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/* |
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* Software License Agreement (BSD License) |
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* |
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* Copyright (c) 2015, Open Source Robotics Foundation |
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* Copyright (c) 2020, INRIA |
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* All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* * Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* * Redistributions in binary form must reproduce the above |
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* copyright notice, this list of conditions and the following |
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* disclaimer in the documentation and/or other materials provided |
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* with the distribution. |
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* * Neither the name of Open Source Robotics Foundation nor the names of its |
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* contributors may be used to endorse or promote products derived |
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* from this software without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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*/ |
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/** \author Jeongseok Lee */ |
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37 |
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38 |
#define BOOST_TEST_MODULE FCL_BVH_MODELS |
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39 |
#include <boost/test/included/unit_test.hpp> |
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40 |
#include <boost/filesystem.hpp> |
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41 |
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42 |
#include "fcl_resources/config.h" |
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43 |
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44 |
#include <hpp/fcl/collision.h> |
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45 |
#include <hpp/fcl/BVH/BVH_model.h> |
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46 |
#include <hpp/fcl/BVH/BVH_utility.h> |
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47 |
#include <hpp/fcl/math/transform.h> |
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48 |
#include <hpp/fcl/shape/geometric_shapes.h> |
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49 |
#include <hpp/fcl/shape/geometric_shape_to_BVH_model.h> |
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50 |
#include <hpp/fcl/mesh_loader/assimp.h> |
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51 |
#include <hpp/fcl/mesh_loader/loader.h> |
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52 |
#include "utility.h" |
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53 |
#include <iostream> |
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54 |
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55 |
using namespace hpp::fcl; |
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56 |
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57 |
template <typename BV> |
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58 |
16 |
void testBVHModelPointCloud() { |
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59 |
✓✗✓✗ ✓✗ |
16 |
Box box(Vec3f::Ones()); |
60 |
✓✗ | 16 |
double a = box.halfSide[0]; |
61 |
✓✗ | 16 |
double b = box.halfSide[1]; |
62 |
✓✗ | 16 |
double c = box.halfSide[2]; |
63 |
✓✗ | 16 |
std::vector<Vec3f> points(8); |
64 |
✓✗✓✗ ✓✗ |
16 |
points[0] << a, -b, c; |
65 |
✓✗✓✗ ✓✗ |
16 |
points[1] << a, b, c; |
66 |
✓✗✓✗ ✓✗ |
16 |
points[2] << -a, b, c; |
67 |
✓✗✓✗ ✓✗ |
16 |
points[3] << -a, -b, c; |
68 |
✓✗✓✗ ✓✗ |
16 |
points[4] << a, -b, -c; |
69 |
✓✗✓✗ ✓✗ |
16 |
points[5] << a, b, -c; |
70 |
✓✗✓✗ ✓✗ |
16 |
points[6] << -a, b, -c; |
71 |
✓✗✓✗ ✓✗ |
16 |
points[7] << -a, -b, -c; |
72 |
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73 |
{ |
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74 |
✓✗✓✗ ✓✗ |
16 |
shared_ptr<BVHModel<BV> > model(new BVHModel<BV>); |
75 |
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76 |
✓✗✓✗ ✓✓ |
30 |
if (model->getNodeType() != BV_AABB && model->getNodeType() != BV_KDOP16 && |
77 |
✓✓✓✗ ✓✓✓✓ |
40 |
model->getNodeType() != BV_KDOP18 && |
78 |
✓✗✓✓ |
10 |
model->getNodeType() != BV_KDOP24) { |
79 |
16 |
std::cout << "Abort test since '" << getNodeTypeName(model->getNodeType()) |
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80 |
<< "' does not support point cloud model. " |
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81 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
8 |
<< "Please see issue #67." << std::endl; |
82 |
8 |
return; |
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83 |
} |
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84 |
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85 |
int result; |
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86 |
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87 |
✓✗ | 8 |
result = model->beginModel(); |
88 |
✓✗✓✗ ✓✗✓✗ ✗✓ |
8 |
BOOST_CHECK_EQUAL(result, BVH_OK); |
89 |
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90 |
✓✓ | 72 |
for (std::size_t i = 0; i < points.size(); ++i) { |
91 |
✓✗ | 64 |
result = model->addVertex(points[i]); |
92 |
✓✗✓✗ ✓✗✓✗ ✗✓ |
64 |
BOOST_CHECK_EQUAL(result, BVH_OK); |
93 |
} |
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94 |
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95 |
✓✗ | 8 |
result = model->endModel(); |
96 |
✓✗✓✗ ✓✗✓✗ ✗✓ |
8 |
BOOST_CHECK_EQUAL(result, BVH_OK); |
97 |
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98 |
✓✗ | 8 |
model->computeLocalAABB(); |
99 |
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100 |
✓✗✓✗ ✓✗✓✗ ✗✓ |
8 |
BOOST_CHECK_EQUAL(model->num_vertices, 8); |
101 |
✓✗✓✗ ✓✗✓✗ ✗✓ |
8 |
BOOST_CHECK_EQUAL(model->num_tris, 0); |
102 |
✓✗✓✗ ✓✗✓✗ ✗✓ |
8 |
BOOST_CHECK_EQUAL(model->build_state, BVH_BUILD_STATE_PROCESSED); |
103 |
} |
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104 |
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105 |
{ |
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106 |
✓✗✓✗ ✓✗ |
8 |
shared_ptr<BVHModel<BV> > model(new BVHModel<BV>); |
107 |
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108 |
✓✗✓✗ ✓✓ |
14 |
if (model->getNodeType() != BV_AABB && model->getNodeType() != BV_KDOP16 && |
109 |
✓✓✓✗ ✓✓✗✓ |
16 |
model->getNodeType() != BV_KDOP18 && |
110 |
✓✗✗✓ |
2 |
model->getNodeType() != BV_KDOP24) { |
111 |
std::cout << "Abort test since '" << getNodeTypeName(model->getNodeType()) |
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112 |
<< "' does not support point cloud model. " |
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113 |
<< "Please see issue #67." << std::endl; |
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114 |
return; |
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115 |
} |
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116 |
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117 |
✓✗ | 16 |
Matrixx3f all_points((Eigen::DenseIndex)points.size(), 3); |
118 |
✓✓ | 72 |
for (size_t k = 0; k < points.size(); ++k) |
119 |
✓✗✓✗ ✓✗ |
64 |
all_points.row((Eigen::DenseIndex)k) = points[k].transpose(); |
120 |
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121 |
int result; |
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122 |
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123 |
✓✗ | 8 |
result = model->beginModel(); |
124 |
✓✗✓✗ ✓✗✓✗ ✗✓ |
8 |
BOOST_CHECK_EQUAL(result, BVH_OK); |
125 |
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126 |
✓✗ | 8 |
result = model->addVertices(all_points); |
127 |
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128 |
✓✗ | 8 |
result = model->endModel(); |
129 |
✓✗✓✗ ✓✗✓✗ ✗✓ |
8 |
BOOST_CHECK_EQUAL(result, BVH_OK); |
130 |
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131 |
✓✗ | 8 |
model->computeLocalAABB(); |
132 |
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133 |
✓✗✓✗ ✓✗✓✗ ✗✓ |
8 |
BOOST_CHECK_EQUAL(model->num_vertices, 8); |
134 |
✓✗✓✗ ✓✗✓✗ ✗✓ |
8 |
BOOST_CHECK_EQUAL(model->num_tris, 0); |
135 |
✓✗✓✗ ✓✗✓✗ ✗✓ |
8 |
BOOST_CHECK_EQUAL(model->build_state, BVH_BUILD_STATE_PROCESSED); |
136 |
} |
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137 |
} |
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138 |
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139 |
template <typename BV> |
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140 |
16 |
void testBVHModelTriangles() { |
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141 |
✓✗✓✗ ✓✗ |
32 |
shared_ptr<BVHModel<BV> > model(new BVHModel<BV>); |
142 |
✓✗✓✗ ✓✗ |
32 |
Box box(Vec3f::Ones()); |
143 |
✓✗✓✗ ✓✗ |
16 |
AABB aabb(Vec3f(-1, 0, -1), Vec3f(1, 1, 1)); |
144 |
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145 |
✓✗ | 16 |
double a = box.halfSide[0]; |
146 |
✓✗ | 16 |
double b = box.halfSide[1]; |
147 |
✓✗ | 16 |
double c = box.halfSide[2]; |
148 |
✓✗ | 32 |
std::vector<Vec3f> points(8); |
149 |
✓✗ | 32 |
std::vector<Triangle> tri_indices(12); |
150 |
✓✗✓✗ ✓✗ |
16 |
points[0] << a, -b, c; |
151 |
✓✗✓✗ ✓✗ |
16 |
points[1] << a, b, c; |
152 |
✓✗✓✗ ✓✗ |
16 |
points[2] << -a, b, c; |
153 |
✓✗✓✗ ✓✗ |
16 |
points[3] << -a, -b, c; |
154 |
✓✗✓✗ ✓✗ |
16 |
points[4] << a, -b, -c; |
155 |
✓✗✓✗ ✓✗ |
16 |
points[5] << a, b, -c; |
156 |
✓✗✓✗ ✓✗ |
16 |
points[6] << -a, b, -c; |
157 |
✓✗✓✗ ✓✗ |
16 |
points[7] << -a, -b, -c; |
158 |
|||
159 |
16 |
tri_indices[0].set(0, 4, 1); |
|
160 |
16 |
tri_indices[1].set(1, 4, 5); |
|
161 |
16 |
tri_indices[2].set(2, 6, 3); |
|
162 |
16 |
tri_indices[3].set(3, 6, 7); |
|
163 |
16 |
tri_indices[4].set(3, 0, 2); |
|
164 |
16 |
tri_indices[5].set(2, 0, 1); |
|
165 |
16 |
tri_indices[6].set(6, 5, 7); |
|
166 |
16 |
tri_indices[7].set(7, 5, 4); |
|
167 |
16 |
tri_indices[8].set(1, 5, 2); |
|
168 |
16 |
tri_indices[9].set(2, 5, 6); |
|
169 |
16 |
tri_indices[10].set(3, 7, 0); |
|
170 |
16 |
tri_indices[11].set(0, 7, 4); |
|
171 |
|||
172 |
int result; |
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173 |
|||
174 |
✓✗ | 16 |
result = model->beginModel(); |
175 |
✓✗✓✗ ✓✗✓✗ ✗✓ |
16 |
BOOST_CHECK_EQUAL(result, BVH_OK); |
176 |
|||
177 |
✓✓ | 208 |
for (std::size_t i = 0; i < tri_indices.size(); ++i) { |
178 |
✓✗ | 192 |
result = |
179 |
192 |
model->addTriangle(points[tri_indices[i][0]], points[tri_indices[i][1]], |
|
180 |
points[tri_indices[i][2]]); |
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181 |
✓✗✓✗ ✓✗✓✗ ✗✓ |
192 |
BOOST_CHECK_EQUAL(result, BVH_OK); |
182 |
} |
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183 |
|||
184 |
✓✗ | 16 |
result = model->endModel(); |
185 |
✓✗✓✗ ✓✗✓✗ ✗✓ |
16 |
BOOST_CHECK_EQUAL(result, BVH_OK); |
186 |
|||
187 |
✓✗ | 16 |
model->computeLocalAABB(); |
188 |
|||
189 |
✓✗✓✗ ✓✗✓✗ ✗✓ |
16 |
BOOST_CHECK_EQUAL(model->num_vertices, 12 * 3); |
190 |
✓✗✓✗ ✓✗✓✗ ✗✓ |
16 |
BOOST_CHECK_EQUAL(model->num_tris, 12); |
191 |
✓✗✓✗ ✓✗✓✗ ✗✓ |
16 |
BOOST_CHECK_EQUAL(model->build_state, BVH_BUILD_STATE_PROCESSED); |
192 |
|||
193 |
✓✗ | 16 |
Transform3f pose; |
194 |
✓✗✓✗ |
32 |
shared_ptr<BVHModel<BV> > cropped(BVHExtract(*model, pose, aabb)); |
195 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
16 |
BOOST_REQUIRE(cropped); |
196 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
16 |
BOOST_CHECK(cropped->build_state == BVH_BUILD_STATE_PROCESSED); |
197 |
✓✗✓✗ ✓✗✓✗ ✗✓ |
16 |
BOOST_CHECK_EQUAL(cropped->num_vertices, model->num_vertices - 6); |
198 |
✓✗✓✗ ✓✗✓✗ ✗✓ |
16 |
BOOST_CHECK_EQUAL(cropped->num_tris, model->num_tris - 2); |
199 |
|||
200 |
✓✗✓✗ |
16 |
pose.setTranslation(Vec3f(0, 1, 0)); |
201 |
✓✗✓✗ |
16 |
cropped.reset(BVHExtract(*model, pose, aabb)); |
202 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
16 |
BOOST_REQUIRE(cropped); |
203 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
16 |
BOOST_CHECK(cropped->build_state == BVH_BUILD_STATE_PROCESSED); |
204 |
✓✗✓✗ ✓✗✓✗ ✗✓ |
16 |
BOOST_CHECK_EQUAL(cropped->num_vertices, model->num_vertices - 6); |
205 |
✓✗✓✗ ✓✗✓✗ ✗✓ |
16 |
BOOST_CHECK_EQUAL(cropped->num_tris, model->num_tris - 2); |
206 |
|||
207 |
✓✗✓✗ |
16 |
pose.setTranslation(Vec3f(0, 0, 0)); |
208 |
16 |
FCL_REAL sqrt2_2 = std::sqrt(2) / 2; |
|
209 |
✓✗✓✗ |
16 |
pose.setQuatRotation(Quaternion3f(sqrt2_2, sqrt2_2, 0, 0)); |
210 |
✓✗✓✗ |
16 |
cropped.reset(BVHExtract(*model, pose, aabb)); |
211 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
16 |
BOOST_REQUIRE(cropped); |
212 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
16 |
BOOST_CHECK(cropped->build_state == BVH_BUILD_STATE_PROCESSED); |
213 |
✓✗✓✗ ✓✗✓✗ ✗✓ |
16 |
BOOST_CHECK_EQUAL(cropped->num_vertices, model->num_vertices - 6); |
214 |
✓✗✓✗ ✓✗✓✗ ✗✓ |
16 |
BOOST_CHECK_EQUAL(cropped->num_tris, model->num_tris - 2); |
215 |
|||
216 |
✓✗✓✗ ✓✗ |
16 |
pose.setTranslation(-Vec3f(1, 1, 1)); |
217 |
✓✗✓✗ |
16 |
pose.setQuatRotation(Quaternion3f::Identity()); |
218 |
✓✗✓✗ |
16 |
cropped.reset(BVHExtract(*model, pose, aabb)); |
219 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
16 |
BOOST_CHECK(!cropped); |
220 |
|||
221 |
✓✗✓✗ ✓✗✓✗ |
16 |
aabb = AABB(Vec3f(-0.1, -0.1, -0.1), Vec3f(0.1, 0.1, 0.1)); |
222 |
✓✗✓✗ |
16 |
pose.setTranslation(Vec3f(-0.5, -0.5, 0)); |
223 |
✓✗✓✗ |
16 |
cropped.reset(BVHExtract(*model, pose, aabb)); |
224 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
16 |
BOOST_REQUIRE(cropped); |
225 |
✓✗✓✗ ✓✗✓✗ ✗✓ |
16 |
BOOST_CHECK_EQUAL(cropped->num_tris, 2); |
226 |
✓✗✓✗ ✓✗✓✗ ✗✓ |
16 |
BOOST_CHECK_EQUAL(cropped->num_vertices, 6); |
227 |
16 |
} |
|
228 |
|||
229 |
template <typename BV> |
||
230 |
16 |
void testBVHModelSubModel() { |
|
231 |
✓✗✓✗ ✓✗ |
32 |
shared_ptr<BVHModel<BV> > model(new BVHModel<BV>); |
232 |
✓✗✓✗ ✓✗ |
32 |
Box box(Vec3f::Ones()); |
233 |
|||
234 |
✓✗ | 16 |
double a = box.halfSide[0]; |
235 |
✓✗ | 16 |
double b = box.halfSide[1]; |
236 |
✓✗ | 16 |
double c = box.halfSide[2]; |
237 |
✓✗ | 32 |
std::vector<Vec3f> points(8); |
238 |
✓✗ | 32 |
std::vector<Triangle> tri_indices(12); |
239 |
✓✗✓✗ ✓✗ |
16 |
points[0] << a, -b, c; |
240 |
✓✗✓✗ ✓✗ |
16 |
points[1] << a, b, c; |
241 |
✓✗✓✗ ✓✗ |
16 |
points[2] << -a, b, c; |
242 |
✓✗✓✗ ✓✗ |
16 |
points[3] << -a, -b, c; |
243 |
✓✗✓✗ ✓✗ |
16 |
points[4] << a, -b, -c; |
244 |
✓✗✓✗ ✓✗ |
16 |
points[5] << a, b, -c; |
245 |
✓✗✓✗ ✓✗ |
16 |
points[6] << -a, b, -c; |
246 |
✓✗✓✗ ✓✗ |
16 |
points[7] << -a, -b, -c; |
247 |
|||
248 |
16 |
tri_indices[0].set(0, 4, 1); |
|
249 |
16 |
tri_indices[1].set(1, 4, 5); |
|
250 |
16 |
tri_indices[2].set(2, 6, 3); |
|
251 |
16 |
tri_indices[3].set(3, 6, 7); |
|
252 |
16 |
tri_indices[4].set(3, 0, 2); |
|
253 |
16 |
tri_indices[5].set(2, 0, 1); |
|
254 |
16 |
tri_indices[6].set(6, 5, 7); |
|
255 |
16 |
tri_indices[7].set(7, 5, 4); |
|
256 |
16 |
tri_indices[8].set(1, 5, 2); |
|
257 |
16 |
tri_indices[9].set(2, 5, 6); |
|
258 |
16 |
tri_indices[10].set(3, 7, 0); |
|
259 |
16 |
tri_indices[11].set(0, 7, 4); |
|
260 |
|||
261 |
int result; |
||
262 |
|||
263 |
✓✗ | 16 |
result = model->beginModel(); |
264 |
✓✗✓✗ ✓✗✓✗ ✗✓ |
16 |
BOOST_CHECK_EQUAL(result, BVH_OK); |
265 |
|||
266 |
✓✗ | 16 |
result = model->addSubModel(points, tri_indices); |
267 |
✓✗✓✗ ✓✗✓✗ ✗✓ |
16 |
BOOST_CHECK_EQUAL(result, BVH_OK); |
268 |
|||
269 |
✓✗ | 16 |
result = model->endModel(); |
270 |
✓✗✓✗ ✓✗✓✗ ✗✓ |
16 |
BOOST_CHECK_EQUAL(result, BVH_OK); |
271 |
|||
272 |
✓✗ | 16 |
model->computeLocalAABB(); |
273 |
|||
274 |
✓✗✓✗ ✓✗✓✗ ✗✓ |
16 |
BOOST_CHECK_EQUAL(model->num_vertices, 8); |
275 |
✓✗✓✗ ✓✗✓✗ ✗✓ |
16 |
BOOST_CHECK_EQUAL(model->num_tris, 12); |
276 |
✓✗✓✗ ✓✗✓✗ ✗✓ |
16 |
BOOST_CHECK_EQUAL(model->build_state, BVH_BUILD_STATE_PROCESSED); |
277 |
16 |
} |
|
278 |
|||
279 |
template <typename BV> |
||
280 |
16 |
void testBVHModel() { |
|
281 |
16 |
testBVHModelTriangles<BV>(); |
|
282 |
16 |
testBVHModelPointCloud<BV>(); |
|
283 |
16 |
testBVHModelSubModel<BV>(); |
|
284 |
16 |
} |
|
285 |
|||
286 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(building_bvh_models) { |
287 |
2 |
testBVHModel<AABB>(); |
|
288 |
2 |
testBVHModel<OBB>(); |
|
289 |
2 |
testBVHModel<RSS>(); |
|
290 |
2 |
testBVHModel<kIOS>(); |
|
291 |
2 |
testBVHModel<OBBRSS>(); |
|
292 |
2 |
testBVHModel<KDOP<16> >(); |
|
293 |
2 |
testBVHModel<KDOP<18> >(); |
|
294 |
2 |
testBVHModel<KDOP<24> >(); |
|
295 |
2 |
} |
|
296 |
|||
297 |
template <class BoundingVolume> |
||
298 |
16 |
void testLoadPolyhedron() { |
|
299 |
✓✗ | 32 |
boost::filesystem::path path(TEST_RESOURCES_DIR); |
300 |
✓✗✓✗ ✓✗ |
48 |
std::string env = (path / "env.obj").string(), |
301 |
✓✗✓✗ ✓✗ |
48 |
rob = (path / "rob.obj").string(); |
302 |
|||
303 |
typedef BVHModel<BoundingVolume> Polyhedron_t; |
||
304 |
typedef shared_ptr<Polyhedron_t> PolyhedronPtr_t; |
||
305 |
✓✗✓✗ ✓✗ |
32 |
PolyhedronPtr_t P1(new Polyhedron_t), P2; |
306 |
|||
307 |
✓✗ | 16 |
Vec3f scale; |
308 |
✓✗ | 16 |
scale.setConstant(1); |
309 |
✓✗ | 16 |
loadPolyhedronFromResource(env, scale, P1); |
310 |
|||
311 |
✓✗ | 16 |
scale.setConstant(-1); |
312 |
✓✗ | 32 |
CachedMeshLoader loader(P1->getNodeType()); |
313 |
✓✗ | 32 |
CollisionGeometryPtr_t geom = loader.load(env, scale); |
314 |
16 |
P2 = dynamic_pointer_cast<Polyhedron_t>(geom); |
|
315 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
16 |
BOOST_REQUIRE(P2); |
316 |
|||
317 |
✓✗✓✗ ✓✗✓✗ ✗✓ |
16 |
BOOST_CHECK_EQUAL(P1->num_tris, P2->num_tris); |
318 |
✓✗✓✗ ✓✗✓✗ ✗✓ |
16 |
BOOST_CHECK_EQUAL(P1->num_vertices, P2->num_vertices); |
319 |
✓✗✓✗ ✓✗✓✗ ✗✓ |
16 |
BOOST_CHECK_EQUAL(P1->getNumBVs(), P2->getNumBVs()); |
320 |
|||
321 |
✓✗ | 48 |
CollisionGeometryPtr_t geom2 = loader.load(env, scale); |
322 |
✓✗✓✗ ✓✗✓✗ ✗✓ |
16 |
BOOST_CHECK_EQUAL(geom, geom2); |
323 |
16 |
} |
|
324 |
|||
325 |
template <class BoundingVolume> |
||
326 |
8 |
void testLoadGerardBauzil() { |
|
327 |
✓✗ | 16 |
boost::filesystem::path path(TEST_RESOURCES_DIR); |
328 |
✓✗✓✗ ✓✗ |
24 |
std::string env = (path / "staircases_koroibot_hr.dae").string(); |
329 |
|||
330 |
typedef BVHModel<BoundingVolume> Polyhedron_t; |
||
331 |
typedef shared_ptr<Polyhedron_t> PolyhedronPtr_t; |
||
332 |
✓✗✓✗ ✓✗ |
16 |
PolyhedronPtr_t P1(new Polyhedron_t), P2; |
333 |
|||
334 |
✓✗ | 8 |
Vec3f scale; |
335 |
✓✗ | 8 |
scale.setConstant(1); |
336 |
✓✗ | 8 |
loadPolyhedronFromResource(env, scale, P1); |
337 |
✓✗✓✗ ✓✗ |
16 |
CollisionGeometryPtr_t cylinder(new Cylinder(.27, .27)); |
338 |
✓✗✓✗ |
8 |
Transform3f pos(Vec3f(-1.33, 1.36, .14)); |
339 |
✓✗ | 16 |
CollisionObject obj(cylinder, pos); |
340 |
✓✗ | 16 |
CollisionObject stairs(P1); |
341 |
|||
342 |
✓✗ | 8 |
CollisionRequest request; |
343 |
✓✗ | 16 |
CollisionResult result; |
344 |
|||
345 |
✓✗ | 8 |
collide(&stairs, &obj, request, result); |
346 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
8 |
BOOST_CHECK(result.isCollision()); |
347 |
8 |
} |
|
348 |
|||
349 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(load_polyhedron) { |
350 |
2 |
testLoadPolyhedron<AABB>(); |
|
351 |
2 |
testLoadPolyhedron<OBB>(); |
|
352 |
2 |
testLoadPolyhedron<RSS>(); |
|
353 |
2 |
testLoadPolyhedron<kIOS>(); |
|
354 |
2 |
testLoadPolyhedron<OBBRSS>(); |
|
355 |
2 |
testLoadPolyhedron<KDOP<16> >(); |
|
356 |
2 |
testLoadPolyhedron<KDOP<18> >(); |
|
357 |
2 |
testLoadPolyhedron<KDOP<24> >(); |
|
358 |
2 |
} |
|
359 |
|||
360 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(gerard_bauzil) { |
361 |
2 |
testLoadGerardBauzil<OBB>(); |
|
362 |
2 |
testLoadGerardBauzil<RSS>(); |
|
363 |
2 |
testLoadGerardBauzil<kIOS>(); |
|
364 |
2 |
testLoadGerardBauzil<OBBRSS>(); |
|
365 |
2 |
} |
|
366 |
|||
367 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(load_illformated_mesh) { |
368 |
✓✗ | 4 |
boost::filesystem::path path(TEST_RESOURCES_DIR); |
369 |
✓✗✓✗ ✓✗ |
6 |
const std::string filename = (path / "illformated_mesh.dae").string(); |
370 |
|||
371 |
4 |
MeshLoader loader; |
|
372 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓✗✓ ✗✗✗✗ ✗✗✗✗ ✗✗✗✗ ✗✗ |
2 |
BOOST_CHECK_NO_THROW(loader.load(filename)); |
373 |
2 |
} |
|
374 |
|||
375 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(test_convex) { |
376 |
✓✗✓✗ |
2 |
Box* box_ptr = new hpp::fcl::Box(1, 1, 1); |
377 |
✓✗ | 4 |
CollisionGeometryPtr_t b1(box_ptr); |
378 |
✓✗ | 4 |
BVHModel<OBBRSS> box_bvh_model = BVHModel<OBBRSS>(); |
379 |
✓✗✓✗ |
2 |
generateBVHModel(box_bvh_model, *box_ptr, Transform3f()); |
380 |
✓✗ | 2 |
box_bvh_model.buildConvexRepresentation(false); |
381 |
|||
382 |
✓✗ | 2 |
box_bvh_model.convex->computeLocalAABB(); |
383 |
✓✗✓✗ |
4 |
std::shared_ptr<ConvexBase> convex_copy(box_bvh_model.convex->clone()); |
384 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓ |
2 |
BOOST_CHECK(*convex_copy.get() == *box_bvh_model.convex.get()); |
385 |
2 |
} |
| Generated by: GCOVR (Version 4.2) |