| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /* | ||
| 2 | * Software License Agreement (BSD License) | ||
| 3 | * | ||
| 4 | * Copyright (c) 2024, 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 | /** \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; | ||
| 122 |
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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); |
| 152 |
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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) { |
| 156 |
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80 | shape1.setSweptSphereRadius(ssr1); |
| 157 |
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400 | for (const Scalar& ssr2 : swept_sphere_radius) { |
| 158 |
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320 | shape2.setSweptSphereRadius(ssr2); |
| 159 |
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3520 | for (std::size_t i = 0; i < n; ++i) { |
| 160 |
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3200 | Transform3s tf1 = tf1s[i]; |
| 161 |
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3200 | Transform3s tf2 = tf2s[i]; |
| 162 | |||
| 163 |
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3200 | SET_LINE; |
| 164 | |||
| 165 | std::array<Scalar, 2> distance; | ||
| 166 |
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3200 | std::array<Vec3s, 2> p1; |
| 167 |
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3200 | std::array<Vec3s, 2> p2; |
| 168 |
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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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6400 | COAL_CHECK_REAL_CLOSE(distance[0], distance[1], precision); |
| 192 | |||
| 193 | // Check that the normal is the same | ||
| 194 |
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6400 | COAL_CHECK_CONDITION(normal[0].dot(normal[1]) > 0); |
| 195 |
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6400 | 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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6400 | COAL_CHECK_VECTOR_CLOSE(p1[0], p1[1], precision); |
| 200 |
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6400 | 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) { |
| 210 | ConvexTpl<Triangle32> shape1 = | ||
| 211 |
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2 | makeRandomConvex(min_shape_size, max_shape_size); |
| 212 | ConvexTpl<Triangle32> shape2 = | ||
| 213 |
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2 | makeRandomConvex(min_shape_size, max_shape_size); |
| 214 |
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2 | test_gjksolver_swept_sphere_radius(shape1, shape2); |
| 215 | 2 | } | |
| 216 | |||
| 217 |
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4 | BOOST_AUTO_TEST_CASE(ssr_mesh_ellipsoid) { |
| 218 | ConvexTpl<Triangle32> shape1 = | ||
| 219 |
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2 | makeRandomConvex(min_shape_size, max_shape_size); |
| 220 |
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2 | Ellipsoid shape2 = makeRandomEllipsoid(min_shape_size, max_shape_size); |
| 221 |
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2 | test_gjksolver_swept_sphere_radius(shape1, shape2); |
| 222 | 2 | } | |
| 223 | |||
| 224 |
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4 | BOOST_AUTO_TEST_CASE(ssr_box_box) { |
| 225 |
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2 | Box shape1 = makeRandomBox(min_shape_size, max_shape_size); |
| 226 |
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2 | Box shape2 = makeRandomBox(min_shape_size, max_shape_size); |
| 227 |
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2 | test_gjksolver_swept_sphere_radius(shape1, shape2); |
| 228 | 2 | } | |
| 229 | |||
| 230 |
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4 | BOOST_AUTO_TEST_CASE(ssr_ellipsoid_ellipsoid) { |
| 231 |
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2 | Ellipsoid shape1 = makeRandomEllipsoid(min_shape_size, max_shape_size); |
| 232 |
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2 | Ellipsoid shape2 = makeRandomEllipsoid(min_shape_size, max_shape_size); |
| 233 |
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2 | test_gjksolver_swept_sphere_radius(shape1, shape2); |
| 234 | 2 | } | |
| 235 | |||
| 236 |
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4 | BOOST_AUTO_TEST_CASE(ssr_ellipsoid_box) { |
| 237 |
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2 | Ellipsoid shape1 = makeRandomEllipsoid(min_shape_size, max_shape_size); |
| 238 |
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2 | Box shape2 = makeRandomBox(min_shape_size, max_shape_size); |
| 239 |
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2 | test_gjksolver_swept_sphere_radius(shape1, shape2); |
| 240 | 2 | } | |
| 241 | |||
| 242 |
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|
4 | BOOST_AUTO_TEST_CASE(ssr_cone_cone) { |
| 243 | Cone shape1 = makeRandomCone({min_shape_size / 2, min_shape_size}, | ||
| 244 |
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2 | {max_shape_size, max_shape_size}); |
| 245 | Cone shape2 = makeRandomCone({min_shape_size / 2, min_shape_size}, | ||
| 246 |
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2 | {max_shape_size, max_shape_size}); |
| 247 |
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2 | test_gjksolver_swept_sphere_radius(shape1, shape2); |
| 248 | 2 | } | |
| 249 | |||
| 250 |
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|
4 | BOOST_AUTO_TEST_CASE(ssr_cone_ellipsoid) { |
| 251 | Cone shape1 = makeRandomCone({min_shape_size / 2, min_shape_size}, | ||
| 252 |
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2 | {max_shape_size, max_shape_size}); |
| 253 |
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2 | Ellipsoid shape2 = makeRandomEllipsoid(min_shape_size, max_shape_size); |
| 254 |
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2 | test_gjksolver_swept_sphere_radius(shape1, shape2); |
| 255 | 2 | } | |
| 256 | |||
| 257 |
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|
4 | BOOST_AUTO_TEST_CASE(ssr_capsule_capsule) { |
| 258 | Capsule shape1 = makeRandomCapsule({min_shape_size / 2, min_shape_size}, | ||
| 259 |
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2 | {max_shape_size, max_shape_size}); |
| 260 | Capsule shape2 = makeRandomCapsule({min_shape_size / 2, min_shape_size}, | ||
| 261 |
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2 | {max_shape_size, max_shape_size}); |
| 262 |
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2 | test_gjksolver_swept_sphere_radius(shape1, shape2); |
| 263 | 2 | } | |
| 264 | |||
| 265 |
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|
4 | BOOST_AUTO_TEST_CASE(ssr_capsule_cone) { |
| 266 | Capsule shape1 = makeRandomCapsule({min_shape_size / 2, min_shape_size}, | ||
| 267 |
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2 | {max_shape_size, max_shape_size}); |
| 268 | Cone shape2 = makeRandomCone({min_shape_size / 2, min_shape_size}, | ||
| 269 |
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2 | {max_shape_size, max_shape_size}); |
| 270 |
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2 | test_gjksolver_swept_sphere_radius(shape1, shape2); |
| 271 | 2 | } | |
| 272 | |||
| 273 |
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|
4 | BOOST_AUTO_TEST_CASE(ssr_cylinder_cylinder) { |
| 274 | Cylinder shape1 = makeRandomCylinder({min_shape_size / 2, min_shape_size}, | ||
| 275 |
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2 | {max_shape_size, max_shape_size}); |
| 276 | Cylinder shape2 = makeRandomCylinder({min_shape_size / 2, min_shape_size}, | ||
| 277 |
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2 | {max_shape_size, max_shape_size}); |
| 278 |
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2 | test_gjksolver_swept_sphere_radius(shape1, shape2); |
| 279 | 2 | } | |
| 280 | |||
| 281 | template <typename S1, typename S2> | ||
| 282 | 77 | void test_collide_swept_sphere_radius(S1& shape1, S2& shape2) { | |
| 283 | std::cout << "Testing collision between " | ||
| 284 |
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77 | << std::string(get_node_type_name(shape1.getNodeType())) << " and " |
| 285 |
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308 | << std::string(get_node_type_name(shape2.getNodeType())) << '\n'; |
| 286 | |||
| 287 | 77 | Scalar extents[] = {-2, -2, -2, 2, 2, 2}; | |
| 288 | 77 | std::size_t n = 1; | |
| 289 | 77 | std::vector<Transform3s> tf1s; | |
| 290 | 77 | std::vector<Transform3s> tf2s; | |
| 291 |
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77 | generateRandomTransforms(extents, tf1s, n); |
| 292 |
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77 | generateRandomTransforms(extents, tf2s, n); |
| 293 | |||
| 294 | 77 | const std::array<Scalar, 4> swept_sphere_radius = {0, Scalar(0.1), 1, 10}; | |
| 295 |
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385 | for (const Scalar& ssr1 : swept_sphere_radius) { |
| 296 |
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308 | shape1.setSweptSphereRadius(ssr1); |
| 297 |
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1540 | for (const Scalar& ssr2 : swept_sphere_radius) { |
| 298 |
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1232 | shape2.setSweptSphereRadius(ssr2); |
| 299 |
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2464 | for (std::size_t i = 0; i < n; ++i) { |
| 300 |
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1232 | Transform3s tf1 = tf1s[i]; |
| 301 |
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1232 | Transform3s tf2 = tf2s[i]; |
| 302 | |||
| 303 |
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1232 | SET_LINE; |
| 304 |
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1232 | CollisionRequest request; |
| 305 | 1232 | request.enable_contact = true; | |
| 306 | // We make sure we get witness points by setting the security margin to | ||
| 307 | // infinity. That way shape1 and shape2 will always be considered in | ||
| 308 | // collision. | ||
| 309 | 1232 | request.security_margin = std::numeric_limits<Scalar>::max(); | |
| 310 | 1232 | const Scalar tol = Scalar(1e-6); | |
| 311 | 1232 | request.gjk_tolerance = tol; | |
| 312 | 1232 | request.epa_tolerance = tol; | |
| 313 | |||
| 314 |
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1232 | std::array<CollisionResult, 2> result; |
| 315 | |||
| 316 | // Without swept sphere radius | ||
| 317 | 1232 | const Scalar ssr1 = shape1.getSweptSphereRadius(); | |
| 318 | 1232 | const Scalar ssr2 = shape2.getSweptSphereRadius(); | |
| 319 |
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1232 | shape1.setSweptSphereRadius(0.); |
| 320 |
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1232 | shape2.setSweptSphereRadius(0.); |
| 321 |
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1232 | coal::collide(&shape1, tf1, &shape2, tf2, request, result[0]); |
| 322 | |||
| 323 | // With swept sphere radius | ||
| 324 |
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1232 | shape1.setSweptSphereRadius(ssr1); |
| 325 |
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1232 | shape2.setSweptSphereRadius(ssr2); |
| 326 |
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1232 | coal::collide(&shape1, tf1, &shape2, tf2, request, result[1]); |
| 327 | |||
| 328 |
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1232 | BOOST_CHECK(result[0].isCollision()); |
| 329 |
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1232 | BOOST_CHECK(result[1].isCollision()); |
| 330 |
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1232 | if (result[0].isCollision() && result[1].isCollision()) { |
| 331 |
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1232 | std::array<Contact, 2> contact; |
| 332 |
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1232 | contact[0] = result[0].getContact(0); |
| 333 |
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1232 | contact[1] = result[1].getContact(0); |
| 334 | |||
| 335 | // Precision is dependent on the swept sphere radii. | ||
| 336 | // The issue of precision does not come from the default behavior of | ||
| 337 | // coal, but from the result in which we manually take the swept | ||
| 338 | // sphere radius into account in GJK/EPA iterations. | ||
| 339 | 1232 | const Scalar precision = | |
| 340 | 1232 | 3 * sqrt(tol) + (1 / Scalar(100)) * std::max(ssr1, ssr2); | |
| 341 | 1232 | const Scalar ssr = ssr1 + ssr2; | |
| 342 | |||
| 343 | // Check that the distance is the same | ||
| 344 |
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1232 | COAL_CHECK_REAL_CLOSE(contact[0].penetration_depth - ssr, |
| 345 | contact[1].penetration_depth, precision); | ||
| 346 | |||
| 347 | // Check that the normal is the same | ||
| 348 |
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1232 | COAL_CHECK_CONDITION((contact[0].normal).dot(contact[1].normal) > 0); |
| 349 |
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1232 | COAL_CHECK_CONDITION( |
| 350 | std::abs(1 - (contact[0].normal).dot(contact[1].normal)) < | ||
| 351 | precision); | ||
| 352 | |||
| 353 | // Check that the witness points are the same | ||
| 354 |
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1232 | COAL_CHECK_VECTOR_CLOSE( |
| 355 | contact[0].nearest_points[0] + ssr1 * contact[0].normal, | ||
| 356 | contact[1].nearest_points[0], precision); | ||
| 357 |
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1232 | COAL_CHECK_VECTOR_CLOSE( |
| 358 | contact[0].nearest_points[1] - ssr2 * contact[0].normal, | ||
| 359 | contact[1].nearest_points[1], precision); | ||
| 360 | } | ||
| 361 | } | ||
| 362 | } | ||
| 363 | } | ||
| 364 | 77 | } | |
| 365 | |||
| 366 | const std::vector<NODE_TYPE> tested_geometries = { | ||
| 367 | GEOM_BOX, GEOM_SPHERE, GEOM_ELLIPSOID, GEOM_CAPSULE, GEOM_CONE, | ||
| 368 | GEOM_CYLINDER, GEOM_CONVEX, GEOM_PLANE, GEOM_HALFSPACE}; | ||
| 369 | |||
| 370 |
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4 | BOOST_AUTO_TEST_CASE(ssr_geom_geom) { |
| 371 | // Each possible geom pair is tested twice | ||
| 372 |
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20 | for (const NODE_TYPE& shape_type1 : tested_geometries) { |
| 373 |
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180 | for (const NODE_TYPE& shape_type2 : tested_geometries) { |
| 374 |
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162 | if (shape_type1 == GEOM_PLANE || shape_type1 == GEOM_HALFSPACE) { |
| 375 |
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36 | if (shape_type2 == GEOM_PLANE || shape_type2 == GEOM_HALFSPACE) { |
| 376 | // TODO(louis): check plane-plane plane-halfspace etc. collisions | ||
| 377 | 8 | continue; | |
| 378 | } | ||
| 379 | } | ||
| 380 |
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154 | std::shared_ptr<ShapeBase> shape1 = makeRandomGeometry(shape_type1); |
| 381 |
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154 | std::shared_ptr<ShapeBase> shape2 = makeRandomGeometry(shape_type2); |
| 382 |
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154 | test_collide_swept_sphere_radius(*shape1, *shape2); |
| 383 | 154 | } | |
| 384 | } | ||
| 385 | 2 | } | |
| 386 |