Scalar distance;
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 3200 this->runGJKAndEPA<S1, S2, details::SupportOptions::WithSweptSphere>(
123 s1, tf1, s2, tf2, compute_penetration, distance, p1, p2, normal);
124 3200 return distance;
125 }
126
127 // Default behavior of coal's GJKSolver
128 Scalar distance;
129
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 3200 this->runGJKAndEPA<S1, S2, details::SupportOptions::NoSweptSphere>(
130 s1, tf1, s2, tf2, compute_penetration, distance, p1, p2, normal);
131 3200 return distance;
132 }
133 };
134
135 template <typename S1, typename S2>
136 20 void test_gjksolver_swept_sphere_radius(S1& shape1, S2& shape2) {
137
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 20 SweptSphereGJKSolver solver;
138 // The swept sphere radius is detrimental to the convergence of GJK
139 // and EPA. This gets worse as the radius of the swept sphere increases.
140 // So we need to increase the number of iterations to get a good result.
141 20 const Scalar tol = Scalar(1e-6);
142 20 solver.gjk_tolerance = tol;
143 20 solver.epa_tolerance = tol;
144 20 solver.epa_max_iterations = 1000;
145 20 const bool compute_penetration = true;
146
147 20 Scalar extents[] = {-2, -2, -2, 2, 2, 2};
148 20 std::size_t n = 10;
149 20 std::vector<Transform3s> tf1s;
150 20 std::vector<Transform3s> tf2s;
151
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 20 generateRandomTransforms(extents, tf1s, n);
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 20 generateRandomTransforms(extents, tf2s, n);
153 20 const std::array<Scalar, 4> swept_sphere_radius = {0, Scalar(0.1), 1, 10};
154
155
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 100 for (const Scalar& ssr1 : swept_sphere_radius) {
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 80 shape1.setSweptSphereRadius(ssr1);
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 400 for (const Scalar& ssr2 : swept_sphere_radius) {
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 320 shape2.setSweptSphereRadius(ssr2);
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 3520 for (std::size_t i = 0; i < n; ++i) {
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 3200 Transform3s tf1 = tf1s[i];
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 3200 Transform3s tf2 = tf2s[i];
162
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 3200 SET_LINE;
164
165 std::array<Scalar, 2> distance;
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 3200 std::array<Vec3s, 2> p1;
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 3200 std::array<Vec3s, 2> p2;
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 3200 std::array<Vec3s, 2> normal;
169
170 // Default coal behavior - Don't take swept sphere radius into account
171 // during GJK/EPA iterations. Correct the solution afterwards.
172 6400 distance[0] =
173
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 3200 solver.shapeDistance(shape1, tf1, shape2, tf2, compute_penetration,
174 p1[0], p2[0], normal[0], false);
175
176 // Take swept sphere radius into account during GJK/EPA iterations
177 6400 distance[1] =
178
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 3200 solver.shapeDistance(shape1, tf1, shape2, tf2, compute_penetration,
179 p1[1], p2[1], normal[1], true);
180
181 // Precision is dependent on the swept-sphere radius.
182 // The issue of precision does not come from the default behavior of
183 // coal, but from the result in which we manually take the swept
184 // sphere radius into account in GJK/EPA iterations.
185 3200 const Scalar precision =
186 3200 3 * sqrt(tol) +
187 3200 (1 / Scalar(100)) * std::max(shape1.getSweptSphereRadius(),
188 6400 shape2.getSweptSphereRadius());
189
190 // Check that the distance is the same
191
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 3200 COAL_CHECK_REAL_CLOSE(distance[0], distance[1], precision);
192
193 // Check that the normal is the same
194
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 3200 COAL_CHECK_CONDITION(normal[0].dot(normal[1]) > 0);
195
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 3200 COAL_CHECK_CONDITION(std::abs(1 - normal[0].dot(normal[1])) <
196 precision);
197
198 // Check that the witness points are the same
199
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 3200 COAL_CHECK_VECTOR_CLOSE(p1[0], p1[1], precision);
200
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 3200 COAL_CHECK_VECTOR_CLOSE(p2[0], p2[1], precision);
201 }
202 }
203 }
204 20 }
205
206 static const Scalar min_shape_size = Scalar(0.1);
207 static const Scalar max_shape_size = Scalar(0.5);
208
209
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 4 BOOST_AUTO_TEST_CASE(ssr_mesh_mesh) {
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 2 Convex<Triangle> shape1 = makeRandomConvex(min_shape_size, max_shape_size);
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 2 Convex<Triangle> shape2 = makeRandomConvex(min_shape_size, max_shape_size);
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 2 test_gjksolver_swept_sphere_radius(shape1, shape2);
213 2 }
214
215
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 4 BOOST_AUTO_TEST_CASE(ssr_mesh_ellipsoid) {
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 2 Convex<Triangle> shape1 = makeRandomConvex(min_shape_size, max_shape_size);
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 2 Ellipsoid shape2 = makeRandomEllipsoid(min_shape_size, max_shape_size);
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219 2 }
220
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225 2 }
226
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231 2 }
232
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237 2 }
238
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 4 BOOST_AUTO_TEST_CASE(ssr_cone_cone) {
240 Cone shape1 = makeRandomCone({min_shape_size / 2, min_shape_size},
241
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242 Cone shape2 = makeRandomCone({min_shape_size / 2, min_shape_size},
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245 2 }
246
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 4 BOOST_AUTO_TEST_CASE(ssr_cone_ellipsoid) {
248 Cone shape1 = makeRandomCone({min_shape_size / 2, min_shape_size},
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252 2 }
253
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 4 BOOST_AUTO_TEST_CASE(ssr_capsule_capsule) {
255 Capsule shape1 = makeRandomCapsule({min_shape_size / 2, min_shape_size},
256
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257 Capsule shape2 = makeRandomCapsule({min_shape_size / 2, min_shape_size},
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260 2 }
261
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 4 BOOST_AUTO_TEST_CASE(ssr_capsule_cone) {
263 Capsule shape1 = makeRandomCapsule({min_shape_size / 2, min_shape_size},
264
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265 Cone shape2 = makeRandomCone({min_shape_size / 2, min_shape_size},
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268 2 }
269
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 4 BOOST_AUTO_TEST_CASE(ssr_cylinder_cylinder) {
271 Cylinder shape1 = makeRandomCylinder({min_shape_size / 2, min_shape_size},
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273 Cylinder shape2 = makeRandomCylinder({min_shape_size / 2, min_shape_size},
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276 2 }
277
278 template <typename S1, typename S2>
279 77 void test_collide_swept_sphere_radius(S1& shape1, S2& shape2) {
280 std::cout << "Testing collision between "
281
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282
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 154 << std::string(get_node_type_name(shape2.getNodeType())) << '\n';
283
284 77 Scalar extents[] = {-2, -2, -2, 2, 2, 2};
285 77 std::size_t n = 1;
286 77 std::vector<Transform3s> tf1s;
287 77 std::vector<Transform3s> tf2s;
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290
291 77 const std::array<Scalar, 4> swept_sphere_radius = {0, Scalar(0.1), 1, 10};
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 385 for (const Scalar& ssr1 : swept_sphere_radius) {
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 308 shape1.setSweptSphereRadius(ssr1);
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 1540 for (const Scalar& ssr2 : swept_sphere_radius) {
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299
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 1232 CollisionRequest request;
302 1232 request.enable_contact = true;
303 // We make sure we get witness points by setting the security margin to
304 // infinity. That way shape1 and shape2 will always be considered in
305 // collision.
306 1232 request.security_margin = std::numeric_limits<Scalar>::max();
307 1232 const Scalar tol = Scalar(1e-6);
308 1232 request.gjk_tolerance = tol;
309 1232 request.epa_tolerance = tol;
310
311
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 1232 std::array<CollisionResult, 2> result;
312
313 // Without swept sphere radius
314 1232 const Scalar ssr1 = shape1.getSweptSphereRadius();
315 1232 const Scalar ssr2 = shape2.getSweptSphereRadius();
316
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 1232 shape1.setSweptSphereRadius(0.);
317
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 1232 shape2.setSweptSphereRadius(0.);
318
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 1232 coal::collide(&shape1, tf1, &shape2, tf2, request, result[0]);
319
320 // With swept sphere radius
321
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 1232 shape1.setSweptSphereRadius(ssr1);
322
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 1232 shape2.setSweptSphereRadius(ssr2);
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 1232 coal::collide(&shape1, tf1, &shape2, tf2, request, result[1]);
324
325
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 1232 BOOST_CHECK(result[0].isCollision());
326
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 1232 BOOST_CHECK(result[1].isCollision());
327
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 1232 if (result[0].isCollision() && result[1].isCollision()) {
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 1232 std::array<Contact, 2> contact;
329
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 1232 contact[0] = result[0].getContact(0);
330
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 1232 contact[1] = result[1].getContact(0);
331
332 // Precision is dependent on the swept sphere radii.
333 // The issue of precision does not come from the default behavior of
334 // coal, but from the result in which we manually take the swept
335 // sphere radius into account in GJK/EPA iterations.
336 1232 const Scalar precision =
337 1232 3 * sqrt(tol) + (1 / Scalar(100)) * std::max(ssr1, ssr2);
338 1232 const Scalar ssr = ssr1 + ssr2;
339
340 // Check that the distance is the same
341
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 1232 COAL_CHECK_REAL_CLOSE(contact[0].penetration_depth - ssr,
342 contact[1].penetration_depth, precision);
343
344 // Check that the normal is the same
345
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 1232 COAL_CHECK_CONDITION((contact[0].normal).dot(contact[1].normal) > 0);
346
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 1232 COAL_CHECK_CONDITION(
347 std::abs(1 - (contact[0].normal).dot(contact[1].normal)) <
348 precision);
349
350 // Check that the witness points are the same
351
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 1232 COAL_CHECK_VECTOR_CLOSE(
352 contact[0].nearest_points[0] + ssr1 * contact[0].normal,
353 contact[1].nearest_points[0], precision);
354
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 1232 COAL_CHECK_VECTOR_CLOSE(
355 contact[0].nearest_points[1] - ssr2 * contact[0].normal,
356 contact[1].nearest_points[1], precision);
357 }
358 }
359 }
360 }
361 77 }
362
363 const std::vector<NODE_TYPE> tested_geometries = {
364 GEOM_BOX, GEOM_SPHERE, GEOM_ELLIPSOID, GEOM_CAPSULE, GEOM_CONE,
365 GEOM_CYLINDER, GEOM_CONVEX, GEOM_PLANE, GEOM_HALFSPACE};
366
367
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 4 BOOST_AUTO_TEST_CASE(ssr_geom_geom) {
368 // Each possible geom pair is tested twice
369
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 20 for (const NODE_TYPE& shape_type1 : tested_geometries) {
370
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 180 for (const NODE_TYPE& shape_type2 : tested_geometries) {
371
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 162 if (shape_type1 == GEOM_PLANE || shape_type1 == GEOM_HALFSPACE) {
372
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 36 if (shape_type2 == GEOM_PLANE || shape_type2 == GEOM_HALFSPACE) {
373 // TODO(louis): check plane-plane plane-halfspace etc. collisions
374 8 continue;
375 }
376 }
377
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 154 std::shared_ptr<ShapeBase> shape1 = makeRandomGeometry(shape_type1);
378
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 154 std::shared_ptr<ShapeBase> shape2 = makeRandomGeometry(shape_type2);
379
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 154 test_collide_swept_sphere_radius(*shape1, *shape2);
380 154 }
381 }
382 2 }
383