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/* |
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* Software License Agreement (BSD License) |
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* |
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* Copyright (c) 2011-2014, Willow Garage, Inc. |
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* Copyright (c) 2014-2015, Open Source Robotics Foundation |
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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 Jia Pan */ |
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#define BOOST_TEST_MODULE FCL_GEOMETRIC_SHAPES |
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39 |
#include <boost/test/included/unit_test.hpp> |
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40 |
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41 |
#include <hpp/fcl/narrowphase/narrowphase.h> |
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42 |
#include <hpp/fcl/collision.h> |
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43 |
#include <hpp/fcl/distance.h> |
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44 |
#include "utility.h" |
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45 |
#include <iostream> |
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46 |
#include <hpp/fcl/internal/tools.h> |
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47 |
#include <hpp/fcl/shape/geometric_shape_to_BVH_model.h> |
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48 |
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49 |
using namespace hpp::fcl; |
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50 |
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51 |
FCL_REAL extents[6] = {0, 0, 0, 10, 10, 10}; |
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52 |
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53 |
FCL_REAL tol_gjk = 0.01; |
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54 |
GJKSolver solver1; |
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55 |
GJKSolver solver2; |
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56 |
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57 |
int line; |
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58 |
#define SET_LINE line = __LINE__ |
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59 |
#define FCL_CHECK(cond) \ |
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60 |
BOOST_CHECK_MESSAGE(cond, "from line " << line << ": " #cond) |
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61 |
#define FCL_CHECK_EQUAL(a, b) \ |
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62 |
BOOST_CHECK_MESSAGE((a) == (b), "from line " << line << ": " #a "[" << (a) \ |
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63 |
<< "] != " #b "[" << (b) \ |
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64 |
<< "].") |
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65 |
#define BOOST_CHECK_FALSE(p) BOOST_CHECK(!(p)) |
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66 |
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67 |
namespace hpp { |
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68 |
namespace fcl { |
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69 |
std::ostream& operator<<(std::ostream& os, const ShapeBase&) { |
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70 |
return os << "a_shape"; |
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71 |
} |
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72 |
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73 |
std::ostream& operator<<(std::ostream& os, const Box& b) { |
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74 |
return os << "Box(" << 2 * b.halfSide.transpose() << ')'; |
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75 |
} |
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76 |
} // namespace fcl |
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77 |
} // namespace hpp |
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78 |
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79 |
template <typename S1, typename S2> |
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80 |
void printComparisonError(const std::string& comparison_type, const S1& s1, |
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81 |
const Transform3f& tf1, const S2& s2, |
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82 |
const Transform3f& tf2, |
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83 |
const Vec3f& contact_or_normal, |
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84 |
const Vec3f& expected_contact_or_normal, |
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85 |
bool check_opposite_normal, FCL_REAL tol) { |
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86 |
std::cout << "Disagreement between " << comparison_type << " and expected_" |
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87 |
<< comparison_type << " for " << getNodeTypeName(s1.getNodeType()) |
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88 |
<< " and " << getNodeTypeName(s2.getNodeType()) << ".\n" |
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89 |
<< "tf1.quaternion: " << tf1.getQuatRotation() << std::endl |
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90 |
<< "tf1.translation: " << tf1.getTranslation().transpose() |
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91 |
<< std::endl |
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92 |
<< "tf2.quaternion: " << tf2.getQuatRotation() << std::endl |
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93 |
<< "tf2.translation: " << tf2.getTranslation().transpose() |
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94 |
<< std::endl |
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95 |
<< comparison_type << ": " << contact_or_normal.transpose() |
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96 |
<< std::endl |
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97 |
<< "expected_" << comparison_type << ": " |
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98 |
<< expected_contact_or_normal.transpose(); |
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99 |
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100 |
if (check_opposite_normal) |
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101 |
std::cout << " or " << -expected_contact_or_normal.transpose(); |
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102 |
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103 |
std::cout << std::endl |
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104 |
<< "difference: " |
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105 |
<< (contact_or_normal - expected_contact_or_normal).norm() |
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106 |
<< std::endl |
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107 |
<< "tolerance: " << tol << std::endl; |
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108 |
} |
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109 |
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110 |
template <typename S1, typename S2> |
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111 |
void printComparisonError(const std::string& comparison_type, const S1& s1, |
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112 |
const Transform3f& tf1, const S2& s2, |
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113 |
const Transform3f& tf2, FCL_REAL depth, |
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114 |
FCL_REAL expected_depth, FCL_REAL tol) { |
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115 |
std::cout << "Disagreement between " << comparison_type << " and expected_" |
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116 |
<< comparison_type << " for " << getNodeTypeName(s1.getNodeType()) |
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117 |
<< " and " << getNodeTypeName(s2.getNodeType()) << ".\n" |
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118 |
<< "tf1.quaternion: " << tf1.getQuatRotation() << std::endl |
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119 |
<< "tf1.translation: " << tf1.getTranslation() << std::endl |
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<< "tf2.quaternion: " << tf2.getQuatRotation() << std::endl |
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121 |
<< "tf2.translation: " << tf2.getTranslation() << std::endl |
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122 |
<< "depth: " << depth << std::endl |
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123 |
<< "expected_depth: " << expected_depth << std::endl |
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124 |
<< "difference: " << std::fabs(depth - expected_depth) << std::endl |
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125 |
<< "tolerance: " << tol << std::endl; |
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126 |
} |
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127 |
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128 |
template <typename S1, typename S2> |
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129 |
456 |
void compareContact(const S1& s1, const Transform3f& tf1, const S2& s2, |
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130 |
const Transform3f& tf2, const Vec3f& contact, |
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131 |
Vec3f* expected_point, FCL_REAL depth, |
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132 |
FCL_REAL* expected_depth, const Vec3f& normal, |
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Vec3f* expected_normal, bool check_opposite_normal, |
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FCL_REAL tol) { |
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135 |
✓✓ | 456 |
if (expected_point) { |
136 |
272 |
bool contact_equal = isEqual(contact, *expected_point, tol); |
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137 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓ |
272 |
FCL_CHECK(contact_equal); |
138 |
✗✓ | 272 |
if (!contact_equal) |
139 |
printComparisonError("contact", s1, tf1, s2, tf2, contact, |
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140 |
*expected_point, false, tol); |
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141 |
} |
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142 |
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143 |
✓✓ | 456 |
if (expected_depth) { |
144 |
302 |
bool depth_equal = std::fabs(depth - *expected_depth) < tol; |
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145 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓ |
302 |
FCL_CHECK(depth_equal); |
146 |
✗✓ | 302 |
if (!depth_equal) |
147 |
printComparisonError("depth", s1, tf1, s2, tf2, depth, *expected_depth, |
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148 |
tol); |
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149 |
} |
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150 |
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151 |
✓✓ | 456 |
if (expected_normal) { |
152 |
370 |
bool normal_equal = isEqual(normal, *expected_normal, tol); |
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153 |
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154 |
✓✓✓✗ |
370 |
if (!normal_equal && check_opposite_normal) |
155 |
✓✗ | 20 |
normal_equal = isEqual(normal, -(*expected_normal), tol); |
156 |
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157 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓ |
370 |
FCL_CHECK(normal_equal); |
158 |
✗✓ | 370 |
if (!normal_equal) |
159 |
printComparisonError("normal", s1, tf1, s2, tf2, normal, *expected_normal, |
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160 |
check_opposite_normal, tol); |
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161 |
} |
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162 |
456 |
} |
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163 |
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164 |
template <typename S1, typename S2> |
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165 |
640 |
void testShapeIntersection(const S1& s1, const Transform3f& tf1, const S2& s2, |
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166 |
const Transform3f& tf2, bool expect_collision, |
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167 |
Vec3f* expected_point = NULL, |
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168 |
FCL_REAL* expected_depth = NULL, |
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169 |
Vec3f* expected_normal = NULL, |
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bool check_opposite_normal = false, |
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171 |
FCL_REAL tol = 1e-9) { |
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172 |
✓✗ | 640 |
CollisionRequest request; |
173 |
✓✗ | 1280 |
CollisionResult result; |
174 |
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175 |
✓✗ | 640 |
Vec3f contact; |
176 |
✓✗ | 640 |
Vec3f normal; // normal direction should be from object 1 to object 2 |
177 |
bool collision; |
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178 |
640 |
bool check_failed = false; |
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179 |
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180 |
640 |
request.enable_contact = false; |
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181 |
640 |
result.clear(); |
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182 |
✓✗ | 640 |
collision = (collide(&s1, tf1, &s2, tf2, request, result) > 0); |
183 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
640 |
FCL_CHECK_EQUAL(collision, expect_collision); |
184 |
✓✗✗✓ |
640 |
check_failed = check_failed || (collision != expect_collision); |
185 |
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186 |
640 |
request.enable_contact = true; |
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187 |
640 |
result.clear(); |
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188 |
✓✗ | 640 |
collision = (collide(&s1, tf1, &s2, tf2, request, result) > 0); |
189 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
640 |
FCL_CHECK_EQUAL(collision, expect_collision); |
190 |
✓✗✗✓ |
640 |
check_failed = check_failed || (collision != expect_collision); |
191 |
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192 |
✗✓ | 640 |
if (check_failed) { |
193 |
BOOST_TEST_MESSAGE("Failure occured between " << s1 << " and " << s2 |
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194 |
<< " at transformations\n" |
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195 |
<< tf1 << '\n' |
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196 |
<< tf2); |
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197 |
} |
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198 |
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199 |
✓✓ | 640 |
if (expect_collision) { |
200 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
456 |
FCL_CHECK_EQUAL(result.numContacts(), 1); |
201 |
✓✗ | 456 |
if (result.numContacts() == 1) { |
202 |
✓✗✓✗ |
456 |
Contact contact = result.getContact(0); |
203 |
✓✗ | 456 |
compareContact(s1, tf1, s2, tf2, contact.pos, expected_point, |
204 |
contact.penetration_depth, expected_depth, contact.normal, |
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205 |
expected_normal, check_opposite_normal, tol); |
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206 |
} |
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207 |
} |
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208 |
640 |
} |
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209 |
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210 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(box_to_bvh) { |
211 |
✓✗ | 4 |
Box shape(1, 1, 1); |
212 |
✓✗ | 2 |
BVHModel<OBB> bvh; |
213 |
✓✗✓✗ |
2 |
generateBVHModel(bvh, shape, Transform3f()); |
214 |
2 |
} |
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215 |
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216 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(sphere_to_bvh) { |
217 |
✓✗ | 4 |
Sphere shape(1); |
218 |
✓✗ | 2 |
BVHModel<OBB> bvh; |
219 |
✓✗✓✗ |
2 |
generateBVHModel(bvh, shape, Transform3f(), 10, 10); |
220 |
✓✗✓✗ |
2 |
generateBVHModel(bvh, shape, Transform3f(), 50); |
221 |
2 |
} |
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222 |
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223 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(cylinder_to_bvh) { |
224 |
✓✗ | 4 |
Cylinder shape(1, 1); |
225 |
✓✗ | 2 |
BVHModel<OBB> bvh; |
226 |
✓✗✓✗ |
2 |
generateBVHModel(bvh, shape, Transform3f(), 10, 10); |
227 |
✓✗✓✗ |
2 |
generateBVHModel(bvh, shape, Transform3f(), 50); |
228 |
2 |
} |
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229 |
|||
230 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(cone_to_bvh) { |
231 |
✓✗ | 4 |
Cone shape(1, 1); |
232 |
✓✗ | 2 |
BVHModel<OBB> bvh; |
233 |
✓✗✓✗ |
2 |
generateBVHModel(bvh, shape, Transform3f(), 10, 10); |
234 |
✓✗✓✗ |
2 |
generateBVHModel(bvh, shape, Transform3f(), 50); |
235 |
2 |
} |
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236 |
|||
237 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(shapeIntersection_cylinderbox) { |
238 |
✓✗ | 4 |
Cylinder s1(0.029, 0.1); |
239 |
✓✗ | 2 |
Box s2(1.6, 0.6, 0.025); |
240 |
|||
241 |
Transform3f tf1( |
||
242 |
Quaternion3f(0.5279170511703305, -0.50981118132505521, |
||
243 |
✓✗ | 2 |
-0.67596178682051911, 0.0668715876735793), |
244 |
✓✗✓✗ |
4 |
Vec3f(0.041218354748013122, 1.2022554710435607, 0.77338855025700015)); |
245 |
|||
246 |
Transform3f tf2( |
||
247 |
✓✗ | 2 |
Quaternion3f(0.70738826916719977, 0, 0, 0.70682518110536596), |
248 |
✓✗✓✗ |
4 |
Vec3f(-0.29936284351096382, 0.80023864435868775, 0.71750000000000003)); |
249 |
|||
250 |
✓✗ | 2 |
GJKSolver solver; |
251 |
FCL_REAL distance; |
||
252 |
✓✗✓✗ ✓✗ |
2 |
Vec3f p1, p2, normal; |
253 |
✓✗ | 2 |
bool res = solver.shapeDistance(s1, tf1, s2, tf2, distance, p1, p2, normal); |
254 |
✓✗✓✗ ✓✗✓✗ ✗✓✗✗ ✗✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK((res && distance > 0) || (!res && distance <= 0)); |
255 |
// If objects are not colliding, p2 should be outside the cylinder and |
||
256 |
// p1 should be outside the box |
||
257 |
✓✗✓✗ |
2 |
Vec3f p2Loc(tf1.inverse().transform(p2)); |
258 |
✓✗✗✓ |
2 |
bool p2_in_cylinder((fabs(p2Loc[2]) <= s1.halfLength) && |
259 |
(p2Loc[0] * p2Loc[0] + p2Loc[1] * p2Loc[1] <= s1.radius)); |
||
260 |
✓✗✓✗ |
2 |
Vec3f p1Loc(tf2.inverse().transform(p1)); |
261 |
✓✗✓✗ ✓✗✓✗ ✓✗ |
2 |
bool p1_in_box = (p1Loc.array().abs() <= s2.halfSide.array()).all(); |
262 |
✓✗✓✗ ✓✗✓✗ ✓✗ |
2 |
std::cout << "p2 in cylinder = (" << p2Loc.transpose() << ")" << std::endl; |
263 |
✓✗✓✗ ✓✗✓✗ ✓✗ |
2 |
std::cout << "p1 in box = (" << p1Loc.transpose() << ")" << std::endl; |
264 |
|||
265 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ ✗✗✗✗ ✗✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK((res && !p2_in_cylinder && !p1_in_box) || |
266 |
(!res && p2_in_cylinder && p1_in_box)); |
||
267 |
|||
268 |
✓✗ | 2 |
res = solver.shapeDistance(s2, tf2, s1, tf1, distance, p2, p1, normal); |
269 |
✓✗✓✗ ✓✗✓✗ ✗✓✗✗ ✗✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK((res && distance > 0) || (!res && distance <= 0)); |
270 |
// If objects are not colliding, p2 should be outside the cylinder and |
||
271 |
// p1 should be outside the box |
||
272 |
|||
273 |
✓✗✓✗ |
2 |
p2Loc = tf1.inverse().transform(p2); |
274 |
✓✗✗✓ |
2 |
p2_in_cylinder = (fabs(p2Loc[2]) <= s1.halfLength) && |
275 |
(p2Loc[0] * p2Loc[0] + p2Loc[1] * p2Loc[1] <= s1.radius); |
||
276 |
✓✗✓✗ |
2 |
p1Loc = tf2.inverse().transform(p1); |
277 |
✓✗✓✗ ✓✗✓✗ ✓✗ |
2 |
p1_in_box = (p1Loc.array().abs() <= s2.halfSide.array()).all(); |
278 |
|||
279 |
✓✗✓✗ ✓✗✓✗ ✓✗ |
2 |
std::cout << "p2 in cylinder = (" << p2Loc.transpose() << ")" << std::endl; |
280 |
✓✗✓✗ ✓✗✓✗ ✓✗ |
2 |
std::cout << "p1 in box = (" << p1.transpose() << ")" << std::endl; |
281 |
|||
282 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ ✗✗✗✗ ✗✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK((res && !p2_in_cylinder && !p1_in_box) || |
283 |
(!res && p2_in_cylinder && p1_in_box)); |
||
284 |
|||
285 |
✓✗ | 2 |
s1 = Cylinder(0.06, 0.1); |
286 |
✓✗ | 2 |
tf1.setTranslation( |
287 |
✓✗ | 2 |
Vec3f(-0.66734052046473924, 0.22219183277457269, 0.76825248755616293)); |
288 |
✓✗ | 2 |
tf1.setQuatRotation(Quaternion3f(0.52613359459338371, 0.32189408354839893, |
289 |
✓✗ | 2 |
0.70415587451837913, -0.35175580165512249)); |
290 |
✓✗ | 2 |
res = solver.shapeDistance(s1, tf1, s2, tf2, distance, p1, p2, normal); |
291 |
2 |
} |
|
292 |
|||
293 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(shapeIntersection_spheresphere) { |
294 |
✓✗ | 4 |
Sphere s1(20); |
295 |
✓✗ | 4 |
Sphere s2(10); |
296 |
|||
297 |
✓✗ | 2 |
Transform3f tf1; |
298 |
✓✗ | 2 |
Transform3f tf2; |
299 |
|||
300 |
✓✗ | 2 |
Transform3f transform; |
301 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
302 |
|||
303 |
// Vec3f point; |
||
304 |
// FCL_REAL depth; |
||
305 |
✓✗ | 2 |
Vec3f normal; |
306 |
|||
307 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
308 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(40, 0, 0)); |
309 |
2 |
SET_LINE; |
|
310 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, false); |
311 |
|||
312 |
✓✗ | 2 |
tf1 = transform; |
313 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(40, 0, 0)); |
314 |
2 |
SET_LINE; |
|
315 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, false); |
316 |
|||
317 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
318 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(30, 0, 0)); |
319 |
✓✗✓✗ ✓✗ |
2 |
normal << 1, 0, 0; |
320 |
2 |
SET_LINE; |
|
321 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal); |
322 |
|||
323 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
324 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(30.01, 0, 0)); |
325 |
2 |
SET_LINE; |
|
326 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, false); |
327 |
|||
328 |
✓✗ | 2 |
tf1 = transform; |
329 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(30.01, 0, 0)); |
330 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(1, 0, 0); |
331 |
2 |
SET_LINE; |
|
332 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, false); |
333 |
|||
334 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
335 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(29.9, 0, 0)); |
336 |
✓✗✓✗ ✓✗ |
2 |
normal << 1, 0, 0; |
337 |
2 |
SET_LINE; |
|
338 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal); |
339 |
|||
340 |
✓✗ | 2 |
tf1 = transform; |
341 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(29.9, 0, 0)); |
342 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(1, 0, 0); |
343 |
2 |
SET_LINE; |
|
344 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal); |
345 |
|||
346 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
347 |
✓✗✓✗ |
2 |
tf2 = Transform3f(); |
348 |
✓✗ | 2 |
normal.setZero(); // If the centers of two sphere are at the same position, |
349 |
// the normal is (0, 0, 0) |
||
350 |
2 |
SET_LINE; |
|
351 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal); |
352 |
|||
353 |
✓✗ | 2 |
tf1 = transform; |
354 |
✓✗ | 2 |
tf2 = transform; |
355 |
✓✗ | 2 |
normal.setZero(); // If the centers of two sphere are at the same position, |
356 |
// the normal is (0, 0, 0) |
||
357 |
2 |
SET_LINE; |
|
358 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal); |
359 |
|||
360 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
361 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(-29.9, 0, 0)); |
362 |
✓✗✓✗ ✓✗ |
2 |
normal << -1, 0, 0; |
363 |
2 |
SET_LINE; |
|
364 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal); |
365 |
|||
366 |
✓✗ | 2 |
tf1 = transform; |
367 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(-29.9, 0, 0)); |
368 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(-1, 0, 0); |
369 |
2 |
SET_LINE; |
|
370 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal); |
371 |
|||
372 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
373 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(-30.0, 0, 0)); |
374 |
✓✗✓✗ ✓✗ |
2 |
normal << -1, 0, 0; |
375 |
2 |
SET_LINE; |
|
376 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal); |
377 |
|||
378 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
379 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(-30.01, 0, 0)); |
380 |
✓✗✓✗ ✓✗ |
2 |
normal << -1, 0, 0; |
381 |
2 |
SET_LINE; |
|
382 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, false); |
383 |
|||
384 |
✓✗ | 2 |
tf1 = transform; |
385 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(-30.01, 0, 0)); |
386 |
2 |
SET_LINE; |
|
387 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, false); |
388 |
2 |
} |
|
389 |
|||
390 |
2075 |
bool compareContactPoints(const Vec3f& c1, const Vec3f& c2) { |
|
391 |
2075 |
return c1[2] < c2[2]; |
|
392 |
} // Ascending order |
||
393 |
|||
394 |
100 |
void testBoxBoxContactPoints(const Matrix3f& R) { |
|
395 |
✓✗ | 200 |
Box s1(100, 100, 100); |
396 |
✓✗ | 200 |
Box s2(10, 20, 30); |
397 |
|||
398 |
// Vertices of s2 |
||
399 |
✓✗ | 200 |
std::vector<Vec3f> vertices(8); |
400 |
✓✗✓✗ ✓✗ |
100 |
vertices[0] << 1, 1, 1; |
401 |
✓✗✓✗ ✓✗ |
100 |
vertices[1] << 1, 1, -1; |
402 |
✓✗✓✗ ✓✗ |
100 |
vertices[2] << 1, -1, 1; |
403 |
✓✗✓✗ ✓✗ |
100 |
vertices[3] << 1, -1, -1; |
404 |
✓✗✓✗ ✓✗ |
100 |
vertices[4] << -1, 1, 1; |
405 |
✓✗✓✗ ✓✗ |
100 |
vertices[5] << -1, 1, -1; |
406 |
✓✗✓✗ ✓✗ |
100 |
vertices[6] << -1, -1, 1; |
407 |
✓✗✓✗ ✓✗ |
100 |
vertices[7] << -1, -1, -1; |
408 |
|||
409 |
✓✓ | 900 |
for (std::size_t i = 0; i < 8; ++i) { |
410 |
✓✗✓✗ ✓✗ |
800 |
vertices[i].array() *= s2.halfSide.array(); |
411 |
} |
||
412 |
|||
413 |
✓✗✓✗ |
100 |
Transform3f tf1 = Transform3f(Vec3f(0, 0, -50)); |
414 |
✓✗ | 100 |
Transform3f tf2 = Transform3f(R); |
415 |
|||
416 |
✓✗ | 100 |
Vec3f normal; |
417 |
✓✗ | 100 |
Vec3f point(0., 0., 0.); |
418 |
double distance; |
||
419 |
|||
420 |
// Make sure the two boxes are colliding |
||
421 |
100 |
solver1.gjk_tolerance = 1e-5; |
|
422 |
100 |
solver1.epa_tolerance = 1e-5; |
|
423 |
bool res = |
||
424 |
✓✗ | 100 |
solver1.shapeIntersect(s1, tf1, s2, tf2, distance, true, &point, &normal); |
425 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
100 |
FCL_CHECK(res); |
426 |
|||
427 |
// Compute global vertices |
||
428 |
✓✓✓✗ |
900 |
for (std::size_t i = 0; i < 8; ++i) vertices[i] = tf2.transform(vertices[i]); |
429 |
|||
430 |
// Sort the vertices so that the lowest vertex along z-axis comes first |
||
431 |
✓✗ | 100 |
std::sort(vertices.begin(), vertices.end(), compareContactPoints); |
432 |
|||
433 |
// The lowest vertex along z-axis should be the contact point |
||
434 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
100 |
FCL_CHECK(normal.isApprox(Vec3f(0, 0, 1), 1e-6)); |
435 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓ |
100 |
FCL_CHECK(vertices[0].head<2>().isApprox(point.head<2>(), 1e-6)); |
436 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓ |
100 |
FCL_CHECK(vertices[0][2] <= point[2] && point[2] < 0); |
437 |
100 |
} |
|
438 |
|||
439 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(shapeIntersection_boxbox) { |
440 |
✓✗ | 4 |
Box s1(20, 40, 50); |
441 |
✓✗ | 4 |
Box s2(10, 10, 10); |
442 |
|||
443 |
✓✗ | 2 |
Transform3f tf1; |
444 |
✓✗ | 2 |
Transform3f tf2; |
445 |
|||
446 |
✓✗ | 2 |
Transform3f transform; |
447 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
448 |
|||
449 |
// Vec3f point; |
||
450 |
// FCL_REAL depth; |
||
451 |
✓✗ | 2 |
Vec3f normal; |
452 |
|||
453 |
✓✗ | 2 |
Quaternion3f q; |
454 |
✓✗✓✗ |
2 |
q = AngleAxis((FCL_REAL)3.140 / 6, UnitZ); |
455 |
|||
456 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
457 |
✓✗✓✗ |
2 |
tf2 = Transform3f(); |
458 |
// TODO: Need convention for normal when the centers of two objects are at |
||
459 |
// same position. The current result is (1, 0, 0). |
||
460 |
✓✗✓✗ ✓✗ |
2 |
normal << 1, 0, 0; |
461 |
2 |
SET_LINE; |
|
462 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, 0x0); |
463 |
|||
464 |
✓✗ | 2 |
tf1 = transform; |
465 |
✓✗ | 2 |
tf2 = transform; |
466 |
// TODO: Need convention for normal when the centers of two objects are at |
||
467 |
// same position. The current result is (1, 0, 0). |
||
468 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(1, 0, 0); |
469 |
2 |
SET_LINE; |
|
470 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, 0x0); |
471 |
|||
472 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
473 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(15, 0, 0)); |
474 |
✓✗✓✗ ✓✗ |
2 |
normal << 1, 0, 0; |
475 |
2 |
SET_LINE; |
|
476 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal, false, |
477 |
1e-8); |
||
478 |
|||
479 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
480 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(15.01, 0, 0)); |
481 |
2 |
SET_LINE; |
|
482 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, false); |
483 |
|||
484 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
485 |
✓✗✓✗ |
2 |
tf2 = Transform3f(q); |
486 |
✓✗✓✗ ✓✗ |
2 |
normal << 1, 0, 0; |
487 |
2 |
SET_LINE; |
|
488 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, 0x0); |
489 |
|||
490 |
✓✗ | 2 |
tf1 = transform; |
491 |
✓✗✓✗ ✓✗ |
2 |
tf2 = transform * Transform3f(q); |
492 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(1, 0, 0); |
493 |
2 |
SET_LINE; |
|
494 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, 0x0); |
495 |
|||
496 |
2 |
int numTests = 100; |
|
497 |
✓✓ | 202 |
for (int i = 0; i < numTests; ++i) { |
498 |
✓✗ | 200 |
Transform3f tf; |
499 |
✓✗ | 200 |
generateRandomTransform(extents, tf); |
500 |
200 |
SET_LINE; |
|
501 |
✓✗ | 200 |
testBoxBoxContactPoints(tf.getRotation()); |
502 |
} |
||
503 |
2 |
} |
|
504 |
|||
505 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(shapeIntersection_spherebox) { |
506 |
✓✗ | 4 |
Sphere s1(20); |
507 |
✓✗ | 4 |
Box s2(5, 5, 5); |
508 |
|||
509 |
✓✗ | 2 |
Transform3f tf1; |
510 |
✓✗ | 2 |
Transform3f tf2; |
511 |
|||
512 |
✓✗ | 2 |
Transform3f transform; |
513 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
514 |
|||
515 |
// Vec3f point; |
||
516 |
// FCL_REAL depth; |
||
517 |
✓✗ | 2 |
Vec3f normal; |
518 |
|||
519 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
520 |
✓✗✓✗ |
2 |
tf2 = Transform3f(); |
521 |
// TODO: Need convention for normal when the centers of two objects are at |
||
522 |
// same position. The current result is (-1, 0, 0). |
||
523 |
✓✗✓✗ ✓✗ |
2 |
normal << -1, 0, 0; |
524 |
2 |
SET_LINE; |
|
525 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, NULL); |
526 |
|||
527 |
✓✗ | 2 |
tf1 = transform; |
528 |
✓✗ | 2 |
tf2 = transform; |
529 |
// TODO: Need convention for normal when the centers of two objects are at |
||
530 |
// same position. |
||
531 |
2 |
SET_LINE; |
|
532 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, NULL); |
533 |
|||
534 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
535 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(22.50001, 0, 0)); |
536 |
2 |
SET_LINE; |
|
537 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, false); |
538 |
|||
539 |
✓✗ | 2 |
tf1 = transform; |
540 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(22.501, 0, 0)); |
541 |
2 |
SET_LINE; |
|
542 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, false); |
543 |
|||
544 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
545 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(22.4, 0, 0)); |
546 |
✓✗✓✗ ✓✗ |
2 |
normal << 1, 0, 0; |
547 |
2 |
SET_LINE; |
|
548 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal, false, |
549 |
tol_gjk); |
||
550 |
|||
551 |
✓✗ | 2 |
tf1 = transform; |
552 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(22.4, 0, 0)); |
553 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(1, 0, 0); |
554 |
2 |
SET_LINE; |
|
555 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal, false, |
556 |
tol_gjk); |
||
557 |
2 |
} |
|
558 |
|||
559 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(shapeDistance_spherebox) { |
560 |
✓✗ | 2 |
hpp::fcl::Matrix3f rotSphere; |
561 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
2 |
rotSphere << 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0; |
562 |
✓✗ | 2 |
hpp::fcl::Vec3f trSphere(0.0, 0.0, 0.0); |
563 |
|||
564 |
✓✗ | 2 |
hpp::fcl::Matrix3f rotBox; |
565 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
2 |
rotBox << 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0; |
566 |
✓✗ | 2 |
hpp::fcl::Vec3f trBox(0.0, 5.0, 3.0); |
567 |
|||
568 |
✓✗ | 4 |
hpp::fcl::Sphere sphere(1); |
569 |
✓✗ | 4 |
hpp::fcl::Box box(10, 2, 10); |
570 |
|||
571 |
✓✗ | 2 |
hpp::fcl::DistanceResult result; |
572 |
✓✗✓✗ |
2 |
distance(&sphere, Transform3f(rotSphere, trSphere), &box, |
573 |
✓✗✓✗ |
2 |
Transform3f(rotBox, trBox), DistanceRequest(true), result); |
574 |
|||
575 |
2 |
FCL_REAL eps = Eigen::NumTraits<FCL_REAL>::epsilon(); |
|
576 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK_CLOSE(result.min_distance, 3., eps); |
577 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
EIGEN_VECTOR_IS_APPROX(result.nearest_points[0], Vec3f(0, 1, 0), eps); |
578 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
EIGEN_VECTOR_IS_APPROX(result.nearest_points[1], Vec3f(0, 4, 0), eps); |
579 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
EIGEN_VECTOR_IS_APPROX(result.normal, Vec3f(0, 1, 0), eps); |
580 |
2 |
} |
|
581 |
|||
582 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(shapeIntersection_spherecapsule) { |
583 |
✓✗ | 4 |
Sphere s1(20); |
584 |
✓✗ | 4 |
Capsule s2(5, 10); |
585 |
|||
586 |
✓✗ | 2 |
Transform3f tf1; |
587 |
✓✗ | 2 |
Transform3f tf2; |
588 |
|||
589 |
✓✗ | 2 |
Transform3f transform; |
590 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
591 |
|||
592 |
// Vec3f point; |
||
593 |
// FCL_REAL depth; |
||
594 |
✓✗ | 2 |
Vec3f normal; |
595 |
|||
596 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
597 |
✓✗✓✗ |
2 |
tf2 = Transform3f(); |
598 |
// TODO: Need convention for normal when the centers of two objects are at |
||
599 |
// same position. |
||
600 |
2 |
SET_LINE; |
|
601 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, NULL); |
602 |
|||
603 |
✓✗ | 2 |
tf1 = transform; |
604 |
✓✗ | 2 |
tf2 = transform; |
605 |
// TODO: Need convention for normal when the centers of two objects are at |
||
606 |
// same position. |
||
607 |
2 |
SET_LINE; |
|
608 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, NULL); |
609 |
|||
610 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
611 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(24.9, 0, 0)); |
612 |
✓✗✓✗ ✓✗ |
2 |
normal << 1, 0, 0; |
613 |
2 |
SET_LINE; |
|
614 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal); |
615 |
|||
616 |
✓✗ | 2 |
tf1 = transform; |
617 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(24.9, 0, 0)); |
618 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(1, 0, 0); |
619 |
2 |
SET_LINE; |
|
620 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal); |
621 |
|||
622 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
623 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(25, 0, 0)); |
624 |
✓✗✓✗ ✓✗ |
2 |
normal << 1, 0, 0; |
625 |
2 |
SET_LINE; |
|
626 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal); |
627 |
|||
628 |
✓✗ | 2 |
tf1 = transform; |
629 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(24.999999, 0, 0)); |
630 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(1, 0, 0); |
631 |
2 |
SET_LINE; |
|
632 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal); |
633 |
|||
634 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
635 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(25.1, 0, 0)); |
636 |
✓✗✓✗ ✓✗ |
2 |
normal << 1, 0, 0; |
637 |
2 |
SET_LINE; |
|
638 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, false); |
639 |
|||
640 |
✓✗ | 2 |
tf1 = transform; |
641 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(25.1, 0, 0)); |
642 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(1, 0, 0); |
643 |
2 |
SET_LINE; |
|
644 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, false); |
645 |
2 |
} |
|
646 |
|||
647 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(shapeIntersection_cylindercylinder) { |
648 |
✓✗ | 4 |
Cylinder s1(5, 15); |
649 |
✓✗ | 4 |
Cylinder s2(5, 15); |
650 |
|||
651 |
✓✗ | 2 |
Transform3f tf1; |
652 |
✓✗ | 2 |
Transform3f tf2; |
653 |
|||
654 |
✓✗ | 2 |
Transform3f transform; |
655 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
656 |
|||
657 |
// Vec3f point; |
||
658 |
// FCL_REAL depth; |
||
659 |
✓✗ | 2 |
Vec3f normal; |
660 |
|||
661 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
662 |
✓✗✓✗ |
2 |
tf2 = Transform3f(); |
663 |
// TODO: Need convention for normal when the centers of two objects are at |
||
664 |
// same position. |
||
665 |
2 |
SET_LINE; |
|
666 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, NULL); |
667 |
|||
668 |
✓✗ | 2 |
tf1 = transform; |
669 |
✓✗ | 2 |
tf2 = transform; |
670 |
// TODO: Need convention for normal when the centers of two objects are at |
||
671 |
// same position. |
||
672 |
2 |
SET_LINE; |
|
673 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, NULL); |
674 |
|||
675 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
676 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 9.9, 0)); |
677 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, 1, 0; |
678 |
2 |
SET_LINE; |
|
679 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal, false, |
680 |
tol_gjk); |
||
681 |
|||
682 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
683 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(9.9, 0, 0)); |
684 |
✓✗✓✗ ✓✗ |
2 |
normal << 1, 0, 0; |
685 |
2 |
SET_LINE; |
|
686 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal, false, |
687 |
tol_gjk); |
||
688 |
|||
689 |
✓✗ | 2 |
tf1 = transform; |
690 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(9.9, 0, 0)); |
691 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(1, 0, 0); |
692 |
2 |
SET_LINE; |
|
693 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal, false, |
694 |
tol_gjk); |
||
695 |
|||
696 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
697 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(10.01, 0, 0)); |
698 |
2 |
SET_LINE; |
|
699 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, false); |
700 |
|||
701 |
✓✗ | 2 |
tf1 = transform; |
702 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(10.01, 0, 0)); |
703 |
2 |
SET_LINE; |
|
704 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, false); |
705 |
2 |
} |
|
706 |
|||
707 |
/* |
||
708 |
BOOST_AUTO_TEST_CASE(shapeIntersection_conecone) |
||
709 |
{ |
||
710 |
Cone s1(5, 10); |
||
711 |
Cone s2(5, 10); |
||
712 |
|||
713 |
Transform3f tf1; |
||
714 |
Transform3f tf2; |
||
715 |
|||
716 |
Transform3f transform; |
||
717 |
generateRandomTransform(extents, transform); |
||
718 |
|||
719 |
// Vec3f point; |
||
720 |
// FCL_REAL depth; |
||
721 |
Vec3f normal; |
||
722 |
|||
723 |
tf1 = Transform3f(); |
||
724 |
tf2 = Transform3f(); |
||
725 |
// TODO: Need convention for normal when the centers of two objects are at |
||
726 |
same position. SET_LINE; testShapeIntersection(s1, tf1, s2, tf2, true, NULL, |
||
727 |
NULL, NULL); |
||
728 |
|||
729 |
tf1 = transform; |
||
730 |
tf2 = transform; |
||
731 |
// TODO: Need convention for normal when the centers of two objects are at |
||
732 |
same position. SET_LINE; testShapeIntersection(s1, tf1, s2, tf2, true, NULL, |
||
733 |
NULL, NULL); |
||
734 |
|||
735 |
tf1 = Transform3f(); |
||
736 |
tf2 = Transform3f(Vec3f(9.9, 0, 0)); |
||
737 |
normal << 1, 0, 0; |
||
738 |
SET_LINE; testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal, |
||
739 |
false, tol_gjk); |
||
740 |
|||
741 |
tf1 = transform; |
||
742 |
tf2 = transform * Transform3f(Vec3f(9.9, 0, 0)); |
||
743 |
normal = transform.getRotation() * Vec3f(1, 0, 0); |
||
744 |
SET_LINE; testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal, |
||
745 |
false, tol_gjk); |
||
746 |
|||
747 |
tf1 = Transform3f(); |
||
748 |
tf2 = Transform3f(Vec3f(10.001, 0, 0)); |
||
749 |
SET_LINE; testShapeIntersection(s1, tf1, s2, tf2, false); |
||
750 |
|||
751 |
tf1 = transform; |
||
752 |
tf2 = transform * Transform3f(Vec3f(10.001, 0, 0)); |
||
753 |
SET_LINE; testShapeIntersection(s1, tf1, s2, tf2, false); |
||
754 |
|||
755 |
tf1 = Transform3f(); |
||
756 |
tf2 = Transform3f(Vec3f(0, 0, 9.9)); |
||
757 |
normal << 0, 0, 1; |
||
758 |
SET_LINE; testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal); |
||
759 |
|||
760 |
tf1 = transform; |
||
761 |
tf2 = transform * Transform3f(Vec3f(0, 0, 9.9)); |
||
762 |
normal = transform.getRotation() * Vec3f(0, 0, 1); |
||
763 |
SET_LINE; testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal); |
||
764 |
} |
||
765 |
*/ |
||
766 |
|||
767 |
/* |
||
768 |
BOOST_AUTO_TEST_CASE(shapeIntersection_conecylinder) |
||
769 |
{ |
||
770 |
Cylinder s1(5, 10); |
||
771 |
Cone s2(5, 10); |
||
772 |
|||
773 |
Transform3f tf1; |
||
774 |
Transform3f tf2; |
||
775 |
|||
776 |
Transform3f transform; |
||
777 |
generateRandomTransform(extents, transform); |
||
778 |
|||
779 |
// Vec3f point; |
||
780 |
// FCL_REAL depth; |
||
781 |
Vec3f normal; |
||
782 |
|||
783 |
tf1 = Transform3f(); |
||
784 |
tf2 = Transform3f(); |
||
785 |
// TODO: Need convention for normal when the centers of two objects are at |
||
786 |
same position. SET_LINE; testShapeIntersection(s1, tf1, s2, tf2, true, NULL, |
||
787 |
NULL, NULL); |
||
788 |
|||
789 |
tf1 = transform; |
||
790 |
tf2 = transform; |
||
791 |
// TODO: Need convention for normal when the centers of two objects are at |
||
792 |
same position. SET_LINE; testShapeIntersection(s1, tf1, s2, tf2, true, NULL, |
||
793 |
NULL, NULL); |
||
794 |
|||
795 |
tf1 = Transform3f(); |
||
796 |
tf2 = Transform3f(Vec3f(9.9, 0, 0)); |
||
797 |
normal << 1, 0, 0; |
||
798 |
SET_LINE; testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal, |
||
799 |
false, 0.061); |
||
800 |
|||
801 |
tf1 = transform; |
||
802 |
tf2 = transform * Transform3f(Vec3f(9.9, 0, 0)); |
||
803 |
normal = transform.getRotation() * Vec3f(1, 0, 0); |
||
804 |
SET_LINE; testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal, |
||
805 |
false, 0.46); |
||
806 |
|||
807 |
tf1 = Transform3f(); |
||
808 |
tf2 = Transform3f(Vec3f(10.01, 0, 0)); |
||
809 |
SET_LINE; testShapeIntersection(s1, tf1, s2, tf2, false); |
||
810 |
|||
811 |
tf1 = transform; |
||
812 |
tf2 = transform * Transform3f(Vec3f(10.01, 0, 0)); |
||
813 |
SET_LINE; testShapeIntersection(s1, tf1, s2, tf2, false); |
||
814 |
|||
815 |
tf1 = Transform3f(); |
||
816 |
tf2 = Transform3f(Vec3f(0, 0, 9.9)); |
||
817 |
normal << 0, 0, 1; |
||
818 |
SET_LINE; testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal); |
||
819 |
|||
820 |
tf1 = transform; |
||
821 |
tf2 = transform * Transform3f(Vec3f(0, 0, 9.9)); |
||
822 |
normal = transform.getRotation() * Vec3f(0, 0, 1); |
||
823 |
SET_LINE; testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal); |
||
824 |
|||
825 |
tf1 = Transform3f(); |
||
826 |
tf2 = Transform3f(Vec3f(0, 0, 10.01)); |
||
827 |
SET_LINE; testShapeIntersection(s1, tf1, s2, tf2, false); |
||
828 |
|||
829 |
tf1 = transform; |
||
830 |
tf2 = transform * Transform3f(Vec3f(0, 0, 10.01)); |
||
831 |
SET_LINE; testShapeIntersection(s1, tf1, s2, tf2, false); |
||
832 |
} |
||
833 |
*/ |
||
834 |
|||
835 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(shapeIntersection_spheretriangle) { |
836 |
✓✗ | 4 |
Sphere s(10); |
837 |
✓✓✓✗ |
8 |
Vec3f t[3]; |
838 |
✓✗✓✗ ✓✗ |
2 |
t[0] << 20, 0, 0; |
839 |
✓✗✓✗ ✓✗ |
2 |
t[1] << -20, 0, 0; |
840 |
✓✗✓✗ ✓✗ |
2 |
t[2] << 0, 20, 0; |
841 |
|||
842 |
✓✗ | 2 |
Transform3f transform; |
843 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
844 |
|||
845 |
✓✗✓✗ ✓✗ |
2 |
Vec3f c1, c2, normal; |
846 |
FCL_REAL distance; |
||
847 |
bool res; |
||
848 |
|||
849 |
res = |
||
850 |
✓✗✓✗ |
2 |
solver1.shapeTriangleInteraction(s, Transform3f(), t[0], t[1], t[2], |
851 |
✓✗ | 4 |
Transform3f(), distance, c1, c2, normal); |
852 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
853 |
|||
854 |
✓✗ | 2 |
res = solver1.shapeTriangleInteraction(s, transform, t[0], t[1], t[2], |
855 |
transform, distance, c1, c2, normal); |
||
856 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
857 |
|||
858 |
✓✗✓✗ ✓✗ |
2 |
t[0] << 30, 0, 0; |
859 |
✓✗✓✗ ✓✗ |
2 |
t[1] << 9.9, -20, 0; |
860 |
✓✗✓✗ ✓✗ |
2 |
t[2] << 9.9, 20, 0; |
861 |
res = |
||
862 |
✓✗✓✗ |
2 |
solver1.shapeTriangleInteraction(s, Transform3f(), t[0], t[1], t[2], |
863 |
✓✗ | 4 |
Transform3f(), distance, c1, c2, normal); |
864 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
865 |
|||
866 |
✓✗ | 2 |
res = solver1.shapeTriangleInteraction(s, transform, t[0], t[1], t[2], |
867 |
transform, distance, c1, c2, normal); |
||
868 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
869 |
|||
870 |
res = |
||
871 |
✓✗✓✗ |
2 |
solver1.shapeTriangleInteraction(s, Transform3f(), t[0], t[1], t[2], |
872 |
✓✗ | 4 |
Transform3f(), distance, c1, c2, normal); |
873 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
874 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(isEqual(normal, Vec3f(1, 0, 0), 1e-9)); |
875 |
|||
876 |
✓✗ | 2 |
res = solver1.shapeTriangleInteraction(s, transform, t[0], t[1], t[2], |
877 |
transform, distance, c1, c2, normal); |
||
878 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
879 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓ |
2 |
BOOST_CHECK(isEqual(normal, transform.getRotation() * Vec3f(1, 0, 0), 1e-9)); |
880 |
2 |
} |
|
881 |
|||
882 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(shapeIntersection_halfspacetriangle) { |
883 |
✓✗✓✗ |
4 |
Halfspace hs(Vec3f(1, 0, 0), 0); |
884 |
✓✓✓✗ |
8 |
Vec3f t[3]; |
885 |
✓✗✓✗ ✓✗ |
2 |
t[0] << 20, 0, 0; |
886 |
✓✗✓✗ ✓✗ |
2 |
t[1] << -20, 0, 0; |
887 |
✓✗✓✗ ✓✗ |
2 |
t[2] << 0, 20, 0; |
888 |
|||
889 |
✓✗ | 2 |
Transform3f transform; |
890 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
891 |
|||
892 |
✓✗✓✗ |
2 |
Vec3f c1, c2; |
893 |
FCL_REAL distance; |
||
894 |
✓✗ | 2 |
Vec3f normal; |
895 |
bool res; |
||
896 |
|||
897 |
res = |
||
898 |
✓✗✓✗ |
2 |
solver1.shapeTriangleInteraction(hs, Transform3f(), t[0], t[1], t[2], |
899 |
✓✗ | 4 |
Transform3f(), distance, c1, c2, normal); |
900 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
901 |
|||
902 |
✓✗ | 2 |
res = solver1.shapeTriangleInteraction(hs, transform, t[0], t[1], t[2], |
903 |
transform, distance, c1, c2, normal); |
||
904 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
905 |
|||
906 |
✓✗✓✗ ✓✗ |
2 |
t[0] << 20, 0, 0; |
907 |
✓✗✓✗ ✓✗ |
2 |
t[1] << 0, -20, 0; |
908 |
✓✗✓✗ ✓✗ |
2 |
t[2] << 0, 20, 0; |
909 |
res = |
||
910 |
✓✗✓✗ |
2 |
solver1.shapeTriangleInteraction(hs, Transform3f(), t[0], t[1], t[2], |
911 |
✓✗ | 4 |
Transform3f(), distance, c1, c2, normal); |
912 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
913 |
|||
914 |
// These tests fail because of numerical precision errors. The points t[1] and |
||
915 |
// t[2] lies on the border of the half-space. The normals should be good, when |
||
916 |
// computed (i.e. res == true) |
||
917 |
✓✗ | 2 |
res = solver1.shapeTriangleInteraction(hs, transform, t[0], t[1], t[2], |
918 |
transform, distance, c1, c2, normal); |
||
919 |
// BOOST_CHECK(res); |
||
920 |
✗✓ | 2 |
if (res) |
921 |
BOOST_CHECK( |
||
922 |
isEqual(normal, transform.getRotation() * Vec3f(1, 0, 0), 1e-9)); |
||
923 |
|||
924 |
res = |
||
925 |
✓✗✓✗ |
2 |
solver1.shapeTriangleInteraction(hs, Transform3f(), t[0], t[1], t[2], |
926 |
✓✗ | 2 |
Transform3f(), distance, c1, c2, normal); |
927 |
// BOOST_CHECK(res); |
||
928 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓ |
2 |
if (res) BOOST_CHECK(isEqual(normal, Vec3f(1, 0, 0), 1e-9)); |
929 |
|||
930 |
✓✗ | 2 |
res = solver1.shapeTriangleInteraction(hs, transform, t[0], t[1], t[2], |
931 |
transform, distance, c1, c2, normal); |
||
932 |
// BOOST_CHECK(res); |
||
933 |
✗✓ | 2 |
if (res) |
934 |
BOOST_CHECK( |
||
935 |
isEqual(normal, transform.getRotation() * Vec3f(1, 0, 0), 1e-9)); |
||
936 |
2 |
} |
|
937 |
|||
938 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(shapeIntersection_planetriangle) { |
939 |
✓✗✓✗ |
4 |
Plane hs(Vec3f(1, 0, 0), 0); |
940 |
✓✓✓✗ |
8 |
Vec3f t[3]; |
941 |
✓✗✓✗ ✓✗ |
2 |
t[0] << 20, 0, 0; |
942 |
✓✗✓✗ ✓✗ |
2 |
t[1] << -20, 0, 0; |
943 |
✓✗✓✗ ✓✗ |
2 |
t[2] << 0, 20, 0; |
944 |
|||
945 |
✓✗ | 2 |
Transform3f transform; |
946 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
947 |
|||
948 |
✓✗✓✗ |
2 |
Vec3f c1, c2; |
949 |
FCL_REAL distance; |
||
950 |
✓✗ | 2 |
Vec3f normal; |
951 |
bool res; |
||
952 |
|||
953 |
res = |
||
954 |
✓✗✓✗ |
2 |
solver1.shapeTriangleInteraction(hs, Transform3f(), t[0], t[1], t[2], |
955 |
✓✗ | 4 |
Transform3f(), distance, c1, c2, normal); |
956 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
957 |
|||
958 |
✓✗ | 2 |
res = solver1.shapeTriangleInteraction(hs, transform, t[0], t[1], t[2], |
959 |
transform, distance, c1, c2, normal); |
||
960 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
961 |
|||
962 |
✓✗✓✗ ✓✗ |
2 |
t[0] << 20, 0, 0; |
963 |
✓✗✓✗ ✓✗ |
2 |
t[1] << -0.1, -20, 0; |
964 |
✓✗✓✗ ✓✗ |
2 |
t[2] << -0.1, 20, 0; |
965 |
|||
966 |
✓✗ | 2 |
res = solver1.shapeTriangleInteraction(hs, transform, t[0], t[1], t[2], |
967 |
transform, distance, c1, c2, normal); |
||
968 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
969 |
|||
970 |
res = |
||
971 |
✓✗✓✗ |
2 |
solver1.shapeTriangleInteraction(hs, Transform3f(), t[0], t[1], t[2], |
972 |
✓✗ | 4 |
Transform3f(), distance, c1, c2, normal); |
973 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
974 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(isEqual(normal, Vec3f(1, 0, 0), 1e-9)); |
975 |
|||
976 |
✓✗ | 2 |
res = solver1.shapeTriangleInteraction(hs, transform, t[0], t[1], t[2], |
977 |
transform, distance, c1, c2, normal); |
||
978 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
979 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓ |
2 |
BOOST_CHECK(isEqual(normal, transform.getRotation() * Vec3f(1, 0, 0), 1e-9)); |
980 |
2 |
} |
|
981 |
|||
982 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(shapeIntersection_halfspacesphere) { |
983 |
✓✗ | 4 |
Sphere s(10); |
984 |
✓✗✓✗ |
4 |
Halfspace hs(Vec3f(1, 0, 0), 0); |
985 |
|||
986 |
✓✗ | 2 |
Transform3f tf1; |
987 |
✓✗ | 2 |
Transform3f tf2; |
988 |
|||
989 |
✓✗ | 2 |
Transform3f transform; |
990 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
991 |
|||
992 |
✓✗ | 2 |
Vec3f contact; |
993 |
FCL_REAL depth; |
||
994 |
✓✗ | 2 |
Vec3f normal; |
995 |
|||
996 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
997 |
✓✗✓✗ |
2 |
tf2 = Transform3f(); |
998 |
✓✗✓✗ ✓✗ |
2 |
contact << -5, 0, 0; |
999 |
2 |
depth = 10; |
|
1000 |
✓✗✓✗ ✓✗ |
2 |
normal << -1, 0, 0; |
1001 |
2 |
SET_LINE; |
|
1002 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1003 |
|||
1004 |
✓✗ | 2 |
tf1 = transform; |
1005 |
✓✗ | 2 |
tf2 = transform; |
1006 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(-5, 0, 0)); |
1007 |
2 |
depth = 10; |
|
1008 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(-1, 0, 0); |
1009 |
2 |
SET_LINE; |
|
1010 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1011 |
|||
1012 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1013 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(5, 0, 0)); |
1014 |
✓✗✓✗ ✓✗ |
2 |
contact << -2.5, 0, 0; |
1015 |
2 |
depth = 15; |
|
1016 |
✓✗✓✗ ✓✗ |
2 |
normal << -1, 0, 0; |
1017 |
2 |
SET_LINE; |
|
1018 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1019 |
|||
1020 |
✓✗ | 2 |
tf1 = transform; |
1021 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(5, 0, 0)); |
1022 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(-2.5, 0, 0)); |
1023 |
2 |
depth = 15; |
|
1024 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(-1, 0, 0); |
1025 |
2 |
SET_LINE; |
|
1026 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1027 |
|||
1028 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1029 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(-5, 0, 0)); |
1030 |
✓✗✓✗ ✓✗ |
2 |
contact << -7.5, 0, 0; |
1031 |
2 |
depth = 5; |
|
1032 |
✓✗✓✗ ✓✗ |
2 |
normal << -1, 0, 0; |
1033 |
2 |
SET_LINE; |
|
1034 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1035 |
|||
1036 |
✓✗ | 2 |
tf1 = transform; |
1037 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(-5, 0, 0)); |
1038 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(-7.5, 0, 0)); |
1039 |
2 |
depth = 5; |
|
1040 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(-1, 0, 0); |
1041 |
2 |
SET_LINE; |
|
1042 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1043 |
|||
1044 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1045 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(-10.1, 0, 0)); |
1046 |
2 |
SET_LINE; |
|
1047 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
1048 |
|||
1049 |
✓✗ | 2 |
tf1 = transform; |
1050 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(-10.1, 0, 0)); |
1051 |
2 |
SET_LINE; |
|
1052 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
1053 |
|||
1054 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1055 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(10.1, 0, 0)); |
1056 |
✓✗✓✗ ✓✗ |
2 |
contact << 0.05, 0, 0; |
1057 |
2 |
depth = 20.1; |
|
1058 |
✓✗✓✗ ✓✗ |
2 |
normal << -1, 0, 0; |
1059 |
2 |
SET_LINE; |
|
1060 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1061 |
|||
1062 |
✓✗ | 2 |
tf1 = transform; |
1063 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(10.1, 0, 0)); |
1064 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0.05, 0, 0)); |
1065 |
2 |
depth = 20.1; |
|
1066 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(-1, 0, 0); |
1067 |
2 |
SET_LINE; |
|
1068 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1069 |
2 |
} |
|
1070 |
|||
1071 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(shapeIntersection_planesphere) { |
1072 |
✓✗ | 4 |
Sphere s(10); |
1073 |
✓✗✓✗ |
4 |
Plane hs(Vec3f(1, 0, 0), 0); |
1074 |
|||
1075 |
✓✗ | 2 |
Transform3f tf1; |
1076 |
✓✗ | 2 |
Transform3f tf2; |
1077 |
|||
1078 |
✓✗ | 2 |
Transform3f transform; |
1079 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
1080 |
|||
1081 |
✓✗ | 2 |
Vec3f contact; |
1082 |
FCL_REAL depth; |
||
1083 |
✓✗ | 2 |
Vec3f normal; |
1084 |
|||
1085 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1086 |
✓✗✓✗ |
2 |
tf2 = Transform3f(); |
1087 |
✓✗ | 2 |
contact.setZero(); |
1088 |
2 |
depth = 10; |
|
1089 |
✓✗✓✗ ✓✗ |
2 |
normal << 1, 0, 0; // (1, 0, 0) or (-1, 0, 0) |
1090 |
2 |
SET_LINE; |
|
1091 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1092 |
|||
1093 |
✓✗ | 2 |
tf1 = transform; |
1094 |
✓✗ | 2 |
tf2 = transform; |
1095 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, 0, 0)); |
1096 |
2 |
depth = 10; |
|
1097 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(1, 0, 0); // (1, 0, 0) or (-1, 0, 0) |
1098 |
2 |
SET_LINE; |
|
1099 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal, true); |
1100 |
|||
1101 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1102 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(5, 0, 0)); |
1103 |
✓✗✓✗ ✓✗ |
2 |
contact << 5, 0, 0; |
1104 |
2 |
depth = 5; |
|
1105 |
✓✗✓✗ ✓✗ |
2 |
normal << 1, 0, 0; |
1106 |
2 |
SET_LINE; |
|
1107 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1108 |
|||
1109 |
✓✗ | 2 |
tf1 = transform; |
1110 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(5, 0, 0)); |
1111 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(5, 0, 0)); |
1112 |
2 |
depth = 5; |
|
1113 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(1, 0, 0); |
1114 |
2 |
SET_LINE; |
|
1115 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1116 |
|||
1117 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1118 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(-5, 0, 0)); |
1119 |
✓✗✓✗ ✓✗ |
2 |
contact << -5, 0, 0; |
1120 |
2 |
depth = 5; |
|
1121 |
✓✗✓✗ ✓✗ |
2 |
normal << -1, 0, 0; |
1122 |
2 |
SET_LINE; |
|
1123 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1124 |
|||
1125 |
✓✗ | 2 |
tf1 = transform; |
1126 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(-5, 0, 0)); |
1127 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(-5, 0, 0)); |
1128 |
2 |
depth = 5; |
|
1129 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(-1, 0, 0); |
1130 |
2 |
SET_LINE; |
|
1131 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1132 |
|||
1133 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1134 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(-10.1, 0, 0)); |
1135 |
2 |
SET_LINE; |
|
1136 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
1137 |
|||
1138 |
✓✗ | 2 |
tf1 = transform; |
1139 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(-10.1, 0, 0)); |
1140 |
2 |
SET_LINE; |
|
1141 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
1142 |
|||
1143 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1144 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(10.1, 0, 0)); |
1145 |
2 |
SET_LINE; |
|
1146 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
1147 |
|||
1148 |
✓✗ | 2 |
tf1 = transform; |
1149 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(10.1, 0, 0)); |
1150 |
2 |
SET_LINE; |
|
1151 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
1152 |
2 |
} |
|
1153 |
|||
1154 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(shapeIntersection_halfspacebox) { |
1155 |
✓✗ | 4 |
Box s(5, 10, 20); |
1156 |
✓✗✓✗ |
4 |
Halfspace hs(Vec3f(1, 0, 0), 0); |
1157 |
|||
1158 |
✓✗ | 2 |
Transform3f tf1; |
1159 |
✓✗ | 2 |
Transform3f tf2; |
1160 |
|||
1161 |
✓✗ | 2 |
Transform3f transform; |
1162 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
1163 |
|||
1164 |
✓✗ | 2 |
Vec3f contact; |
1165 |
FCL_REAL depth; |
||
1166 |
✓✗ | 2 |
Vec3f normal; |
1167 |
|||
1168 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1169 |
✓✗✓✗ |
2 |
tf2 = Transform3f(); |
1170 |
✓✗✓✗ ✓✗ |
2 |
contact << -1.25, 0, 0; |
1171 |
2 |
depth = 2.5; |
|
1172 |
✓✗✓✗ ✓✗ |
2 |
normal << -1, 0, 0; |
1173 |
2 |
SET_LINE; |
|
1174 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1175 |
|||
1176 |
✓✗ | 2 |
tf1 = transform; |
1177 |
✓✗ | 2 |
tf2 = transform; |
1178 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(-1.25, 0, 0)); |
1179 |
2 |
depth = 2.5; |
|
1180 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(-1, 0, 0); |
1181 |
2 |
SET_LINE; |
|
1182 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1183 |
|||
1184 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1185 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(1.25, 0, 0)); |
1186 |
✓✗✓✗ ✓✗ |
2 |
contact << -0.625, 0, 0; |
1187 |
2 |
depth = 3.75; |
|
1188 |
✓✗✓✗ ✓✗ |
2 |
normal << -1, 0, 0; |
1189 |
2 |
SET_LINE; |
|
1190 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1191 |
|||
1192 |
✓✗ | 2 |
tf1 = transform; |
1193 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(1.25, 0, 0)); |
1194 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(-0.625, 0, 0)); |
1195 |
2 |
depth = 3.75; |
|
1196 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(-1, 0, 0); |
1197 |
2 |
SET_LINE; |
|
1198 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1199 |
|||
1200 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1201 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(-1.25, 0, 0)); |
1202 |
✓✗✓✗ ✓✗ |
2 |
contact << -1.875, 0, 0; |
1203 |
2 |
depth = 1.25; |
|
1204 |
✓✗✓✗ ✓✗ |
2 |
normal << -1, 0, 0; |
1205 |
2 |
SET_LINE; |
|
1206 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1207 |
|||
1208 |
✓✗ | 2 |
tf1 = transform; |
1209 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(-1.25, 0, 0)); |
1210 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(-1.875, 0, 0)); |
1211 |
2 |
depth = 1.25; |
|
1212 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(-1, 0, 0); |
1213 |
2 |
SET_LINE; |
|
1214 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1215 |
|||
1216 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1217 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(2.51, 0, 0)); |
1218 |
✓✗✓✗ ✓✗ |
2 |
contact << 0.005, 0, 0; |
1219 |
2 |
depth = 5.01; |
|
1220 |
✓✗✓✗ ✓✗ |
2 |
normal << -1, 0, 0; |
1221 |
2 |
SET_LINE; |
|
1222 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1223 |
|||
1224 |
✓✗ | 2 |
tf1 = transform; |
1225 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(2.51, 0, 0)); |
1226 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0.005, 0, 0)); |
1227 |
2 |
depth = 5.01; |
|
1228 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(-1, 0, 0); |
1229 |
2 |
SET_LINE; |
|
1230 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1231 |
|||
1232 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1233 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(-2.51, 0, 0)); |
1234 |
2 |
SET_LINE; |
|
1235 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
1236 |
|||
1237 |
✓✗ | 2 |
tf1 = transform; |
1238 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(-2.51, 0, 0)); |
1239 |
2 |
SET_LINE; |
|
1240 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
1241 |
|||
1242 |
✓✗✓✗ |
2 |
tf1 = Transform3f(transform.getRotation()); |
1243 |
✓✗✓✗ |
2 |
tf2 = Transform3f(); |
1244 |
2 |
SET_LINE; |
|
1245 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true); |
1246 |
2 |
} |
|
1247 |
|||
1248 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(shapeIntersection_planebox) { |
1249 |
✓✗ | 4 |
Box s(5, 10, 20); |
1250 |
✓✗✓✗ |
4 |
Plane hs(Vec3f(1, 0, 0), 0); |
1251 |
|||
1252 |
✓✗ | 2 |
Transform3f tf1; |
1253 |
✓✗ | 2 |
Transform3f tf2; |
1254 |
|||
1255 |
✓✗ | 2 |
Transform3f transform; |
1256 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
1257 |
|||
1258 |
✓✗ | 2 |
Vec3f contact; |
1259 |
FCL_REAL depth; |
||
1260 |
✓✗ | 2 |
Vec3f normal; |
1261 |
|||
1262 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1263 |
✓✗✓✗ |
2 |
tf2 = Transform3f(); |
1264 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, 0, 0; |
1265 |
2 |
depth = 2.5; |
|
1266 |
✓✗✓✗ ✓✗ |
2 |
normal << 1, 0, 0; // (1, 0, 0) or (-1, 0, 0) |
1267 |
2 |
SET_LINE; |
|
1268 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1269 |
|||
1270 |
✓✗ | 2 |
tf1 = transform; |
1271 |
✓✗ | 2 |
tf2 = transform; |
1272 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, 0, 0)); |
1273 |
2 |
depth = 2.5; |
|
1274 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(1, 0, 0); // (1, 0, 0) or (-1, 0, 0) |
1275 |
2 |
SET_LINE; |
|
1276 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1277 |
|||
1278 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1279 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(1.25, 0, 0)); |
1280 |
✓✗✓✗ ✓✗ |
2 |
contact << 1.25, 0, 0; |
1281 |
2 |
depth = 1.25; |
|
1282 |
✓✗✓✗ ✓✗ |
2 |
normal << 1, 0, 0; |
1283 |
2 |
SET_LINE; |
|
1284 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1285 |
|||
1286 |
✓✗ | 2 |
tf1 = transform; |
1287 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(1.25, 0, 0)); |
1288 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(1.25, 0, 0)); |
1289 |
2 |
depth = 1.25; |
|
1290 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(1, 0, 0); |
1291 |
2 |
SET_LINE; |
|
1292 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1293 |
|||
1294 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1295 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(-1.25, 0, 0)); |
1296 |
✓✗✓✗ ✓✗ |
2 |
contact << -1.25, 0, 0; |
1297 |
2 |
depth = 1.25; |
|
1298 |
✓✗✓✗ ✓✗ |
2 |
normal << -1, 0, 0; |
1299 |
2 |
SET_LINE; |
|
1300 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1301 |
|||
1302 |
✓✗ | 2 |
tf1 = transform; |
1303 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(-1.25, 0, 0)); |
1304 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(-1.25, 0, 0)); |
1305 |
2 |
depth = 1.25; |
|
1306 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(-1, 0, 0); |
1307 |
2 |
SET_LINE; |
|
1308 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1309 |
|||
1310 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1311 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(2.51, 0, 0)); |
1312 |
2 |
SET_LINE; |
|
1313 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
1314 |
|||
1315 |
✓✗ | 2 |
tf1 = transform; |
1316 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(2.51, 0, 0)); |
1317 |
2 |
SET_LINE; |
|
1318 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
1319 |
|||
1320 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1321 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(-2.51, 0, 0)); |
1322 |
2 |
SET_LINE; |
|
1323 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
1324 |
|||
1325 |
✓✗ | 2 |
tf1 = transform; |
1326 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(-2.51, 0, 0)); |
1327 |
2 |
SET_LINE; |
|
1328 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
1329 |
|||
1330 |
✓✗✓✗ |
2 |
tf1 = Transform3f(transform.getRotation()); |
1331 |
✓✗✓✗ |
2 |
tf2 = Transform3f(); |
1332 |
2 |
SET_LINE; |
|
1333 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true); |
1334 |
2 |
} |
|
1335 |
|||
1336 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(shapeIntersection_halfspacecapsule) { |
1337 |
✓✗ | 4 |
Capsule s(5, 10); |
1338 |
✓✗✓✗ |
4 |
Halfspace hs(Vec3f(1, 0, 0), 0); |
1339 |
|||
1340 |
✓✗ | 2 |
Transform3f tf1; |
1341 |
✓✗ | 2 |
Transform3f tf2; |
1342 |
|||
1343 |
✓✗ | 2 |
Transform3f transform; |
1344 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
1345 |
|||
1346 |
✓✗ | 2 |
Vec3f contact; |
1347 |
FCL_REAL depth; |
||
1348 |
✓✗ | 2 |
Vec3f normal; |
1349 |
|||
1350 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1351 |
✓✗✓✗ |
2 |
tf2 = Transform3f(); |
1352 |
✓✗✓✗ ✓✗ |
2 |
contact << -2.5, 0, 0; |
1353 |
2 |
depth = 5; |
|
1354 |
✓✗✓✗ ✓✗ |
2 |
normal << -1, 0, 0; |
1355 |
2 |
SET_LINE; |
|
1356 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1357 |
|||
1358 |
✓✗ | 2 |
tf1 = transform; |
1359 |
✓✗ | 2 |
tf2 = transform; |
1360 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(-2.5, 0, 0)); |
1361 |
2 |
depth = 5; |
|
1362 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(-1, 0, 0); |
1363 |
2 |
SET_LINE; |
|
1364 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1365 |
|||
1366 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1367 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(2.5, 0, 0)); |
1368 |
✓✗✓✗ ✓✗ |
2 |
contact << -1.25, 0, 0; |
1369 |
2 |
depth = 7.5; |
|
1370 |
✓✗✓✗ ✓✗ |
2 |
normal << -1, 0, 0; |
1371 |
2 |
SET_LINE; |
|
1372 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1373 |
|||
1374 |
✓✗ | 2 |
tf1 = transform; |
1375 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(2.5, 0, 0)); |
1376 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(-1.25, 0, 0)); |
1377 |
2 |
depth = 7.5; |
|
1378 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(-1, 0, 0); |
1379 |
2 |
SET_LINE; |
|
1380 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1381 |
|||
1382 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1383 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(-2.5, 0, 0)); |
1384 |
✓✗✓✗ ✓✗ |
2 |
contact << -3.75, 0, 0; |
1385 |
2 |
depth = 2.5; |
|
1386 |
✓✗✓✗ ✓✗ |
2 |
normal << -1, 0, 0; |
1387 |
2 |
SET_LINE; |
|
1388 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1389 |
|||
1390 |
✓✗ | 2 |
tf1 = transform; |
1391 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(-2.5, 0, 0)); |
1392 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(-3.75, 0, 0)); |
1393 |
2 |
depth = 2.5; |
|
1394 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(-1, 0, 0); |
1395 |
2 |
SET_LINE; |
|
1396 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1397 |
|||
1398 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1399 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(5.1, 0, 0)); |
1400 |
✓✗✓✗ ✓✗ |
2 |
contact << 0.05, 0, 0; |
1401 |
2 |
depth = 10.1; |
|
1402 |
✓✗✓✗ ✓✗ |
2 |
normal << -1, 0, 0; |
1403 |
2 |
SET_LINE; |
|
1404 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1405 |
|||
1406 |
✓✗ | 2 |
tf1 = transform; |
1407 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(5.1, 0, 0)); |
1408 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0.05, 0, 0)); |
1409 |
2 |
depth = 10.1; |
|
1410 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(-1, 0, 0); |
1411 |
2 |
SET_LINE; |
|
1412 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1413 |
|||
1414 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1415 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(-5.1, 0, 0)); |
1416 |
2 |
SET_LINE; |
|
1417 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
1418 |
|||
1419 |
✓✗ | 2 |
tf1 = transform; |
1420 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(-5.1, 0, 0)); |
1421 |
2 |
SET_LINE; |
|
1422 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
1423 |
|||
1424 |
✓✗✓✗ ✓✗ |
2 |
hs = Halfspace(Vec3f(0, 1, 0), 0); |
1425 |
|||
1426 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1427 |
✓✗✓✗ |
2 |
tf2 = Transform3f(); |
1428 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, -2.5, 0; |
1429 |
2 |
depth = 5; |
|
1430 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, -1, 0; |
1431 |
2 |
SET_LINE; |
|
1432 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1433 |
|||
1434 |
✓✗ | 2 |
tf1 = transform; |
1435 |
✓✗ | 2 |
tf2 = transform; |
1436 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, -2.5, 0)); |
1437 |
2 |
depth = 5; |
|
1438 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, -1, 0); |
1439 |
2 |
SET_LINE; |
|
1440 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1441 |
|||
1442 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1443 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 2.5, 0)); |
1444 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, -1.25, 0; |
1445 |
2 |
depth = 7.5; |
|
1446 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, -1, 0; |
1447 |
2 |
SET_LINE; |
|
1448 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1449 |
|||
1450 |
✓✗ | 2 |
tf1 = transform; |
1451 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 2.5, 0)); |
1452 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, -1.25, 0)); |
1453 |
2 |
depth = 7.5; |
|
1454 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, -1, 0); |
1455 |
2 |
SET_LINE; |
|
1456 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1457 |
|||
1458 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1459 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, -2.5, 0)); |
1460 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, -3.75, 0; |
1461 |
2 |
depth = 2.5; |
|
1462 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, -1, 0; |
1463 |
2 |
SET_LINE; |
|
1464 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1465 |
|||
1466 |
✓✗ | 2 |
tf1 = transform; |
1467 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, -2.5, 0)); |
1468 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, -3.75, 0)); |
1469 |
2 |
depth = 2.5; |
|
1470 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, -1, 0); |
1471 |
2 |
SET_LINE; |
|
1472 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1473 |
|||
1474 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1475 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 5.1, 0)); |
1476 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, 0.05, 0; |
1477 |
2 |
depth = 10.1; |
|
1478 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, -1, 0; |
1479 |
2 |
SET_LINE; |
|
1480 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1481 |
|||
1482 |
✓✗ | 2 |
tf1 = transform; |
1483 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 5.1, 0)); |
1484 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, 0.05, 0)); |
1485 |
2 |
depth = 10.1; |
|
1486 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, -1, 0); |
1487 |
2 |
SET_LINE; |
|
1488 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1489 |
|||
1490 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1491 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, -5.1, 0)); |
1492 |
2 |
SET_LINE; |
|
1493 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
1494 |
|||
1495 |
✓✗ | 2 |
tf1 = transform; |
1496 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, -5.1, 0)); |
1497 |
2 |
SET_LINE; |
|
1498 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
1499 |
|||
1500 |
✓✗✓✗ ✓✗ |
2 |
hs = Halfspace(Vec3f(0, 0, 1), 0); |
1501 |
|||
1502 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1503 |
✓✗✓✗ |
2 |
tf2 = Transform3f(); |
1504 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, 0, -5; |
1505 |
2 |
depth = 10; |
|
1506 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, 0, -1; |
1507 |
2 |
SET_LINE; |
|
1508 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1509 |
|||
1510 |
✓✗ | 2 |
tf1 = transform; |
1511 |
✓✗ | 2 |
tf2 = transform; |
1512 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, 0, -5)); |
1513 |
2 |
depth = 10; |
|
1514 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, 0, -1); |
1515 |
2 |
SET_LINE; |
|
1516 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1517 |
|||
1518 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1519 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 0, 2.5)); |
1520 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, 0, -3.75; |
1521 |
2 |
depth = 12.5; |
|
1522 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, 0, -1; |
1523 |
2 |
SET_LINE; |
|
1524 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1525 |
|||
1526 |
✓✗ | 2 |
tf1 = transform; |
1527 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 0, 2.5)); |
1528 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, 0, -3.75)); |
1529 |
2 |
depth = 12.5; |
|
1530 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, 0, -1); |
1531 |
2 |
SET_LINE; |
|
1532 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1533 |
|||
1534 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1535 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 0, -2.5)); |
1536 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, 0, -6.25; |
1537 |
2 |
depth = 7.5; |
|
1538 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, 0, -1; |
1539 |
2 |
SET_LINE; |
|
1540 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1541 |
|||
1542 |
✓✗ | 2 |
tf1 = transform; |
1543 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 0, -2.5)); |
1544 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, 0, -6.25)); |
1545 |
2 |
depth = 7.5; |
|
1546 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, 0, -1); |
1547 |
2 |
SET_LINE; |
|
1548 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1549 |
|||
1550 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1551 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 0, 10.1)); |
1552 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, 0, 0.05; |
1553 |
2 |
depth = 20.1; |
|
1554 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, 0, -1; |
1555 |
2 |
SET_LINE; |
|
1556 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1557 |
|||
1558 |
✓✗ | 2 |
tf1 = transform; |
1559 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 0, 10.1)); |
1560 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, 0, 0.05)); |
1561 |
2 |
depth = 20.1; |
|
1562 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, 0, -1); |
1563 |
2 |
SET_LINE; |
|
1564 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1565 |
|||
1566 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1567 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 0, -10.1)); |
1568 |
2 |
SET_LINE; |
|
1569 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
1570 |
|||
1571 |
✓✗ | 2 |
tf1 = transform; |
1572 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 0, -10.1)); |
1573 |
2 |
SET_LINE; |
|
1574 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
1575 |
2 |
} |
|
1576 |
|||
1577 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(shapeIntersection_planecapsule) { |
1578 |
✓✗ | 4 |
Capsule s(5, 10); |
1579 |
✓✗✓✗ |
4 |
Plane hs(Vec3f(1, 0, 0), 0); |
1580 |
|||
1581 |
✓✗ | 2 |
Transform3f tf1; |
1582 |
✓✗ | 2 |
Transform3f tf2; |
1583 |
|||
1584 |
✓✗ | 2 |
Transform3f transform; |
1585 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
1586 |
|||
1587 |
✓✗ | 2 |
Vec3f contact; |
1588 |
FCL_REAL depth; |
||
1589 |
✓✗ | 2 |
Vec3f normal; |
1590 |
|||
1591 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1592 |
✓✗✓✗ |
2 |
tf2 = Transform3f(); |
1593 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, 0, 0; |
1594 |
2 |
depth = 5; |
|
1595 |
✓✗✓✗ ✓✗ |
2 |
normal << 1, 0, 0; // (1, 0, 0) or (-1, 0, 0) |
1596 |
2 |
SET_LINE; |
|
1597 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, 0x0, 0x0, 0x0, true); |
1598 |
|||
1599 |
✓✗ | 2 |
tf1 = transform; |
1600 |
✓✗ | 2 |
tf2 = transform; |
1601 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, 0, 0)); |
1602 |
2 |
depth = 5; |
|
1603 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(1, 0, 0); // (1, 0, 0) or (-1, 0, 0) |
1604 |
2 |
SET_LINE; |
|
1605 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, 0x0, 0x0, 0x0, true); |
1606 |
|||
1607 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1608 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(2.5, 0, 0)); |
1609 |
✓✗✓✗ ✓✗ |
2 |
contact << 2.5, 0, 0; |
1610 |
2 |
depth = 2.5; |
|
1611 |
✓✗✓✗ ✓✗ |
2 |
normal << 1, 0, 0; |
1612 |
2 |
SET_LINE; |
|
1613 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, 0x0, &depth, &normal); |
1614 |
|||
1615 |
✓✗ | 2 |
tf1 = transform; |
1616 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(2.5, 0, 0)); |
1617 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(2.5, 0, 0)); |
1618 |
2 |
depth = 2.5; |
|
1619 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(1, 0, 0); |
1620 |
2 |
SET_LINE; |
|
1621 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, 0x0, &depth, &normal); |
1622 |
|||
1623 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1624 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(-2.5, 0, 0)); |
1625 |
✓✗✓✗ ✓✗ |
2 |
contact << -2.5, 0, 0; |
1626 |
2 |
depth = 2.5; |
|
1627 |
✓✗✓✗ ✓✗ |
2 |
normal << -1, 0, 0; |
1628 |
2 |
SET_LINE; |
|
1629 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, 0x0, &depth, &normal); |
1630 |
|||
1631 |
✓✗ | 2 |
tf1 = transform; |
1632 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(-2.5, 0, 0)); |
1633 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(-2.5, 0, 0)); |
1634 |
2 |
depth = 2.5; |
|
1635 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(-1, 0, 0); |
1636 |
2 |
SET_LINE; |
|
1637 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, 0x0, &depth, &normal); |
1638 |
|||
1639 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1640 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(5.1, 0, 0)); |
1641 |
2 |
SET_LINE; |
|
1642 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
1643 |
|||
1644 |
✓✗ | 2 |
tf1 = transform; |
1645 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(5.1, 0, 0)); |
1646 |
2 |
SET_LINE; |
|
1647 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
1648 |
|||
1649 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1650 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(-5.1, 0, 0)); |
1651 |
2 |
SET_LINE; |
|
1652 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
1653 |
|||
1654 |
✓✗ | 2 |
tf1 = transform; |
1655 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(-5.1, 0, 0)); |
1656 |
2 |
SET_LINE; |
|
1657 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
1658 |
|||
1659 |
✓✗✓✗ ✓✗ |
2 |
hs = Plane(Vec3f(0, 1, 0), 0); |
1660 |
|||
1661 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1662 |
✓✗✓✗ |
2 |
tf2 = Transform3f(); |
1663 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, 0, 0; |
1664 |
2 |
depth = 5; |
|
1665 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, 1, 0; // (0, 1, 0) or (0, -1, 0) |
1666 |
2 |
SET_LINE; |
|
1667 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, 0x0, &depth, 0x0, true); |
1668 |
|||
1669 |
✓✗ | 2 |
tf1 = transform; |
1670 |
✓✗ | 2 |
tf2 = transform; |
1671 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, 0, 0)); |
1672 |
2 |
depth = 5; |
|
1673 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, 1, 0); // (0, 1, 0) or (0, -1, 0) |
1674 |
2 |
SET_LINE; |
|
1675 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, 0x0, &depth, &normal, true); |
1676 |
|||
1677 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1678 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 2.5, 0)); |
1679 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, 2.5, 0; |
1680 |
2 |
depth = 2.5; |
|
1681 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, 1, 0; |
1682 |
2 |
SET_LINE; |
|
1683 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, 0x0, &depth, 0x0); |
1684 |
|||
1685 |
✓✗ | 2 |
tf1 = transform; |
1686 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 2.5, 0)); |
1687 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, 2.5, 0)); |
1688 |
2 |
depth = 2.5; |
|
1689 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, 1, 0); |
1690 |
2 |
SET_LINE; |
|
1691 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, 0x0, &depth, 0x0); |
1692 |
|||
1693 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1694 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, -2.5, 0)); |
1695 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, -2.5, 0; |
1696 |
2 |
depth = 2.5; |
|
1697 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, -1, 0; |
1698 |
2 |
SET_LINE; |
|
1699 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, 0x0, &depth, &normal); |
1700 |
|||
1701 |
✓✗ | 2 |
tf1 = transform; |
1702 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, -2.5, 0)); |
1703 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, -2.5, 0)); |
1704 |
2 |
depth = 2.5; |
|
1705 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, -1, 0); |
1706 |
2 |
SET_LINE; |
|
1707 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, 0x0, &depth, &normal); |
1708 |
|||
1709 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1710 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 5.1, 0)); |
1711 |
2 |
SET_LINE; |
|
1712 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
1713 |
|||
1714 |
✓✗ | 2 |
tf1 = transform; |
1715 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 5.1, 0)); |
1716 |
2 |
SET_LINE; |
|
1717 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
1718 |
|||
1719 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1720 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, -5.1, 0)); |
1721 |
2 |
SET_LINE; |
|
1722 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
1723 |
|||
1724 |
✓✗ | 2 |
tf1 = transform; |
1725 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, -5.1, 0)); |
1726 |
2 |
SET_LINE; |
|
1727 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
1728 |
|||
1729 |
✓✗✓✗ ✓✗ |
2 |
hs = Plane(Vec3f(0, 0, 1), 0); |
1730 |
|||
1731 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1732 |
✓✗✓✗ |
2 |
tf2 = Transform3f(); |
1733 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, 0, 0; |
1734 |
2 |
depth = 10; |
|
1735 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, 0, 1; // (0, 0, 1) or (0, 0, -1) |
1736 |
2 |
SET_LINE; |
|
1737 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, 0x0, 0x0, 0x0, true); |
1738 |
|||
1739 |
✓✗ | 2 |
tf1 = transform; |
1740 |
✓✗ | 2 |
tf2 = transform; |
1741 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, 0, 0)); |
1742 |
2 |
depth = 10; |
|
1743 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, 0, 1); // (0, 0, 1) or (0, 0, -1) |
1744 |
2 |
SET_LINE; |
|
1745 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, 0x0, &depth, 0x0, true); |
1746 |
|||
1747 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1748 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 0, 2.5)); |
1749 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, 0, 2.5; |
1750 |
2 |
depth = 7.5; |
|
1751 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, 0, 1; |
1752 |
2 |
SET_LINE; |
|
1753 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, 0x0, &depth, 0x0); |
1754 |
|||
1755 |
✓✗ | 2 |
tf1 = transform; |
1756 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 0, 2.5)); |
1757 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, 0, 2.5)); |
1758 |
2 |
depth = 7.5; |
|
1759 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, 0, 1); |
1760 |
2 |
SET_LINE; |
|
1761 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, 0x0, &depth, 0x0); |
1762 |
|||
1763 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1764 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 0, -2.5)); |
1765 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, 0, -2.5; |
1766 |
2 |
depth = 7.5; |
|
1767 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, 0, -1; |
1768 |
2 |
SET_LINE; |
|
1769 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, 0x0, &depth, 0x0); |
1770 |
|||
1771 |
✓✗ | 2 |
tf1 = transform; |
1772 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 0, -2.5)); |
1773 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, 0, -2.5)); |
1774 |
2 |
depth = 7.5; |
|
1775 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, 0, -1); |
1776 |
2 |
SET_LINE; |
|
1777 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, 0x0, &depth, 0x0); |
1778 |
|||
1779 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1780 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 0, 10.1)); |
1781 |
2 |
SET_LINE; |
|
1782 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
1783 |
|||
1784 |
✓✗ | 2 |
tf1 = transform; |
1785 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 0, 10.1)); |
1786 |
2 |
SET_LINE; |
|
1787 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
1788 |
|||
1789 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1790 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 0, -10.1)); |
1791 |
2 |
SET_LINE; |
|
1792 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
1793 |
|||
1794 |
✓✗ | 2 |
tf1 = transform; |
1795 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 0, -10.1)); |
1796 |
2 |
SET_LINE; |
|
1797 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
1798 |
2 |
} |
|
1799 |
|||
1800 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(shapeIntersection_halfspacecylinder) { |
1801 |
✓✗ | 4 |
Cylinder s(5, 10); |
1802 |
✓✗✓✗ |
4 |
Halfspace hs(Vec3f(1, 0, 0), 0); |
1803 |
|||
1804 |
✓✗ | 2 |
Transform3f tf1; |
1805 |
✓✗ | 2 |
Transform3f tf2; |
1806 |
|||
1807 |
✓✗ | 2 |
Transform3f transform; |
1808 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
1809 |
|||
1810 |
✓✗ | 2 |
Vec3f contact; |
1811 |
FCL_REAL depth; |
||
1812 |
✓✗ | 2 |
Vec3f normal; |
1813 |
|||
1814 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1815 |
✓✗✓✗ |
2 |
tf2 = Transform3f(); |
1816 |
✓✗✓✗ ✓✗ |
2 |
contact << -2.5, 0, 0; |
1817 |
2 |
depth = 5; |
|
1818 |
✓✗✓✗ ✓✗ |
2 |
normal << -1, 0, 0; |
1819 |
2 |
SET_LINE; |
|
1820 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1821 |
|||
1822 |
✓✗ | 2 |
tf1 = transform; |
1823 |
✓✗ | 2 |
tf2 = transform; |
1824 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(-2.5, 0, 0)); |
1825 |
2 |
depth = 5; |
|
1826 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(-1, 0, 0); |
1827 |
2 |
SET_LINE; |
|
1828 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1829 |
|||
1830 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1831 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(2.5, 0, 0)); |
1832 |
✓✗✓✗ ✓✗ |
2 |
contact << -1.25, 0, 0; |
1833 |
2 |
depth = 7.5; |
|
1834 |
✓✗✓✗ ✓✗ |
2 |
normal << -1, 0, 0; |
1835 |
2 |
SET_LINE; |
|
1836 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1837 |
|||
1838 |
✓✗ | 2 |
tf1 = transform; |
1839 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(2.5, 0, 0)); |
1840 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(-1.25, 0, 0)); |
1841 |
2 |
depth = 7.5; |
|
1842 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(-1, 0, 0); |
1843 |
2 |
SET_LINE; |
|
1844 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1845 |
|||
1846 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1847 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(-2.5, 0, 0)); |
1848 |
✓✗✓✗ ✓✗ |
2 |
contact << -3.75, 0, 0; |
1849 |
2 |
depth = 2.5; |
|
1850 |
✓✗✓✗ ✓✗ |
2 |
normal << -1, 0, 0; |
1851 |
2 |
SET_LINE; |
|
1852 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1853 |
|||
1854 |
✓✗ | 2 |
tf1 = transform; |
1855 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(-2.5, 0, 0)); |
1856 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(-3.75, 0, 0)); |
1857 |
2 |
depth = 2.5; |
|
1858 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(-1, 0, 0); |
1859 |
2 |
SET_LINE; |
|
1860 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1861 |
|||
1862 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1863 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(5.1, 0, 0)); |
1864 |
✓✗✓✗ ✓✗ |
2 |
contact << 0.05, 0, 0; |
1865 |
2 |
depth = 10.1; |
|
1866 |
✓✗✓✗ ✓✗ |
2 |
normal << -1, 0, 0; |
1867 |
2 |
SET_LINE; |
|
1868 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1869 |
|||
1870 |
✓✗ | 2 |
tf1 = transform; |
1871 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(5.1, 0, 0)); |
1872 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0.05, 0, 0)); |
1873 |
2 |
depth = 10.1; |
|
1874 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(-1, 0, 0); |
1875 |
2 |
SET_LINE; |
|
1876 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1877 |
|||
1878 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1879 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(-5.1, 0, 0)); |
1880 |
2 |
SET_LINE; |
|
1881 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
1882 |
|||
1883 |
✓✗ | 2 |
tf1 = transform; |
1884 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(-5.1, 0, 0)); |
1885 |
2 |
SET_LINE; |
|
1886 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
1887 |
|||
1888 |
✓✗✓✗ ✓✗ |
2 |
hs = Halfspace(Vec3f(0, 1, 0), 0); |
1889 |
|||
1890 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1891 |
✓✗✓✗ |
2 |
tf2 = Transform3f(); |
1892 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, -2.5, 0; |
1893 |
2 |
depth = 5; |
|
1894 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, -1, 0; |
1895 |
2 |
SET_LINE; |
|
1896 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1897 |
|||
1898 |
✓✗ | 2 |
tf1 = transform; |
1899 |
✓✗ | 2 |
tf2 = transform; |
1900 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, -2.5, 0)); |
1901 |
2 |
depth = 5; |
|
1902 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, -1, 0); |
1903 |
2 |
SET_LINE; |
|
1904 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1905 |
|||
1906 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1907 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 2.5, 0)); |
1908 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, -1.25, 0; |
1909 |
2 |
depth = 7.5; |
|
1910 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, -1, 0; |
1911 |
2 |
SET_LINE; |
|
1912 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1913 |
|||
1914 |
✓✗ | 2 |
tf1 = transform; |
1915 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 2.5, 0)); |
1916 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, -1.25, 0)); |
1917 |
2 |
depth = 7.5; |
|
1918 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, -1, 0); |
1919 |
2 |
SET_LINE; |
|
1920 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1921 |
|||
1922 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1923 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, -2.5, 0)); |
1924 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, -3.75, 0; |
1925 |
2 |
depth = 2.5; |
|
1926 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, -1, 0; |
1927 |
2 |
SET_LINE; |
|
1928 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1929 |
|||
1930 |
✓✗ | 2 |
tf1 = transform; |
1931 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, -2.5, 0)); |
1932 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, -3.75, 0)); |
1933 |
2 |
depth = 2.5; |
|
1934 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, -1, 0); |
1935 |
2 |
SET_LINE; |
|
1936 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1937 |
|||
1938 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1939 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 5.1, 0)); |
1940 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, 0.05, 0; |
1941 |
2 |
depth = 10.1; |
|
1942 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, -1, 0; |
1943 |
2 |
SET_LINE; |
|
1944 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1945 |
|||
1946 |
✓✗ | 2 |
tf1 = transform; |
1947 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 5.1, 0)); |
1948 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, 0.05, 0)); |
1949 |
2 |
depth = 10.1; |
|
1950 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, -1, 0); |
1951 |
2 |
SET_LINE; |
|
1952 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1953 |
|||
1954 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1955 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, -5.1, 0)); |
1956 |
2 |
SET_LINE; |
|
1957 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
1958 |
|||
1959 |
✓✗ | 2 |
tf1 = transform; |
1960 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, -5.1, 0)); |
1961 |
2 |
SET_LINE; |
|
1962 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
1963 |
|||
1964 |
✓✗✓✗ ✓✗ |
2 |
hs = Halfspace(Vec3f(0, 0, 1), 0); |
1965 |
|||
1966 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1967 |
✓✗✓✗ |
2 |
tf2 = Transform3f(); |
1968 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, 0, -2.5; |
1969 |
2 |
depth = 5; |
|
1970 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, 0, -1; |
1971 |
2 |
SET_LINE; |
|
1972 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1973 |
|||
1974 |
✓✗ | 2 |
tf1 = transform; |
1975 |
✓✗ | 2 |
tf2 = transform; |
1976 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, 0, -2.5)); |
1977 |
2 |
depth = 5; |
|
1978 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, 0, -1); |
1979 |
2 |
SET_LINE; |
|
1980 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1981 |
|||
1982 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1983 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 0, 2.5)); |
1984 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, 0, -1.25; |
1985 |
2 |
depth = 7.5; |
|
1986 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, 0, -1; |
1987 |
2 |
SET_LINE; |
|
1988 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1989 |
|||
1990 |
✓✗ | 2 |
tf1 = transform; |
1991 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 0, 2.5)); |
1992 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, 0, -1.25)); |
1993 |
2 |
depth = 7.5; |
|
1994 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, 0, -1); |
1995 |
2 |
SET_LINE; |
|
1996 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
1997 |
|||
1998 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
1999 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 0, -2.5)); |
2000 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, 0, -3.75; |
2001 |
2 |
depth = 2.5; |
|
2002 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, 0, -1; |
2003 |
2 |
SET_LINE; |
|
2004 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2005 |
|||
2006 |
✓✗ | 2 |
tf1 = transform; |
2007 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 0, -2.5)); |
2008 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, 0, -3.75)); |
2009 |
2 |
depth = 2.5; |
|
2010 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, 0, -1); |
2011 |
2 |
SET_LINE; |
|
2012 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2013 |
|||
2014 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2015 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 0, 5.1)); |
2016 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, 0, 0.05; |
2017 |
2 |
depth = 10.1; |
|
2018 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, 0, -1; |
2019 |
2 |
SET_LINE; |
|
2020 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2021 |
|||
2022 |
✓✗ | 2 |
tf1 = transform; |
2023 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 0, 5.1)); |
2024 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, 0, 0.05)); |
2025 |
2 |
depth = 10.1; |
|
2026 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, 0, -1); |
2027 |
2 |
SET_LINE; |
|
2028 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2029 |
|||
2030 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2031 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 0, -5.1)); |
2032 |
2 |
SET_LINE; |
|
2033 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
2034 |
|||
2035 |
✓✗ | 2 |
tf1 = transform; |
2036 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 0, -5.1)); |
2037 |
2 |
SET_LINE; |
|
2038 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
2039 |
2 |
} |
|
2040 |
|||
2041 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(shapeIntersection_planecylinder) { |
2042 |
✓✗ | 4 |
Cylinder s(5, 10); |
2043 |
✓✗✓✗ |
4 |
Plane hs(Vec3f(1, 0, 0), 0); |
2044 |
|||
2045 |
✓✗ | 2 |
Transform3f tf1; |
2046 |
✓✗ | 2 |
Transform3f tf2; |
2047 |
|||
2048 |
✓✗ | 2 |
Transform3f transform; |
2049 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
2050 |
|||
2051 |
✓✗ | 2 |
Vec3f contact; |
2052 |
FCL_REAL depth; |
||
2053 |
✓✗ | 2 |
Vec3f normal; |
2054 |
|||
2055 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2056 |
✓✗✓✗ |
2 |
tf2 = Transform3f(); |
2057 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, 0, 0; |
2058 |
2 |
depth = 5; |
|
2059 |
✓✗✓✗ ✓✗ |
2 |
normal << 1, 0, 0; // (1, 0, 0) or (-1, 0, 0) |
2060 |
2 |
SET_LINE; |
|
2061 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal, true); |
2062 |
|||
2063 |
✓✗ | 2 |
tf1 = transform; |
2064 |
✓✗ | 2 |
tf2 = transform; |
2065 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, 0, 0)); |
2066 |
2 |
depth = 5; |
|
2067 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(1, 0, 0); // (1, 0, 0) or (-1, 0, 0) |
2068 |
2 |
SET_LINE; |
|
2069 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal, true); |
2070 |
|||
2071 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2072 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(2.5, 0, 0)); |
2073 |
✓✗✓✗ ✓✗ |
2 |
contact << 2.5, 0, 0; |
2074 |
2 |
depth = 2.5; |
|
2075 |
✓✗✓✗ ✓✗ |
2 |
normal << 1, 0, 0; |
2076 |
2 |
SET_LINE; |
|
2077 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2078 |
|||
2079 |
✓✗ | 2 |
tf1 = transform; |
2080 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(2.5, 0, 0)); |
2081 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(2.5, 0, 0)); |
2082 |
2 |
depth = 2.5; |
|
2083 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(1, 0, 0); |
2084 |
2 |
SET_LINE; |
|
2085 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2086 |
|||
2087 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2088 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(-2.5, 0, 0)); |
2089 |
✓✗✓✗ ✓✗ |
2 |
contact << -2.5, 0, 0; |
2090 |
2 |
depth = 2.5; |
|
2091 |
✓✗✓✗ ✓✗ |
2 |
normal << -1, 0, 0; |
2092 |
2 |
SET_LINE; |
|
2093 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2094 |
|||
2095 |
✓✗ | 2 |
tf1 = transform; |
2096 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(-2.5, 0, 0)); |
2097 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(-2.5, 0, 0)); |
2098 |
2 |
depth = 2.5; |
|
2099 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(-1, 0, 0); |
2100 |
2 |
SET_LINE; |
|
2101 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2102 |
|||
2103 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2104 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(5.1, 0, 0)); |
2105 |
2 |
SET_LINE; |
|
2106 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
2107 |
|||
2108 |
✓✗ | 2 |
tf1 = transform; |
2109 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(5.1, 0, 0)); |
2110 |
2 |
SET_LINE; |
|
2111 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
2112 |
|||
2113 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2114 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(-5.1, 0, 0)); |
2115 |
2 |
SET_LINE; |
|
2116 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
2117 |
|||
2118 |
✓✗ | 2 |
tf1 = transform; |
2119 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(-5.1, 0, 0)); |
2120 |
2 |
SET_LINE; |
|
2121 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
2122 |
|||
2123 |
✓✗✓✗ ✓✗ |
2 |
hs = Plane(Vec3f(0, 1, 0), 0); |
2124 |
|||
2125 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2126 |
✓✗✓✗ |
2 |
tf2 = Transform3f(); |
2127 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, 0, 0; |
2128 |
2 |
depth = 5; |
|
2129 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, 1, 0; // (1, 0, 0) or (-1, 0, 0) |
2130 |
2 |
SET_LINE; |
|
2131 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal, true); |
2132 |
|||
2133 |
✓✗ | 2 |
tf1 = transform; |
2134 |
✓✗ | 2 |
tf2 = transform; |
2135 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, 0, 0)); |
2136 |
2 |
depth = 5; |
|
2137 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, 1, 0); // (1, 0, 0) or (-1, 0, 0) |
2138 |
2 |
SET_LINE; |
|
2139 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal, true); |
2140 |
|||
2141 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2142 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 2.5, 0)); |
2143 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, 2.5, 0; |
2144 |
2 |
depth = 2.5; |
|
2145 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, 1, 0; |
2146 |
2 |
SET_LINE; |
|
2147 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2148 |
|||
2149 |
✓✗ | 2 |
tf1 = transform; |
2150 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 2.5, 0)); |
2151 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, 2.5, 0)); |
2152 |
2 |
depth = 2.5; |
|
2153 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, 1, 0); |
2154 |
2 |
SET_LINE; |
|
2155 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2156 |
|||
2157 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2158 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, -2.5, 0)); |
2159 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, -2.5, 0; |
2160 |
2 |
depth = 2.5; |
|
2161 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, -1, 0; |
2162 |
2 |
SET_LINE; |
|
2163 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2164 |
|||
2165 |
✓✗ | 2 |
tf1 = transform; |
2166 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, -2.5, 0)); |
2167 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, -2.5, 0)); |
2168 |
2 |
depth = 2.5; |
|
2169 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, -1, 0); |
2170 |
2 |
SET_LINE; |
|
2171 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2172 |
|||
2173 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2174 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 5.1, 0)); |
2175 |
2 |
SET_LINE; |
|
2176 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
2177 |
|||
2178 |
✓✗ | 2 |
tf1 = transform; |
2179 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 5.1, 0)); |
2180 |
2 |
SET_LINE; |
|
2181 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
2182 |
|||
2183 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2184 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, -5.1, 0)); |
2185 |
2 |
SET_LINE; |
|
2186 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
2187 |
|||
2188 |
✓✗ | 2 |
tf1 = transform; |
2189 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, -5.1, 0)); |
2190 |
2 |
SET_LINE; |
|
2191 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
2192 |
|||
2193 |
✓✗✓✗ ✓✗ |
2 |
hs = Plane(Vec3f(0, 0, 1), 0); |
2194 |
|||
2195 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2196 |
✓✗✓✗ |
2 |
tf2 = Transform3f(); |
2197 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, 0, 0; |
2198 |
2 |
depth = 5; |
|
2199 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, 0, 1; // (1, 0, 0) or (-1, 0, 0) |
2200 |
2 |
SET_LINE; |
|
2201 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal, true); |
2202 |
|||
2203 |
✓✗ | 2 |
tf1 = transform; |
2204 |
✓✗ | 2 |
tf2 = transform; |
2205 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, 0, 0)); |
2206 |
2 |
depth = 5; |
|
2207 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, 0, 1); // (1, 0, 0) or (-1, 0, 0) |
2208 |
2 |
SET_LINE; |
|
2209 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal, true); |
2210 |
|||
2211 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2212 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 0, 2.5)); |
2213 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, 0, 2.5; |
2214 |
2 |
depth = 2.5; |
|
2215 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, 0, 1; |
2216 |
2 |
SET_LINE; |
|
2217 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2218 |
|||
2219 |
✓✗ | 2 |
tf1 = transform; |
2220 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 0, 2.5)); |
2221 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, 0, 2.5)); |
2222 |
2 |
depth = 2.5; |
|
2223 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, 0, 1); |
2224 |
2 |
SET_LINE; |
|
2225 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2226 |
|||
2227 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2228 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 0, -2.5)); |
2229 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, 0, -2.5; |
2230 |
2 |
depth = 2.5; |
|
2231 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, 0, -1; |
2232 |
2 |
SET_LINE; |
|
2233 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2234 |
|||
2235 |
✓✗ | 2 |
tf1 = transform; |
2236 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 0, -2.5)); |
2237 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, 0, -2.5)); |
2238 |
2 |
depth = 2.5; |
|
2239 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, 0, -1); |
2240 |
2 |
SET_LINE; |
|
2241 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2242 |
|||
2243 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2244 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 0, 10.1)); |
2245 |
2 |
SET_LINE; |
|
2246 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
2247 |
|||
2248 |
✓✗ | 2 |
tf1 = transform; |
2249 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 0, 10.1)); |
2250 |
2 |
SET_LINE; |
|
2251 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
2252 |
|||
2253 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2254 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 0, -10.1)); |
2255 |
2 |
SET_LINE; |
|
2256 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
2257 |
|||
2258 |
✓✗ | 2 |
tf1 = transform; |
2259 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 0, -10.1)); |
2260 |
2 |
SET_LINE; |
|
2261 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
2262 |
2 |
} |
|
2263 |
|||
2264 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(shapeIntersection_halfspacecone) { |
2265 |
✓✗ | 4 |
Cone s(5, 10); |
2266 |
✓✗✓✗ |
4 |
Halfspace hs(Vec3f(1, 0, 0), 0); |
2267 |
|||
2268 |
✓✗ | 2 |
Transform3f tf1; |
2269 |
✓✗ | 2 |
Transform3f tf2; |
2270 |
|||
2271 |
✓✗ | 2 |
Transform3f transform; |
2272 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
2273 |
|||
2274 |
✓✗ | 2 |
Vec3f contact; |
2275 |
FCL_REAL depth; |
||
2276 |
✓✗ | 2 |
Vec3f normal; |
2277 |
|||
2278 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2279 |
✓✗✓✗ |
2 |
tf2 = Transform3f(); |
2280 |
✓✗✓✗ ✓✗ |
2 |
contact << -2.5, 0, -5; |
2281 |
2 |
depth = 5; |
|
2282 |
✓✗✓✗ ✓✗ |
2 |
normal << -1, 0, 0; |
2283 |
2 |
SET_LINE; |
|
2284 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2285 |
|||
2286 |
✓✗ | 2 |
tf1 = transform; |
2287 |
✓✗ | 2 |
tf2 = transform; |
2288 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(-2.5, 0, -5)); |
2289 |
2 |
depth = 5; |
|
2290 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(-1, 0, 0); |
2291 |
2 |
SET_LINE; |
|
2292 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2293 |
|||
2294 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2295 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(2.5, 0, 0)); |
2296 |
✓✗✓✗ ✓✗ |
2 |
contact << -1.25, 0, -5; |
2297 |
2 |
depth = 7.5; |
|
2298 |
✓✗✓✗ ✓✗ |
2 |
normal << -1, 0, 0; |
2299 |
2 |
SET_LINE; |
|
2300 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2301 |
|||
2302 |
✓✗ | 2 |
tf1 = transform; |
2303 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(2.5, 0, 0)); |
2304 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(-1.25, 0, -5)); |
2305 |
2 |
depth = 7.5; |
|
2306 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(-1, 0, 0); |
2307 |
2 |
SET_LINE; |
|
2308 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2309 |
|||
2310 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2311 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(-2.5, 0, 0)); |
2312 |
✓✗✓✗ ✓✗ |
2 |
contact << -3.75, 0, -5; |
2313 |
2 |
depth = 2.5; |
|
2314 |
✓✗✓✗ ✓✗ |
2 |
normal << -1, 0, 0; |
2315 |
2 |
SET_LINE; |
|
2316 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2317 |
|||
2318 |
✓✗ | 2 |
tf1 = transform; |
2319 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(-2.5, 0, 0)); |
2320 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(-3.75, 0, -5)); |
2321 |
2 |
depth = 2.5; |
|
2322 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(-1, 0, 0); |
2323 |
2 |
SET_LINE; |
|
2324 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2325 |
|||
2326 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2327 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(5.1, 0, 0)); |
2328 |
✓✗✓✗ ✓✗ |
2 |
contact << 0.05, 0, -5; |
2329 |
2 |
depth = 10.1; |
|
2330 |
✓✗✓✗ ✓✗ |
2 |
normal << -1, 0, 0; |
2331 |
2 |
SET_LINE; |
|
2332 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2333 |
|||
2334 |
✓✗ | 2 |
tf1 = transform; |
2335 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(5.1, 0, 0)); |
2336 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0.05, 0, -5)); |
2337 |
2 |
depth = 10.1; |
|
2338 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(-1, 0, 0); |
2339 |
2 |
SET_LINE; |
|
2340 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2341 |
|||
2342 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2343 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(-5.1, 0, 0)); |
2344 |
2 |
SET_LINE; |
|
2345 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
2346 |
|||
2347 |
✓✗ | 2 |
tf1 = transform; |
2348 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(-5.1, 0, 0)); |
2349 |
2 |
SET_LINE; |
|
2350 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
2351 |
|||
2352 |
✓✗✓✗ ✓✗ |
2 |
hs = Halfspace(Vec3f(0, 1, 0), 0); |
2353 |
|||
2354 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2355 |
✓✗✓✗ |
2 |
tf2 = Transform3f(); |
2356 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, -2.5, -5; |
2357 |
2 |
depth = 5; |
|
2358 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, -1, 0; |
2359 |
2 |
SET_LINE; |
|
2360 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2361 |
|||
2362 |
✓✗ | 2 |
tf1 = transform; |
2363 |
✓✗ | 2 |
tf2 = transform; |
2364 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, -2.5, -5)); |
2365 |
2 |
depth = 5; |
|
2366 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, -1, 0); |
2367 |
2 |
SET_LINE; |
|
2368 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2369 |
|||
2370 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2371 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 2.5, 0)); |
2372 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, -1.25, -5; |
2373 |
2 |
depth = 7.5; |
|
2374 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, -1, 0; |
2375 |
2 |
SET_LINE; |
|
2376 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2377 |
|||
2378 |
✓✗ | 2 |
tf1 = transform; |
2379 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 2.5, 0)); |
2380 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, -1.25, -5)); |
2381 |
2 |
depth = 7.5; |
|
2382 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, -1, 0); |
2383 |
2 |
SET_LINE; |
|
2384 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2385 |
|||
2386 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2387 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, -2.5, 0)); |
2388 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, -3.75, -5; |
2389 |
2 |
depth = 2.5; |
|
2390 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, -1, 0; |
2391 |
2 |
SET_LINE; |
|
2392 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2393 |
|||
2394 |
✓✗ | 2 |
tf1 = transform; |
2395 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, -2.5, 0)); |
2396 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, -3.75, -5)); |
2397 |
2 |
depth = 2.5; |
|
2398 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, -1, 0); |
2399 |
2 |
SET_LINE; |
|
2400 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2401 |
|||
2402 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2403 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 5.1, 0)); |
2404 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, 0.05, -5; |
2405 |
2 |
depth = 10.1; |
|
2406 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, -1, 0; |
2407 |
2 |
SET_LINE; |
|
2408 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2409 |
|||
2410 |
✓✗ | 2 |
tf1 = transform; |
2411 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 5.1, 0)); |
2412 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, 0.05, -5)); |
2413 |
2 |
depth = 10.1; |
|
2414 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, -1, 0); |
2415 |
2 |
SET_LINE; |
|
2416 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2417 |
|||
2418 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2419 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, -5.1, 0)); |
2420 |
2 |
SET_LINE; |
|
2421 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
2422 |
|||
2423 |
✓✗ | 2 |
tf1 = transform; |
2424 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, -5.1, 0)); |
2425 |
2 |
SET_LINE; |
|
2426 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
2427 |
|||
2428 |
✓✗✓✗ ✓✗ |
2 |
hs = Halfspace(Vec3f(0, 0, 1), 0); |
2429 |
|||
2430 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2431 |
✓✗✓✗ |
2 |
tf2 = Transform3f(); |
2432 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, 0, -2.5; |
2433 |
2 |
depth = 5; |
|
2434 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, 0, -1; |
2435 |
2 |
SET_LINE; |
|
2436 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2437 |
|||
2438 |
✓✗ | 2 |
tf1 = transform; |
2439 |
✓✗ | 2 |
tf2 = transform; |
2440 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, 0, -2.5)); |
2441 |
2 |
depth = 5; |
|
2442 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, 0, -1); |
2443 |
2 |
SET_LINE; |
|
2444 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2445 |
|||
2446 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2447 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 0, 2.5)); |
2448 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, 0, -1.25; |
2449 |
2 |
depth = 7.5; |
|
2450 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, 0, -1; |
2451 |
2 |
SET_LINE; |
|
2452 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2453 |
|||
2454 |
✓✗ | 2 |
tf1 = transform; |
2455 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 0, 2.5)); |
2456 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, 0, -1.25)); |
2457 |
2 |
depth = 7.5; |
|
2458 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, 0, -1); |
2459 |
2 |
SET_LINE; |
|
2460 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2461 |
|||
2462 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2463 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 0, -2.5)); |
2464 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, 0, -3.75; |
2465 |
2 |
depth = 2.5; |
|
2466 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, 0, -1; |
2467 |
2 |
SET_LINE; |
|
2468 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2469 |
|||
2470 |
✓✗ | 2 |
tf1 = transform; |
2471 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 0, -2.5)); |
2472 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, 0, -3.75)); |
2473 |
2 |
depth = 2.5; |
|
2474 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, 0, -1); |
2475 |
2 |
SET_LINE; |
|
2476 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2477 |
|||
2478 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2479 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 0, 5.1)); |
2480 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, 0, 0.05; |
2481 |
2 |
depth = 10.1; |
|
2482 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, 0, -1; |
2483 |
2 |
SET_LINE; |
|
2484 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2485 |
|||
2486 |
✓✗ | 2 |
tf1 = transform; |
2487 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 0, 5.1)); |
2488 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, 0, 0.05)); |
2489 |
2 |
depth = 10.1; |
|
2490 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, 0, -1); |
2491 |
2 |
SET_LINE; |
|
2492 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2493 |
|||
2494 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2495 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 0, -5.1)); |
2496 |
2 |
SET_LINE; |
|
2497 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
2498 |
|||
2499 |
✓✗ | 2 |
tf1 = transform; |
2500 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 0, -5.1)); |
2501 |
2 |
SET_LINE; |
|
2502 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
2503 |
2 |
} |
|
2504 |
|||
2505 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(shapeIntersection_planecone) { |
2506 |
✓✗ | 4 |
Cone s(5, 10); |
2507 |
✓✗✓✗ |
4 |
Plane hs(Vec3f(1, 0, 0), 0); |
2508 |
|||
2509 |
✓✗ | 2 |
Transform3f tf1; |
2510 |
✓✗ | 2 |
Transform3f tf2; |
2511 |
|||
2512 |
✓✗ | 2 |
Transform3f transform; |
2513 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
2514 |
|||
2515 |
✓✗ | 2 |
Vec3f contact; |
2516 |
FCL_REAL depth; |
||
2517 |
✓✗ | 2 |
Vec3f normal; |
2518 |
|||
2519 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2520 |
✓✗✓✗ |
2 |
tf2 = Transform3f(); |
2521 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, 0, 0; |
2522 |
2 |
depth = 5; |
|
2523 |
✓✗✓✗ ✓✗ |
2 |
normal << 1, 0, 0; // (1, 0, 0) or (-1, 0, 0) |
2524 |
2 |
SET_LINE; |
|
2525 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal, true); |
2526 |
|||
2527 |
✓✗ | 2 |
tf1 = transform; |
2528 |
✓✗ | 2 |
tf2 = transform; |
2529 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, 0, 0)); |
2530 |
2 |
depth = 5; |
|
2531 |
normal = |
||
2532 |
✓✗✓✗ ✓✗ |
2 |
transform.getRotation() * Vec3f(-1, 0, 0); // (1, 0, 0) or (-1, 0, 0) |
2533 |
2 |
SET_LINE; |
|
2534 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal, true); |
2535 |
|||
2536 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2537 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(2.5, 0, 0)); |
2538 |
✓✗✓✗ ✓✗ |
2 |
contact << 2.5, 0, -2.5; |
2539 |
2 |
depth = 2.5; |
|
2540 |
✓✗✓✗ ✓✗ |
2 |
normal << 1, 0, 0; |
2541 |
2 |
SET_LINE; |
|
2542 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2543 |
|||
2544 |
✓✗ | 2 |
tf1 = transform; |
2545 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(2.5, 0, 0)); |
2546 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(2.5, 0, -2.5)); |
2547 |
2 |
depth = 2.5; |
|
2548 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(1, 0, 0); |
2549 |
2 |
SET_LINE; |
|
2550 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2551 |
|||
2552 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2553 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(-2.5, 0, 0)); |
2554 |
✓✗✓✗ ✓✗ |
2 |
contact << -2.5, 0, -2.5; |
2555 |
2 |
depth = 2.5; |
|
2556 |
✓✗✓✗ ✓✗ |
2 |
normal << -1, 0, 0; |
2557 |
2 |
SET_LINE; |
|
2558 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2559 |
|||
2560 |
✓✗ | 2 |
tf1 = transform; |
2561 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(-2.5, 0, 0)); |
2562 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(-2.5, 0, -2.5)); |
2563 |
2 |
depth = 2.5; |
|
2564 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(-1, 0, 0); |
2565 |
2 |
SET_LINE; |
|
2566 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2567 |
|||
2568 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2569 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(5.1, 0, 0)); |
2570 |
2 |
SET_LINE; |
|
2571 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
2572 |
|||
2573 |
✓✗ | 2 |
tf1 = transform; |
2574 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(5.1, 0, 0)); |
2575 |
2 |
SET_LINE; |
|
2576 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
2577 |
|||
2578 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2579 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(-5.1, 0, 0)); |
2580 |
2 |
SET_LINE; |
|
2581 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
2582 |
|||
2583 |
✓✗ | 2 |
tf1 = transform; |
2584 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(-5.1, 0, 0)); |
2585 |
2 |
SET_LINE; |
|
2586 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
2587 |
|||
2588 |
✓✗✓✗ ✓✗ |
2 |
hs = Plane(Vec3f(0, 1, 0), 0); |
2589 |
|||
2590 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2591 |
✓✗✓✗ |
2 |
tf2 = Transform3f(); |
2592 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, 0, 0; |
2593 |
2 |
depth = 5; |
|
2594 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, 1, 0; // (1, 0, 0) or (-1, 0, 0) |
2595 |
2 |
SET_LINE; |
|
2596 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal, true); |
2597 |
|||
2598 |
✓✗ | 2 |
tf1 = transform; |
2599 |
✓✗ | 2 |
tf2 = transform; |
2600 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, 0, 0)); |
2601 |
2 |
depth = 5; |
|
2602 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, 1, 0); // (1, 0, 0) or (-1, 0, 0) |
2603 |
2 |
SET_LINE; |
|
2604 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal, true); |
2605 |
|||
2606 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2607 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 2.5, 0)); |
2608 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, 2.5, -2.5; |
2609 |
2 |
depth = 2.5; |
|
2610 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, 1, 0; |
2611 |
2 |
SET_LINE; |
|
2612 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2613 |
|||
2614 |
✓✗ | 2 |
tf1 = transform; |
2615 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 2.5, 0)); |
2616 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, 2.5, -2.5)); |
2617 |
2 |
depth = 2.5; |
|
2618 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, 1, 0); |
2619 |
2 |
SET_LINE; |
|
2620 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2621 |
|||
2622 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2623 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, -2.5, 0)); |
2624 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, -2.5, -2.5; |
2625 |
2 |
depth = 2.5; |
|
2626 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, -1, 0; |
2627 |
2 |
SET_LINE; |
|
2628 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2629 |
|||
2630 |
✓✗ | 2 |
tf1 = transform; |
2631 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, -2.5, 0)); |
2632 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, -2.5, -2.5)); |
2633 |
2 |
depth = 2.5; |
|
2634 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, -1, 0); |
2635 |
2 |
SET_LINE; |
|
2636 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2637 |
|||
2638 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2639 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 5.1, 0)); |
2640 |
2 |
SET_LINE; |
|
2641 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
2642 |
|||
2643 |
✓✗ | 2 |
tf1 = transform; |
2644 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 5.1, 0)); |
2645 |
2 |
SET_LINE; |
|
2646 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
2647 |
|||
2648 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2649 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, -5.1, 0)); |
2650 |
2 |
SET_LINE; |
|
2651 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
2652 |
|||
2653 |
✓✗ | 2 |
tf1 = transform; |
2654 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, -5.1, 0)); |
2655 |
2 |
SET_LINE; |
|
2656 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
2657 |
|||
2658 |
✓✗✓✗ ✓✗ |
2 |
hs = Plane(Vec3f(0, 0, 1), 0); |
2659 |
|||
2660 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2661 |
✓✗✓✗ |
2 |
tf2 = Transform3f(); |
2662 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, 0, 0; |
2663 |
2 |
depth = 5; |
|
2664 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, 0, 1; // (1, 0, 0) or (-1, 0, 0) |
2665 |
2 |
SET_LINE; |
|
2666 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal, true); |
2667 |
|||
2668 |
✓✗ | 2 |
tf1 = transform; |
2669 |
✓✗ | 2 |
tf2 = transform; |
2670 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, 0, 0)); |
2671 |
2 |
depth = 5; |
|
2672 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, 0, 1); // (1, 0, 0) or (-1, 0, 0) |
2673 |
2 |
SET_LINE; |
|
2674 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal, true); |
2675 |
|||
2676 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2677 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 0, 2.5)); |
2678 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, 0, 2.5; |
2679 |
2 |
depth = 2.5; |
|
2680 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, 0, 1; |
2681 |
2 |
SET_LINE; |
|
2682 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2683 |
|||
2684 |
✓✗ | 2 |
tf1 = transform; |
2685 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 0, 2.5)); |
2686 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, 0, 2.5)); |
2687 |
2 |
depth = 2.5; |
|
2688 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, 0, 1); |
2689 |
2 |
SET_LINE; |
|
2690 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2691 |
|||
2692 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2693 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 0, -2.5)); |
2694 |
✓✗✓✗ ✓✗ |
2 |
contact << 0, 0, -2.5; |
2695 |
2 |
depth = 2.5; |
|
2696 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, 0, -1; |
2697 |
2 |
SET_LINE; |
|
2698 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2699 |
|||
2700 |
✓✗ | 2 |
tf1 = transform; |
2701 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 0, -2.5)); |
2702 |
✓✗✓✗ |
2 |
contact = transform.transform(Vec3f(0, 0, -2.5)); |
2703 |
2 |
depth = 2.5; |
|
2704 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, 0, -1); |
2705 |
2 |
SET_LINE; |
|
2706 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, true, &contact, &depth, &normal); |
2707 |
|||
2708 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2709 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 0, 10.1)); |
2710 |
2 |
SET_LINE; |
|
2711 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
2712 |
|||
2713 |
✓✗ | 2 |
tf1 = transform; |
2714 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 0, 10.1)); |
2715 |
2 |
SET_LINE; |
|
2716 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
2717 |
|||
2718 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
2719 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 0, -10.1)); |
2720 |
2 |
SET_LINE; |
|
2721 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
2722 |
|||
2723 |
✓✗ | 2 |
tf1 = transform; |
2724 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 0, -10.1)); |
2725 |
2 |
SET_LINE; |
|
2726 |
✓✗ | 2 |
testShapeIntersection(s, tf1, hs, tf2, false); |
2727 |
2 |
} |
|
2728 |
|||
2729 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(shapeDistance_spheresphere) { |
2730 |
✓✗ | 4 |
Sphere s1(20); |
2731 |
✓✗ | 4 |
Sphere s2(10); |
2732 |
|||
2733 |
✓✗ | 2 |
Transform3f transform; |
2734 |
// generateRandomTransform(extents, transform); |
||
2735 |
|||
2736 |
bool res; |
||
2737 |
2 |
FCL_REAL dist = -1; |
|
2738 |
✓✗✓✗ ✓✗ |
2 |
Vec3f closest_p1, closest_p2, normal; |
2739 |
res = |
||
2740 |
✓✗✓✗ ✓✗✓✗ |
2 |
solver1.shapeDistance(s1, Transform3f(), s2, Transform3f(Vec3f(0, 40, 0)), |
2741 |
dist, closest_p1, closest_p2, normal); |
||
2742 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 10) < 0.001); |
2743 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
2744 |
|||
2745 |
✓✗✓✗ |
2 |
res = solver1.shapeDistance(s1, Transform3f(), s2, |
2746 |
✓✗✓✗ |
4 |
Transform3f(Vec3f(30.1, 0, 0)), dist, closest_p1, |
2747 |
closest_p2, normal); |
||
2748 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 0.1) < 0.001); |
2749 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
2750 |
|||
2751 |
✓✗✓✗ |
2 |
res = solver1.shapeDistance(s1, Transform3f(), s2, |
2752 |
✓✗✓✗ |
4 |
Transform3f(Vec3f(29.9, 0, 0)), dist, closest_p1, |
2753 |
closest_p2, normal); |
||
2754 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(dist < 0); |
2755 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK_FALSE(res); |
2756 |
|||
2757 |
res = |
||
2758 |
✓✗✓✗ ✓✗✓✗ |
2 |
solver1.shapeDistance(s1, Transform3f(Vec3f(40, 0, 0)), s2, Transform3f(), |
2759 |
dist, closest_p1, closest_p2, normal); |
||
2760 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 10) < 0.001); |
2761 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
2762 |
|||
2763 |
✓✗✓✗ ✓✗ |
2 |
res = solver1.shapeDistance(s1, Transform3f(Vec3f(30.1, 0, 0)), s2, |
2764 |
✓✗ | 4 |
Transform3f(), dist, closest_p1, closest_p2, |
2765 |
normal); |
||
2766 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 0.1) < 0.001); |
2767 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
2768 |
|||
2769 |
✓✗✓✗ ✓✗ |
2 |
res = solver1.shapeDistance(s1, Transform3f(Vec3f(29.9, 0, 0)), s2, |
2770 |
✓✗ | 4 |
Transform3f(), dist, closest_p1, closest_p2, |
2771 |
normal); |
||
2772 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(dist < 0); |
2773 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK_FALSE(res); |
2774 |
|||
2775 |
✓✗ | 2 |
res = solver1.shapeDistance(s1, transform, s2, |
2776 |
✓✗✓✗ ✓✗ |
4 |
transform * Transform3f(Vec3f(40, 0, 0)), dist, |
2777 |
closest_p1, closest_p2, normal); |
||
2778 |
// this is one problem: the precise is low sometimes |
||
2779 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 10) < 0.1); |
2780 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
2781 |
|||
2782 |
✓✗ | 2 |
res = solver1.shapeDistance(s1, transform, s2, |
2783 |
✓✗✓✗ ✓✗ |
4 |
transform * Transform3f(Vec3f(30.1, 0, 0)), dist, |
2784 |
closest_p1, closest_p2, normal); |
||
2785 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 0.1) < 0.06); |
2786 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
2787 |
|||
2788 |
✓✗ | 2 |
res = solver1.shapeDistance(s1, transform, s2, |
2789 |
✓✗✓✗ ✓✗ |
4 |
transform * Transform3f(Vec3f(29.9, 0, 0)), dist, |
2790 |
closest_p1, closest_p2, normal); |
||
2791 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(dist < 0); |
2792 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK_FALSE(res); |
2793 |
|||
2794 |
✓✗✓✗ ✓✗✓✗ |
2 |
res = solver1.shapeDistance(s1, transform * Transform3f(Vec3f(40, 0, 0)), s2, |
2795 |
transform, dist, closest_p1, closest_p2, normal); |
||
2796 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 10) < 0.1); |
2797 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
2798 |
|||
2799 |
res = |
||
2800 |
✓✗✓✗ ✓✗✓✗ |
2 |
solver1.shapeDistance(s1, transform * Transform3f(Vec3f(30.1, 0, 0)), s2, |
2801 |
transform, dist, closest_p1, closest_p2, normal); |
||
2802 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 0.1) < 0.1); |
2803 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
2804 |
|||
2805 |
res = |
||
2806 |
✓✗✓✗ ✓✗✓✗ |
2 |
solver1.shapeDistance(s1, transform * Transform3f(Vec3f(29.9, 0, 0)), s2, |
2807 |
transform, dist, closest_p1, closest_p2, normal); |
||
2808 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(dist < 0); |
2809 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK_FALSE(res); |
2810 |
2 |
} |
|
2811 |
|||
2812 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(shapeDistance_boxbox) { |
2813 |
✓✗ | 4 |
Box s1(20, 40, 50); |
2814 |
✓✗ | 4 |
Box s2(10, 10, 10); |
2815 |
✓✗✓✗ ✓✗ |
2 |
Vec3f closest_p1, closest_p2, normal; |
2816 |
|||
2817 |
✓✗ | 2 |
Transform3f transform; |
2818 |
// generateRandomTransform(extents, transform); |
||
2819 |
|||
2820 |
bool res; |
||
2821 |
FCL_REAL dist; |
||
2822 |
|||
2823 |
✓✗✓✗ ✓✗ |
2 |
res = solver1.shapeDistance(s1, Transform3f(), s2, Transform3f(), dist, |
2824 |
closest_p1, closest_p2, normal); |
||
2825 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(dist <= 0); |
2826 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK_FALSE(res); |
2827 |
|||
2828 |
✓✗ | 2 |
res = solver1.shapeDistance(s1, transform, s2, transform, dist, closest_p1, |
2829 |
closest_p2, normal); |
||
2830 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(dist <= 0); |
2831 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK_FALSE(res); |
2832 |
|||
2833 |
✓✗✓✗ |
2 |
res = solver1.shapeDistance(s2, Transform3f(), s2, |
2834 |
✓✗✓✗ |
4 |
Transform3f(Vec3f(10.1, 0, 0)), dist, closest_p1, |
2835 |
closest_p2, normal); |
||
2836 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 0.1) < 0.001); |
2837 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
2838 |
|||
2839 |
✓✗✓✗ |
2 |
res = solver1.shapeDistance(s2, Transform3f(), s2, |
2840 |
✓✗✓✗ |
4 |
Transform3f(Vec3f(20.1, 0, 0)), dist, closest_p1, |
2841 |
closest_p2, normal); |
||
2842 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 10.1) < 0.001); |
2843 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
2844 |
|||
2845 |
✓✗✓✗ |
2 |
res = solver1.shapeDistance(s2, Transform3f(), s2, |
2846 |
✓✗✓✗ |
4 |
Transform3f(Vec3f(0, 20.2, 0)), dist, closest_p1, |
2847 |
closest_p2, normal); |
||
2848 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 10.2) < 0.001); |
2849 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
2850 |
|||
2851 |
✓✗✓✗ |
2 |
res = solver1.shapeDistance(s2, Transform3f(), s2, |
2852 |
✓✗✓✗ |
4 |
Transform3f(Vec3f(10.1, 10.1, 0)), dist, |
2853 |
closest_p1, closest_p2, normal); |
||
2854 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 0.1 * 1.414) < 0.001); |
2855 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
2856 |
|||
2857 |
✓✗✓✗ |
2 |
res = solver2.shapeDistance(s2, Transform3f(), s2, |
2858 |
✓✗✓✗ |
4 |
Transform3f(Vec3f(10.1, 0, 0)), dist, closest_p1, |
2859 |
closest_p2, normal); |
||
2860 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 0.1) < 0.001); |
2861 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
2862 |
|||
2863 |
✓✗✓✗ |
2 |
res = solver2.shapeDistance(s2, Transform3f(), s2, |
2864 |
✓✗✓✗ |
4 |
Transform3f(Vec3f(20.1, 0, 0)), dist, closest_p1, |
2865 |
closest_p2, normal); |
||
2866 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 10.1) < 0.001); |
2867 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
2868 |
|||
2869 |
✓✗✓✗ |
2 |
res = solver2.shapeDistance(s2, Transform3f(), s2, |
2870 |
✓✗✓✗ |
4 |
Transform3f(Vec3f(0, 20.1, 0)), dist, closest_p1, |
2871 |
closest_p2, normal); |
||
2872 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 10.1) < 0.001); |
2873 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
2874 |
|||
2875 |
✓✗✓✗ |
2 |
res = solver2.shapeDistance(s2, Transform3f(), s2, |
2876 |
✓✗✓✗ |
4 |
Transform3f(Vec3f(10.1, 10.1, 0)), dist, |
2877 |
closest_p1, closest_p2, normal); |
||
2878 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 0.1 * 1.414) < 0.001); |
2879 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
2880 |
|||
2881 |
✓✗ | 2 |
res = solver1.shapeDistance(s1, transform, s2, |
2882 |
✓✗✓✗ ✓✗ |
4 |
transform * Transform3f(Vec3f(15.1, 0, 0)), dist, |
2883 |
closest_p1, closest_p2, normal); |
||
2884 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 0.1) < 0.001); |
2885 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
2886 |
|||
2887 |
res = |
||
2888 |
✓✗✓✗ ✓✗✓✗ |
2 |
solver1.shapeDistance(s1, Transform3f(), s2, Transform3f(Vec3f(20, 0, 0)), |
2889 |
dist, closest_p1, closest_p2, normal); |
||
2890 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 5) < 0.001); |
2891 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
2892 |
|||
2893 |
✓✗ | 2 |
res = solver1.shapeDistance(s1, transform, s2, |
2894 |
✓✗✓✗ ✓✗ |
4 |
transform * Transform3f(Vec3f(20, 0, 0)), dist, |
2895 |
closest_p1, closest_p2, normal); |
||
2896 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 5) < 0.001); |
2897 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
2898 |
2 |
} |
|
2899 |
|||
2900 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(shapeDistance_boxsphere) { |
2901 |
✓✗ | 4 |
Sphere s1(20); |
2902 |
✓✗ | 4 |
Box s2(5, 5, 5); |
2903 |
✓✗✓✗ ✓✗ |
2 |
Vec3f closest_p1, closest_p2, normal; |
2904 |
|||
2905 |
✓✗ | 2 |
Transform3f transform; |
2906 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
2907 |
|||
2908 |
bool res; |
||
2909 |
FCL_REAL dist; |
||
2910 |
|||
2911 |
2 |
int N = 10; |
|
2912 |
✓✓ | 24 |
for (int i = 0; i < N + 1; ++i) { |
2913 |
✓✗ | 22 |
FCL_REAL dbox = 0.0001 + (s1.radius + s2.halfSide(0)) * i * 4 / (3 * N); |
2914 |
✓✗✓✗ ✓✗ |
22 |
res = solver1.shapeDistance(s1, Transform3f(Vec3f(dbox, 0., 0.)), s2, |
2915 |
✓✗ | 44 |
Transform3f(), dist, closest_p1, closest_p2, |
2916 |
normal); |
||
2917 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓ |
22 |
BOOST_CHECK_CLOSE(dist, (dbox - s1.radius - s2.halfSide(0)), 1e-6); |
2918 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
22 |
EIGEN_VECTOR_IS_APPROX(normal, -Vec3f(1, 0, 0), 1e-6); |
2919 |
|||
2920 |
✓✗ | 22 |
res = solver1.shapeDistance(s1, transform, s2, transform, dist, closest_p1, |
2921 |
closest_p2, normal); |
||
2922 |
✓✗ | 22 |
res = solver1.shapeDistance( |
2923 |
✓✗✓✗ ✓✗ |
44 |
s1, transform * Transform3f(Vec3f(dbox, 0., 0.)), s2, transform, dist, |
2924 |
closest_p1, closest_p2, normal); |
||
2925 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓ |
22 |
BOOST_CHECK_CLOSE(dist, (dbox - s1.radius - s2.halfSide(0)), 1e-6); |
2926 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
22 |
EIGEN_VECTOR_IS_APPROX(normal, -transform.getRotation().col(0), 1e-6); |
2927 |
} |
||
2928 |
|||
2929 |
✓✗✓✗ ✓✗ |
2 |
res = solver1.shapeDistance(s1, Transform3f(), s2, Transform3f(), dist, |
2930 |
closest_p1, closest_p2, normal); |
||
2931 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(dist <= 0); |
2932 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK_FALSE(res); |
2933 |
|||
2934 |
✓✗ | 2 |
res = solver1.shapeDistance(s1, transform, s2, transform, dist, closest_p1, |
2935 |
closest_p2, normal); |
||
2936 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(dist <= 0); |
2937 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK_FALSE(res); |
2938 |
|||
2939 |
✓✗✓✗ |
2 |
res = solver1.shapeDistance(s1, Transform3f(), s2, |
2940 |
✓✗✓✗ |
4 |
Transform3f(Vec3f(22.6, 0, 0)), dist, closest_p1, |
2941 |
closest_p2, normal); |
||
2942 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 0.1) < 0.001); |
2943 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
2944 |
|||
2945 |
✓✗ | 2 |
res = solver1.shapeDistance(s1, transform, s2, |
2946 |
✓✗✓✗ ✓✗ |
4 |
transform * Transform3f(Vec3f(22.6, 0, 0)), dist, |
2947 |
closest_p1, closest_p2, normal); |
||
2948 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 0.1) < 0.05); |
2949 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
2950 |
|||
2951 |
res = |
||
2952 |
✓✗✓✗ ✓✗✓✗ |
2 |
solver1.shapeDistance(s1, Transform3f(), s2, Transform3f(Vec3f(40, 0, 0)), |
2953 |
dist, closest_p1, closest_p2, normal); |
||
2954 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 17.5) < 0.001); |
2955 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
2956 |
|||
2957 |
✓✗ | 2 |
res = solver1.shapeDistance(s1, transform, s2, |
2958 |
✓✗✓✗ ✓✗ |
4 |
transform * Transform3f(Vec3f(40, 0, 0)), dist, |
2959 |
closest_p1, closest_p2, normal); |
||
2960 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 17.5) < 0.001); |
2961 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
2962 |
2 |
} |
|
2963 |
|||
2964 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(shapeDistance_cylindercylinder) { |
2965 |
✓✗ | 4 |
Cylinder s1(5, 10); |
2966 |
✓✗ | 4 |
Cylinder s2(5, 10); |
2967 |
✓✗✓✗ ✓✗ |
2 |
Vec3f closest_p1, closest_p2, normal; |
2968 |
|||
2969 |
✓✗ | 2 |
Transform3f transform; |
2970 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
2971 |
|||
2972 |
bool res; |
||
2973 |
FCL_REAL dist; |
||
2974 |
|||
2975 |
✓✗✓✗ ✓✗ |
2 |
res = solver1.shapeDistance(s1, Transform3f(), s2, Transform3f(), dist, |
2976 |
closest_p1, closest_p2, normal); |
||
2977 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(dist <= 0); |
2978 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK_FALSE(res); |
2979 |
|||
2980 |
✓✗ | 2 |
res = solver1.shapeDistance(s1, transform, s2, transform, dist, closest_p1, |
2981 |
closest_p2, normal); |
||
2982 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(dist <= 0); |
2983 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK_FALSE(res); |
2984 |
|||
2985 |
✓✗✓✗ |
2 |
res = solver1.shapeDistance(s1, Transform3f(), s2, |
2986 |
✓✗✓✗ |
4 |
Transform3f(Vec3f(10.1, 0, 0)), dist, closest_p1, |
2987 |
closest_p2, normal); |
||
2988 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 0.1) < 0.001); |
2989 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
2990 |
|||
2991 |
✓✗ | 2 |
res = solver1.shapeDistance(s1, transform, s2, |
2992 |
✓✗✓✗ ✓✗ |
4 |
transform * Transform3f(Vec3f(10.1, 0, 0)), dist, |
2993 |
closest_p1, closest_p2, normal); |
||
2994 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 0.1) < 0.001); |
2995 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
2996 |
|||
2997 |
res = |
||
2998 |
✓✗✓✗ ✓✗✓✗ |
2 |
solver1.shapeDistance(s1, Transform3f(), s2, Transform3f(Vec3f(40, 0, 0)), |
2999 |
dist, closest_p1, closest_p2, normal); |
||
3000 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 30) < 0.001); |
3001 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3002 |
|||
3003 |
✓✗ | 2 |
res = solver1.shapeDistance(s1, transform, s2, |
3004 |
✓✗✓✗ ✓✗ |
4 |
transform * Transform3f(Vec3f(40, 0, 0)), dist, |
3005 |
closest_p1, closest_p2, normal); |
||
3006 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 30) < 0.001); |
3007 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3008 |
2 |
} |
|
3009 |
|||
3010 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(shapeDistance_conecone) { |
3011 |
✓✗ | 4 |
Cone s1(5, 10); |
3012 |
✓✗ | 4 |
Cone s2(5, 10); |
3013 |
✓✗✓✗ ✓✗ |
2 |
Vec3f closest_p1, closest_p2, normal; |
3014 |
|||
3015 |
✓✗ | 2 |
Transform3f transform; |
3016 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
3017 |
|||
3018 |
bool res; |
||
3019 |
FCL_REAL dist; |
||
3020 |
|||
3021 |
✓✗✓✗ ✓✗ |
2 |
res = solver1.shapeDistance(s1, Transform3f(), s2, Transform3f(), dist, |
3022 |
closest_p1, closest_p2, normal); |
||
3023 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(dist <= 0); |
3024 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK_FALSE(res); |
3025 |
|||
3026 |
✓✗ | 2 |
res = solver1.shapeDistance(s1, transform, s2, transform, dist, closest_p1, |
3027 |
closest_p2, normal); |
||
3028 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(dist <= 0); |
3029 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK_FALSE(res); |
3030 |
|||
3031 |
✓✗✓✗ |
2 |
res = solver1.shapeDistance(s1, Transform3f(), s2, |
3032 |
✓✗✓✗ |
4 |
Transform3f(Vec3f(10.1, 0, 0)), dist, closest_p1, |
3033 |
closest_p2, normal); |
||
3034 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 0.1) < 0.001); |
3035 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3036 |
|||
3037 |
✓✗ | 2 |
res = solver1.shapeDistance(s1, transform, s2, |
3038 |
✓✗✓✗ ✓✗ |
4 |
transform * Transform3f(Vec3f(10.1, 0, 0)), dist, |
3039 |
closest_p1, closest_p2, normal); |
||
3040 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 0.1) < 0.001); |
3041 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3042 |
|||
3043 |
res = |
||
3044 |
✓✗✓✗ ✓✗✓✗ |
2 |
solver1.shapeDistance(s1, Transform3f(), s2, Transform3f(Vec3f(0, 0, 40)), |
3045 |
dist, closest_p1, closest_p2, normal); |
||
3046 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 30) < 1); |
3047 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3048 |
|||
3049 |
✓✗ | 2 |
res = solver1.shapeDistance(s1, transform, s2, |
3050 |
✓✗✓✗ ✓✗ |
4 |
transform * Transform3f(Vec3f(0, 0, 40)), dist, |
3051 |
closest_p1, closest_p2, normal); |
||
3052 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 30) < 1); |
3053 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3054 |
2 |
} |
|
3055 |
|||
3056 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(shapeDistance_conecylinder) { |
3057 |
✓✗ | 4 |
Cylinder s1(5, 10); |
3058 |
✓✗ | 4 |
Cone s2(5, 10); |
3059 |
✓✗✓✗ ✓✗ |
2 |
Vec3f closest_p1, closest_p2, normal; |
3060 |
|||
3061 |
✓✗ | 2 |
Transform3f transform; |
3062 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
3063 |
|||
3064 |
bool res; |
||
3065 |
FCL_REAL dist; |
||
3066 |
|||
3067 |
✓✗✓✗ ✓✗ |
2 |
res = solver1.shapeDistance(s1, Transform3f(), s2, Transform3f(), dist, |
3068 |
closest_p1, closest_p2, normal); |
||
3069 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(dist <= 0); |
3070 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK_FALSE(res); |
3071 |
|||
3072 |
✓✗ | 2 |
res = solver1.shapeDistance(s1, transform, s2, transform, dist, closest_p1, |
3073 |
closest_p2, normal); |
||
3074 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(dist <= 0); |
3075 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK_FALSE(res); |
3076 |
|||
3077 |
✓✗✓✗ |
2 |
res = solver1.shapeDistance(s1, Transform3f(), s2, |
3078 |
✓✗✓✗ |
4 |
Transform3f(Vec3f(10.1, 0, 0)), dist, closest_p1, |
3079 |
closest_p2, normal); |
||
3080 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 0.1) < 0.01); |
3081 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3082 |
|||
3083 |
✓✗ | 2 |
res = solver1.shapeDistance(s1, transform, s2, |
3084 |
✓✗✓✗ ✓✗ |
4 |
transform * Transform3f(Vec3f(10.1, 0, 0)), dist, |
3085 |
closest_p1, closest_p2, normal); |
||
3086 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 0.1) < 0.02); |
3087 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3088 |
|||
3089 |
res = |
||
3090 |
✓✗✓✗ ✓✗✓✗ |
2 |
solver1.shapeDistance(s1, Transform3f(), s2, Transform3f(Vec3f(40, 0, 0)), |
3091 |
dist, closest_p1, closest_p2, normal); |
||
3092 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 30) < 0.01); |
3093 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3094 |
|||
3095 |
✓✗ | 2 |
res = solver1.shapeDistance(s1, transform, s2, |
3096 |
✓✗✓✗ ✓✗ |
4 |
transform * Transform3f(Vec3f(40, 0, 0)), dist, |
3097 |
closest_p1, closest_p2, normal); |
||
3098 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 30) < 0.1); |
3099 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3100 |
2 |
} |
|
3101 |
|||
3102 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(shapeIntersectionGJK_spheresphere) { |
3103 |
✓✗ | 4 |
Sphere s1(20); |
3104 |
✓✗ | 4 |
Sphere s2(10); |
3105 |
|||
3106 |
✓✗ | 2 |
Transform3f tf1; |
3107 |
✓✗ | 2 |
Transform3f tf2; |
3108 |
|||
3109 |
✓✗ | 2 |
Transform3f transform; |
3110 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
3111 |
|||
3112 |
// Vec3f contact; |
||
3113 |
// FCL_REAL depth; |
||
3114 |
✓✗ | 2 |
Vec3f normal; |
3115 |
|||
3116 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
3117 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(40, 0, 0)); |
3118 |
2 |
SET_LINE; |
|
3119 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, false); |
3120 |
|||
3121 |
✓✗ | 2 |
tf1 = transform; |
3122 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(40, 0, 0)); |
3123 |
2 |
SET_LINE; |
|
3124 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, false); |
3125 |
|||
3126 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
3127 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(30, 0, 0)); |
3128 |
✓✗✓✗ ✓✗ |
2 |
normal << 1, 0, 0; |
3129 |
2 |
SET_LINE; |
|
3130 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal); |
3131 |
|||
3132 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
3133 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(30.01, 0, 0)); |
3134 |
2 |
SET_LINE; |
|
3135 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, false); |
3136 |
|||
3137 |
✓✗ | 2 |
tf1 = transform; |
3138 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(30.01, 0, 0)); |
3139 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(1, 0, 0); |
3140 |
2 |
SET_LINE; |
|
3141 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, false); |
3142 |
|||
3143 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
3144 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(29.9, 0, 0)); |
3145 |
✓✗✓✗ ✓✗ |
2 |
normal << 1, 0, 0; |
3146 |
2 |
SET_LINE; |
|
3147 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal); |
3148 |
|||
3149 |
✓✗ | 2 |
tf1 = transform; |
3150 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(29.9, 0, 0)); |
3151 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(1, 0, 0); |
3152 |
2 |
SET_LINE; |
|
3153 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal); |
3154 |
|||
3155 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
3156 |
✓✗✓✗ |
2 |
tf2 = Transform3f(); |
3157 |
✓✗ | 2 |
normal.setZero(); // If the centers of two sphere are at the same position, |
3158 |
// the normal is (0, 0, 0) |
||
3159 |
2 |
SET_LINE; |
|
3160 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal); |
3161 |
|||
3162 |
✓✗ | 2 |
tf1 = transform; |
3163 |
✓✗ | 2 |
tf2 = transform; |
3164 |
✓✗ | 2 |
normal.setZero(); // If the centers of two sphere are at the same position, |
3165 |
// the normal is (0, 0, 0) |
||
3166 |
2 |
SET_LINE; |
|
3167 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal); |
3168 |
|||
3169 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
3170 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(-29.9, 0, 0)); |
3171 |
✓✗✓✗ ✓✗ |
2 |
normal << -1, 0, 0; |
3172 |
2 |
SET_LINE; |
|
3173 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal); |
3174 |
|||
3175 |
✓✗ | 2 |
tf1 = transform; |
3176 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(-29.9, 0, 0)); |
3177 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(-1, 0, 0); |
3178 |
2 |
SET_LINE; |
|
3179 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal); |
3180 |
|||
3181 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
3182 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(-30.0, 0, 0)); |
3183 |
✓✗✓✗ ✓✗ |
2 |
normal << -1, 0, 0; |
3184 |
2 |
SET_LINE; |
|
3185 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal); |
3186 |
|||
3187 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
3188 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(-30.01, 0, 0)); |
3189 |
✓✗✓✗ ✓✗ |
2 |
normal << -1, 0, 0; |
3190 |
2 |
SET_LINE; |
|
3191 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, false); |
3192 |
|||
3193 |
✓✗ | 2 |
tf1 = transform; |
3194 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(-30.01, 0, 0)); |
3195 |
2 |
SET_LINE; |
|
3196 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, false); |
3197 |
2 |
} |
|
3198 |
|||
3199 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(shapeIntersectionGJK_boxbox) { |
3200 |
✓✗ | 4 |
Box s1(20, 40, 50); |
3201 |
✓✗ | 4 |
Box s2(10, 10, 10); |
3202 |
|||
3203 |
✓✗ | 2 |
Transform3f tf1; |
3204 |
✓✗ | 2 |
Transform3f tf2; |
3205 |
|||
3206 |
✓✗ | 2 |
Transform3f transform; |
3207 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
3208 |
|||
3209 |
// Vec3f point; |
||
3210 |
// FCL_REAL depth; |
||
3211 |
✓✗ | 2 |
Vec3f normal; |
3212 |
|||
3213 |
✓✗ | 2 |
Quaternion3f q; |
3214 |
✓✗✓✗ |
2 |
q = AngleAxis((FCL_REAL)3.140 / 6, UnitZ); |
3215 |
|||
3216 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
3217 |
✓✗✓✗ |
2 |
tf2 = Transform3f(); |
3218 |
// TODO: Need convention for normal when the centers of two objects are at |
||
3219 |
// same position. The current result is (1, 0, 0). |
||
3220 |
✓✗✓✗ ✓✗ |
2 |
normal << 1, 0, 0; |
3221 |
2 |
SET_LINE; |
|
3222 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, 0x0); |
3223 |
|||
3224 |
✓✗ | 2 |
tf1 = transform; |
3225 |
✓✗ | 2 |
tf2 = transform; |
3226 |
// TODO: Need convention for normal when the centers of two objects are at |
||
3227 |
// same position. The current result is (1, 0, 0). |
||
3228 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(1, 0, 0); |
3229 |
2 |
SET_LINE; |
|
3230 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, 0x0); |
3231 |
|||
3232 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
3233 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(15, 0, 0)); |
3234 |
✓✗✓✗ ✓✗ |
2 |
normal << 1, 0, 0; |
3235 |
2 |
SET_LINE; |
|
3236 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal, false, |
3237 |
1e-8); |
||
3238 |
|||
3239 |
✓✗ | 2 |
tf1 = transform; |
3240 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(15.01, 0, 0)); |
3241 |
2 |
SET_LINE; |
|
3242 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, false); |
3243 |
|||
3244 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
3245 |
✓✗✓✗ |
2 |
tf2 = Transform3f(q); |
3246 |
✓✗✓✗ ✓✗ |
2 |
normal << 1, 0, 0; |
3247 |
2 |
SET_LINE; |
|
3248 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, 0x0); |
3249 |
|||
3250 |
✓✗ | 2 |
tf1 = transform; |
3251 |
✓✗✓✗ ✓✗ |
2 |
tf2 = transform * Transform3f(q); |
3252 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(1, 0, 0); |
3253 |
2 |
SET_LINE; |
|
3254 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, 0x0); |
3255 |
2 |
} |
|
3256 |
|||
3257 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(shapeIntersectionGJK_spherebox) { |
3258 |
✓✗ | 4 |
Sphere s1(20); |
3259 |
✓✗ | 4 |
Box s2(5, 5, 5); |
3260 |
|||
3261 |
✓✗ | 2 |
Transform3f tf1; |
3262 |
✓✗ | 2 |
Transform3f tf2; |
3263 |
|||
3264 |
✓✗ | 2 |
Transform3f transform; |
3265 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
3266 |
|||
3267 |
// Vec3f point; |
||
3268 |
// FCL_REAL depth; |
||
3269 |
✓✗ | 2 |
Vec3f normal; |
3270 |
|||
3271 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
3272 |
✓✗✓✗ |
2 |
tf2 = Transform3f(); |
3273 |
// TODO: Need convention for normal when the centers of two objects are at |
||
3274 |
// same position. |
||
3275 |
2 |
SET_LINE; |
|
3276 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, NULL); |
3277 |
|||
3278 |
✓✗ | 2 |
tf1 = transform; |
3279 |
✓✗ | 2 |
tf2 = transform; |
3280 |
// TODO: Need convention for normal when the centers of two objects are at |
||
3281 |
// same position. |
||
3282 |
2 |
SET_LINE; |
|
3283 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, NULL); |
3284 |
|||
3285 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
3286 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(22.5, 0, 0)); |
3287 |
✓✗✓✗ ✓✗ |
2 |
normal << 1, 0, 0; |
3288 |
2 |
SET_LINE; |
|
3289 |
✓✗ | 2 |
testShapeIntersection( |
3290 |
s1, tf1, s2, tf2, true, NULL, NULL, &normal, false, |
||
3291 |
1e-7); // built-in GJK solver requires larger tolerance than libccd |
||
3292 |
|||
3293 |
✓✗ | 2 |
tf1 = transform; |
3294 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(22.51, 0, 0)); |
3295 |
2 |
SET_LINE; |
|
3296 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, false); |
3297 |
|||
3298 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
3299 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(22.4, 0, 0)); |
3300 |
✓✗✓✗ ✓✗ |
2 |
normal << 1, 0, 0; |
3301 |
2 |
SET_LINE; |
|
3302 |
✓✗ | 2 |
testShapeIntersection( |
3303 |
s1, tf1, s2, tf2, true, NULL, NULL, &normal, false, |
||
3304 |
1e-2); // built-in GJK solver requires larger tolerance than libccd |
||
3305 |
|||
3306 |
✓✗ | 2 |
tf1 = transform; |
3307 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(22.4, 0, 0)); |
3308 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(1, 0, 0); |
3309 |
2 |
SET_LINE; |
|
3310 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, NULL); |
3311 |
// built-in GJK solver returns incorrect normal. |
||
3312 |
// testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal); |
||
3313 |
2 |
} |
|
3314 |
|||
3315 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(shapeIntersectionGJK_spherecapsule) { |
3316 |
✓✗ | 4 |
Sphere s1(20); |
3317 |
✓✗ | 4 |
Capsule s2(5, 10); |
3318 |
|||
3319 |
✓✗ | 2 |
Transform3f tf1; |
3320 |
✓✗ | 2 |
Transform3f tf2; |
3321 |
|||
3322 |
✓✗ | 2 |
Transform3f transform; |
3323 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
3324 |
|||
3325 |
// Vec3f point; |
||
3326 |
// FCL_REAL depth; |
||
3327 |
✓✗ | 2 |
Vec3f normal; |
3328 |
|||
3329 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
3330 |
✓✗✓✗ |
2 |
tf2 = Transform3f(); |
3331 |
// TODO: Need convention for normal when the centers of two objects are at |
||
3332 |
// same position. |
||
3333 |
2 |
SET_LINE; |
|
3334 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, NULL); |
3335 |
|||
3336 |
✓✗ | 2 |
tf1 = transform; |
3337 |
✓✗ | 2 |
tf2 = transform; |
3338 |
// TODO: Need convention for normal when the centers of two objects are at |
||
3339 |
// same position. |
||
3340 |
2 |
SET_LINE; |
|
3341 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, NULL); |
3342 |
|||
3343 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
3344 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(24.9, 0, 0)); |
3345 |
✓✗✓✗ ✓✗ |
2 |
normal << 1, 0, 0; |
3346 |
2 |
SET_LINE; |
|
3347 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal); |
3348 |
|||
3349 |
✓✗ | 2 |
tf1 = transform; |
3350 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(24.9, 0, 0)); |
3351 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(1, 0, 0); |
3352 |
2 |
SET_LINE; |
|
3353 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal); |
3354 |
|||
3355 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
3356 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(25, 0, 0)); |
3357 |
✓✗✓✗ ✓✗ |
2 |
normal << 1, 0, 0; |
3358 |
2 |
SET_LINE; |
|
3359 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal); |
3360 |
|||
3361 |
✓✗ | 2 |
tf1 = transform; |
3362 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(25.1, 0, 0)); |
3363 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(1, 0, 0); |
3364 |
2 |
SET_LINE; |
|
3365 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, false); |
3366 |
2 |
} |
|
3367 |
|||
3368 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(shapeIntersectionGJK_cylindercylinder) { |
3369 |
✓✗ | 4 |
Cylinder s1(5, 10); |
3370 |
✓✗ | 4 |
Cylinder s2(5, 10); |
3371 |
|||
3372 |
✓✗ | 2 |
Transform3f tf1; |
3373 |
✓✗ | 2 |
Transform3f tf2; |
3374 |
|||
3375 |
✓✗ | 2 |
Transform3f transform; |
3376 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
3377 |
|||
3378 |
// Vec3f point; |
||
3379 |
// FCL_REAL depth; |
||
3380 |
✓✗ | 2 |
Vec3f normal; |
3381 |
|||
3382 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
3383 |
✓✗✓✗ |
2 |
tf2 = Transform3f(); |
3384 |
// TODO: Need convention for normal when the centers of two objects are at |
||
3385 |
// same position. |
||
3386 |
2 |
SET_LINE; |
|
3387 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, NULL); |
3388 |
|||
3389 |
✓✗ | 2 |
tf1 = transform; |
3390 |
✓✗ | 2 |
tf2 = transform; |
3391 |
// TODO: Need convention for normal when the centers of two objects are at |
||
3392 |
// same position. |
||
3393 |
2 |
SET_LINE; |
|
3394 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, NULL); |
3395 |
|||
3396 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
3397 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(9.9, 0, 0)); |
3398 |
✓✗✓✗ ✓✗ |
2 |
normal << 1, 0, 0; |
3399 |
2 |
SET_LINE; |
|
3400 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal, false, |
3401 |
tol_gjk); |
||
3402 |
|||
3403 |
✓✗ | 2 |
tf1 = transform; |
3404 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(9.9, 0, 0)); |
3405 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(1, 0, 0); |
3406 |
2 |
SET_LINE; |
|
3407 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true); |
3408 |
2 |
SET_LINE; |
|
3409 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal, false, |
3410 |
tol_gjk); |
||
3411 |
|||
3412 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
3413 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(10, 0, 0)); |
3414 |
✓✗✓✗ ✓✗ |
2 |
normal << 1, 0, 0; |
3415 |
2 |
SET_LINE; |
|
3416 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal, false, |
3417 |
tol_gjk); |
||
3418 |
|||
3419 |
✓✗ | 2 |
tf1 = transform; |
3420 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(10.01, 0, 0)); |
3421 |
2 |
SET_LINE; |
|
3422 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, false); |
3423 |
2 |
} |
|
3424 |
|||
3425 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(shapeIntersectionGJK_conecone) { |
3426 |
✓✗ | 4 |
Cone s1(5, 10); |
3427 |
✓✗ | 4 |
Cone s2(5, 10); |
3428 |
|||
3429 |
✓✗ | 2 |
Transform3f tf1; |
3430 |
✓✗ | 2 |
Transform3f tf2; |
3431 |
|||
3432 |
✓✗ | 2 |
Transform3f transform; |
3433 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
3434 |
|||
3435 |
// Vec3f point; |
||
3436 |
// FCL_REAL depth; |
||
3437 |
✓✗ | 2 |
Vec3f normal; |
3438 |
|||
3439 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
3440 |
✓✗✓✗ |
2 |
tf2 = Transform3f(); |
3441 |
// TODO: Need convention for normal when the centers of two objects are at |
||
3442 |
// same position. |
||
3443 |
2 |
SET_LINE; |
|
3444 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, NULL); |
3445 |
|||
3446 |
✓✗ | 2 |
tf1 = transform; |
3447 |
✓✗ | 2 |
tf2 = transform; |
3448 |
// TODO: Need convention for normal when the centers of two objects are at |
||
3449 |
// same position. |
||
3450 |
2 |
SET_LINE; |
|
3451 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, NULL); |
3452 |
|||
3453 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
3454 |
// z=0 is a singular points. Two normals could be returned. |
||
3455 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(9.9, 0, 0.00001)); |
3456 |
✓✗ | 2 |
normal = Vec3f(2 * (s1.halfLength + s2.halfLength), 0, s1.radius + s2.radius) |
3457 |
✓✗✓✗ |
2 |
.normalized(); |
3458 |
2 |
SET_LINE; |
|
3459 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal, false, |
3460 |
tol_gjk); |
||
3461 |
|||
3462 |
✓✗✓✗ |
2 |
tf1 = transform * tf1; |
3463 |
✓✗✓✗ |
2 |
tf2 = transform * tf2; |
3464 |
✓✗✓✗ |
2 |
normal = transform.getRotation() * normal; |
3465 |
2 |
SET_LINE; |
|
3466 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal, false, |
3467 |
tol_gjk); |
||
3468 |
|||
3469 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
3470 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(10.1, 0, 0)); |
3471 |
2 |
SET_LINE; |
|
3472 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, false); |
3473 |
|||
3474 |
✓✗ | 2 |
tf1 = transform; |
3475 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(10.1, 0, 0)); |
3476 |
2 |
SET_LINE; |
|
3477 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, false); |
3478 |
|||
3479 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
3480 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 0, 9.9)); |
3481 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, 0, 1; |
3482 |
2 |
SET_LINE; |
|
3483 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal, false, |
3484 |
tol_gjk); |
||
3485 |
|||
3486 |
✓✗ | 2 |
tf1 = transform; |
3487 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 0, 9.9)); |
3488 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, 0, 1); |
3489 |
2 |
SET_LINE; |
|
3490 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal, false, |
3491 |
tol_gjk); |
||
3492 |
2 |
} |
|
3493 |
|||
3494 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(shapeIntersectionGJK_conecylinder) { |
3495 |
✓✗ | 4 |
Cylinder s1(5, 10); |
3496 |
✓✗ | 4 |
Cone s2(5, 10); |
3497 |
|||
3498 |
✓✗ | 2 |
Transform3f tf1; |
3499 |
✓✗ | 2 |
Transform3f tf2; |
3500 |
|||
3501 |
✓✗ | 2 |
Transform3f transform; |
3502 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
3503 |
|||
3504 |
// Vec3f point; |
||
3505 |
// FCL_REAL depth; |
||
3506 |
✓✗ | 2 |
Vec3f normal; |
3507 |
|||
3508 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
3509 |
✓✗✓✗ |
2 |
tf2 = Transform3f(); |
3510 |
// TODO: Need convention for normal when the centers of two objects are at |
||
3511 |
// same position. |
||
3512 |
2 |
SET_LINE; |
|
3513 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, NULL); |
3514 |
|||
3515 |
✓✗ | 2 |
tf1 = transform; |
3516 |
✓✗ | 2 |
tf2 = transform; |
3517 |
// TODO: Need convention for normal when the centers of two objects are at |
||
3518 |
// same position. |
||
3519 |
2 |
SET_LINE; |
|
3520 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, NULL); |
3521 |
|||
3522 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
3523 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(9.9, 0, 0)); |
3524 |
2 |
SET_LINE; |
|
3525 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, NULL); |
3526 |
|||
3527 |
✓✗ | 2 |
tf1 = transform; |
3528 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(9.9, 0, 0)); |
3529 |
2 |
SET_LINE; |
|
3530 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, NULL); |
3531 |
|||
3532 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
3533 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(10, 0, 0)); |
3534 |
2 |
SET_LINE; |
|
3535 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, NULL); |
3536 |
|||
3537 |
✓✗ | 2 |
tf1 = transform; |
3538 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(10, 0, 0)); |
3539 |
2 |
SET_LINE; |
|
3540 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, NULL); |
3541 |
|||
3542 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
3543 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 0, 9.9)); |
3544 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, 0, 1; |
3545 |
2 |
SET_LINE; |
|
3546 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal, false, |
3547 |
tol_gjk); |
||
3548 |
|||
3549 |
✓✗ | 2 |
tf1 = transform; |
3550 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 0, 9.9)); |
3551 |
✓✗✓✗ ✓✗ |
2 |
normal = transform.getRotation() * Vec3f(0, 0, 1); |
3552 |
2 |
SET_LINE; |
|
3553 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal, false, |
3554 |
tol_gjk); |
||
3555 |
|||
3556 |
✓✗✓✗ |
2 |
tf1 = Transform3f(); |
3557 |
✓✗✓✗ ✓✗ |
2 |
tf2 = Transform3f(Vec3f(0, 0, 10)); |
3558 |
✓✗✓✗ ✓✗ |
2 |
normal << 0, 0, 1; |
3559 |
2 |
SET_LINE; |
|
3560 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, true, NULL, NULL, &normal, false, |
3561 |
tol_gjk); |
||
3562 |
|||
3563 |
✓✗ | 2 |
tf1 = transform; |
3564 |
✓✗✓✗ ✓✗✓✗ |
2 |
tf2 = transform * Transform3f(Vec3f(0, 0, 10.1)); |
3565 |
2 |
SET_LINE; |
|
3566 |
✓✗ | 2 |
testShapeIntersection(s1, tf1, s2, tf2, false); |
3567 |
2 |
} |
|
3568 |
|||
3569 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(shapeIntersectionGJK_spheretriangle) { |
3570 |
✓✗ | 4 |
Sphere s(10); |
3571 |
✓✓✓✗ |
8 |
Vec3f t[3]; |
3572 |
✓✗✓✗ ✓✗ |
2 |
t[0] << 20, 0, 0; |
3573 |
✓✗✓✗ ✓✗ |
2 |
t[1] << -20, 0, 0; |
3574 |
✓✗✓✗ ✓✗ |
2 |
t[2] << 0, 20, 0; |
3575 |
|||
3576 |
✓✗ | 2 |
Transform3f transform; |
3577 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
3578 |
|||
3579 |
✓✗✓✗ |
2 |
Vec3f c1, c2; |
3580 |
FCL_REAL distance; |
||
3581 |
✓✗ | 2 |
Vec3f normal; |
3582 |
bool res; |
||
3583 |
|||
3584 |
res = |
||
3585 |
✓✗✓✗ |
2 |
solver2.shapeTriangleInteraction(s, Transform3f(), t[0], t[1], t[2], |
3586 |
✓✗ | 4 |
Transform3f(), distance, c1, c2, normal); |
3587 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3588 |
|||
3589 |
✓✗ | 2 |
res = solver2.shapeTriangleInteraction(s, transform, t[0], t[1], t[2], |
3590 |
transform, distance, c1, c2, normal); |
||
3591 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3592 |
|||
3593 |
✓✗✓✗ ✓✗ |
2 |
t[0] << 30, 0, 0; |
3594 |
✓✗✓✗ ✓✗ |
2 |
t[1] << 9.9, -20, 0; |
3595 |
✓✗✓✗ ✓✗ |
2 |
t[2] << 9.9, 20, 0; |
3596 |
res = |
||
3597 |
✓✗✓✗ |
2 |
solver2.shapeTriangleInteraction(s, Transform3f(), t[0], t[1], t[2], |
3598 |
✓✗ | 4 |
Transform3f(), distance, c1, c2, normal); |
3599 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3600 |
|||
3601 |
✓✗ | 2 |
res = solver2.shapeTriangleInteraction(s, transform, t[0], t[1], t[2], |
3602 |
transform, distance, c1, c2, normal); |
||
3603 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3604 |
|||
3605 |
res = |
||
3606 |
✓✗✓✗ |
2 |
solver2.shapeTriangleInteraction(s, Transform3f(), t[0], t[1], t[2], |
3607 |
✓✗ | 4 |
Transform3f(), distance, c1, c2, normal); |
3608 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3609 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(isEqual(normal, Vec3f(1, 0, 0), 1e-9)); |
3610 |
|||
3611 |
✓✗ | 2 |
res = solver2.shapeTriangleInteraction(s, transform, t[0], t[1], t[2], |
3612 |
transform, distance, c1, c2, normal); |
||
3613 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3614 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓ |
2 |
BOOST_CHECK(isEqual(normal, transform.getRotation() * Vec3f(1, 0, 0), 1e-9)); |
3615 |
2 |
} |
|
3616 |
|||
3617 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(shapeIntersectionGJK_halfspacetriangle) { |
3618 |
✓✗✓✗ |
4 |
Halfspace hs(Vec3f(1, 0, 0), 0); |
3619 |
✓✓✓✗ |
8 |
Vec3f t[3]; |
3620 |
✓✗✓✗ ✓✗ |
2 |
t[0] << 20, 0, 0; |
3621 |
✓✗✓✗ ✓✗ |
2 |
t[1] << -20, 0, 0; |
3622 |
✓✗✓✗ ✓✗ |
2 |
t[2] << 0, 20, 0; |
3623 |
|||
3624 |
✓✗ | 2 |
Transform3f transform; |
3625 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
3626 |
|||
3627 |
✓✗✓✗ |
2 |
Vec3f c1, c2; |
3628 |
FCL_REAL distance; |
||
3629 |
✓✗ | 2 |
Vec3f normal; |
3630 |
bool res; |
||
3631 |
|||
3632 |
res = |
||
3633 |
✓✗✓✗ |
2 |
solver2.shapeTriangleInteraction(hs, Transform3f(), t[0], t[1], t[2], |
3634 |
✓✗ | 4 |
Transform3f(), distance, c1, c2, normal); |
3635 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3636 |
|||
3637 |
✓✗ | 2 |
res = solver2.shapeTriangleInteraction(hs, transform, t[0], t[1], t[2], |
3638 |
transform, distance, c1, c2, normal); |
||
3639 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3640 |
|||
3641 |
✓✗✓✗ ✓✗ |
2 |
t[0] << 20, 0, 0; |
3642 |
✓✗✓✗ ✓✗ |
2 |
t[1] << 0, -20, 0; |
3643 |
✓✗✓✗ ✓✗ |
2 |
t[2] << 0, 20, 0; |
3644 |
res = |
||
3645 |
✓✗✓✗ |
2 |
solver2.shapeTriangleInteraction(hs, Transform3f(), t[0], t[1], t[2], |
3646 |
✓✗ | 4 |
Transform3f(), distance, c1, c2, normal); |
3647 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3648 |
|||
3649 |
✓✗ | 2 |
res = solver2.shapeTriangleInteraction(hs, transform, t[0], t[1], t[2], |
3650 |
transform, distance, c1, c2, normal); |
||
3651 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3652 |
|||
3653 |
res = |
||
3654 |
✓✗✓✗ |
2 |
solver2.shapeTriangleInteraction(hs, Transform3f(), t[0], t[1], t[2], |
3655 |
✓✗ | 4 |
Transform3f(), distance, c1, c2, normal); |
3656 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3657 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(isEqual(normal, Vec3f(1, 0, 0), 1e-9)); |
3658 |
|||
3659 |
✓✗ | 2 |
res = solver2.shapeTriangleInteraction(hs, transform, t[0], t[1], t[2], |
3660 |
transform, distance, c1, c2, normal); |
||
3661 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3662 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓ |
2 |
BOOST_CHECK(isEqual(normal, transform.getRotation() * Vec3f(1, 0, 0), 1e-9)); |
3663 |
2 |
} |
|
3664 |
|||
3665 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(shapeIntersectionGJK_planetriangle) { |
3666 |
✓✗✓✗ |
4 |
Plane hs(Vec3f(1, 0, 0), 0); |
3667 |
✓✓✓✗ |
8 |
Vec3f t[3]; |
3668 |
✓✗✓✗ ✓✗ |
2 |
t[0] << 20, 0, 0; |
3669 |
✓✗✓✗ ✓✗ |
2 |
t[1] << -20, 0, 0; |
3670 |
✓✗✓✗ ✓✗ |
2 |
t[2] << 0, 20, 0; |
3671 |
|||
3672 |
✓✗ | 2 |
Transform3f transform; |
3673 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
3674 |
|||
3675 |
✓✗✓✗ |
2 |
Vec3f c1, c2; |
3676 |
FCL_REAL distance; |
||
3677 |
✓✗ | 2 |
Vec3f normal; |
3678 |
bool res; |
||
3679 |
|||
3680 |
res = |
||
3681 |
✓✗✓✗ |
2 |
solver1.shapeTriangleInteraction(hs, Transform3f(), t[0], t[1], t[2], |
3682 |
✓✗ | 4 |
Transform3f(), distance, c1, c2, normal); |
3683 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3684 |
|||
3685 |
✓✗ | 2 |
res = solver1.shapeTriangleInteraction(hs, transform, t[0], t[1], t[2], |
3686 |
transform, distance, c1, c2, normal); |
||
3687 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3688 |
|||
3689 |
✓✗✓✗ ✓✗ |
2 |
t[0] << 20, 0, 0; |
3690 |
✓✗✓✗ ✓✗ |
2 |
t[1] << -0.1, -20, 0; |
3691 |
✓✗✓✗ ✓✗ |
2 |
t[2] << -0.1, 20, 0; |
3692 |
res = |
||
3693 |
✓✗✓✗ |
2 |
solver2.shapeTriangleInteraction(hs, Transform3f(), t[0], t[1], t[2], |
3694 |
✓✗ | 4 |
Transform3f(), distance, c1, c2, normal); |
3695 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3696 |
|||
3697 |
✓✗ | 2 |
res = solver2.shapeTriangleInteraction(hs, transform, t[0], t[1], t[2], |
3698 |
transform, distance, c1, c2, normal); |
||
3699 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3700 |
|||
3701 |
res = |
||
3702 |
✓✗✓✗ |
2 |
solver2.shapeTriangleInteraction(hs, Transform3f(), t[0], t[1], t[2], |
3703 |
✓✗ | 4 |
Transform3f(), distance, c1, c2, normal); |
3704 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3705 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(isEqual(normal, Vec3f(1, 0, 0), 1e-9)); |
3706 |
|||
3707 |
✓✗ | 2 |
res = solver2.shapeTriangleInteraction(hs, transform, t[0], t[1], t[2], |
3708 |
transform, distance, c1, c2, normal); |
||
3709 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3710 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓ |
2 |
BOOST_CHECK(isEqual(normal, transform.getRotation() * Vec3f(1, 0, 0), 1e-9)); |
3711 |
2 |
} |
|
3712 |
|||
3713 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(spheresphere) { |
3714 |
✓✗ | 4 |
Sphere s1(20); |
3715 |
✓✗ | 4 |
Sphere s2(10); |
3716 |
✓✗✓✗ ✓✗ |
2 |
Vec3f closest_p1, closest_p2, normal; |
3717 |
|||
3718 |
✓✗ | 2 |
Transform3f transform; |
3719 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
3720 |
|||
3721 |
bool res; |
||
3722 |
2 |
FCL_REAL dist = -1; |
|
3723 |
|||
3724 |
res = |
||
3725 |
✓✗✓✗ ✓✗✓✗ |
2 |
solver2.shapeDistance(s1, Transform3f(), s2, Transform3f(Vec3f(40, 0, 0)), |
3726 |
dist, closest_p1, closest_p2, normal); |
||
3727 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 10) < 0.001); |
3728 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3729 |
|||
3730 |
✓✗✓✗ |
2 |
res = solver2.shapeDistance(s1, Transform3f(), s2, |
3731 |
✓✗✓✗ |
4 |
Transform3f(Vec3f(30.1, 0, 0)), dist, closest_p1, |
3732 |
closest_p2, normal); |
||
3733 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 0.1) < 0.001); |
3734 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3735 |
|||
3736 |
✓✗✓✗ |
2 |
res = solver2.shapeDistance(s1, Transform3f(), s2, |
3737 |
✓✗✓✗ |
4 |
Transform3f(Vec3f(29.9, 0, 0)), dist, closest_p1, |
3738 |
closest_p2, normal); |
||
3739 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(dist <= 0); |
3740 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK_FALSE(res); |
3741 |
|||
3742 |
res = |
||
3743 |
✓✗✓✗ ✓✗✓✗ |
2 |
solver2.shapeDistance(s1, Transform3f(Vec3f(40, 0, 0)), s2, Transform3f(), |
3744 |
dist, closest_p1, closest_p2, normal); |
||
3745 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 10) < 0.001); |
3746 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3747 |
|||
3748 |
✓✗✓✗ ✓✗ |
2 |
res = solver2.shapeDistance(s1, Transform3f(Vec3f(30.1, 0, 0)), s2, |
3749 |
✓✗ | 4 |
Transform3f(), dist, closest_p1, closest_p2, |
3750 |
normal); |
||
3751 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 0.1) < 0.001); |
3752 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3753 |
|||
3754 |
✓✗✓✗ ✓✗ |
2 |
res = solver2.shapeDistance(s1, Transform3f(Vec3f(29.9, 0, 0)), s2, |
3755 |
✓✗ | 4 |
Transform3f(), dist, closest_p1, closest_p2, |
3756 |
normal); |
||
3757 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(dist <= 0); |
3758 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK_FALSE(res); |
3759 |
|||
3760 |
✓✗ | 2 |
res = solver2.shapeDistance(s1, transform, s2, |
3761 |
✓✗✓✗ ✓✗ |
4 |
transform * Transform3f(Vec3f(40, 0, 0)), dist, |
3762 |
closest_p1, closest_p2, normal); |
||
3763 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 10) < 0.001); |
3764 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3765 |
|||
3766 |
✓✗ | 2 |
res = solver2.shapeDistance(s1, transform, s2, |
3767 |
✓✗✓✗ ✓✗ |
4 |
transform * Transform3f(Vec3f(30.1, 0, 0)), dist, |
3768 |
closest_p1, closest_p2, normal); |
||
3769 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 0.1) < 0.001); |
3770 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3771 |
|||
3772 |
✓✗ | 2 |
res = solver2.shapeDistance(s1, transform, s2, |
3773 |
✓✗✓✗ ✓✗ |
4 |
transform * Transform3f(Vec3f(29.9, 0, 0)), dist, |
3774 |
closest_p1, closest_p2, normal); |
||
3775 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(dist <= 0); |
3776 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK_FALSE(res); |
3777 |
|||
3778 |
✓✗✓✗ ✓✗✓✗ |
2 |
res = solver2.shapeDistance(s1, transform * Transform3f(Vec3f(40, 0, 0)), s2, |
3779 |
transform, dist, closest_p1, closest_p2, normal); |
||
3780 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 10) < 0.001); |
3781 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3782 |
|||
3783 |
res = |
||
3784 |
✓✗✓✗ ✓✗✓✗ |
2 |
solver2.shapeDistance(s1, transform * Transform3f(Vec3f(30.1, 0, 0)), s2, |
3785 |
transform, dist, closest_p1, closest_p2, normal); |
||
3786 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 0.1) < 0.001); |
3787 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3788 |
|||
3789 |
res = |
||
3790 |
✓✗✓✗ ✓✗✓✗ |
2 |
solver2.shapeDistance(s1, transform * Transform3f(Vec3f(29.9, 0, 0)), s2, |
3791 |
transform, dist, closest_p1, closest_p2, normal); |
||
3792 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(dist <= 0); |
3793 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK_FALSE(res); |
3794 |
2 |
} |
|
3795 |
|||
3796 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(boxbox) { |
3797 |
✓✗ | 4 |
Box s1(20, 40, 50); |
3798 |
✓✗ | 4 |
Box s2(10, 10, 10); |
3799 |
✓✗✓✗ ✓✗ |
2 |
Vec3f closest_p1, closest_p2, normal; |
3800 |
|||
3801 |
✓✗ | 2 |
Transform3f transform; |
3802 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
3803 |
|||
3804 |
bool res; |
||
3805 |
FCL_REAL dist; |
||
3806 |
|||
3807 |
✓✗✓✗ ✓✗ |
2 |
res = solver2.shapeDistance(s1, Transform3f(), s2, Transform3f(), dist, |
3808 |
closest_p1, closest_p2, normal); |
||
3809 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(dist <= 0); |
3810 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK_FALSE(res); |
3811 |
|||
3812 |
✓✗ | 2 |
res = solver2.shapeDistance(s1, transform, s2, transform, dist, closest_p1, |
3813 |
closest_p2, normal); |
||
3814 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(dist <= 0); |
3815 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK_FALSE(res); |
3816 |
|||
3817 |
✓✗✓✗ |
2 |
res = solver2.shapeDistance(s1, Transform3f(), s2, |
3818 |
✓✗✓✗ |
4 |
Transform3f(Vec3f(15.1, 0, 0)), dist, closest_p1, |
3819 |
closest_p2, normal); |
||
3820 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 0.1) < 0.001); |
3821 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3822 |
|||
3823 |
✓✗ | 2 |
res = solver2.shapeDistance(s1, transform, s2, |
3824 |
✓✗✓✗ ✓✗ |
4 |
transform * Transform3f(Vec3f(15.1, 0, 0)), dist, |
3825 |
closest_p1, closest_p2, normal); |
||
3826 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 0.1) < 0.001); |
3827 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3828 |
|||
3829 |
res = |
||
3830 |
✓✗✓✗ ✓✗✓✗ |
2 |
solver2.shapeDistance(s1, Transform3f(), s2, Transform3f(Vec3f(20, 0, 0)), |
3831 |
dist, closest_p1, closest_p2, normal); |
||
3832 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 5) < 0.001); |
3833 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3834 |
|||
3835 |
✓✗ | 2 |
res = solver2.shapeDistance(s1, transform, s2, |
3836 |
✓✗✓✗ ✓✗ |
4 |
transform * Transform3f(Vec3f(20, 0, 0)), dist, |
3837 |
closest_p1, closest_p2, normal); |
||
3838 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 5) < 0.001); |
3839 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3840 |
2 |
} |
|
3841 |
|||
3842 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(boxsphere) { |
3843 |
✓✗ | 4 |
Sphere s1(20); |
3844 |
✓✗ | 4 |
Box s2(5, 5, 5); |
3845 |
✓✗✓✗ ✓✗ |
2 |
Vec3f closest_p1, closest_p2, normal; |
3846 |
|||
3847 |
✓✗ | 2 |
Transform3f transform; |
3848 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
3849 |
|||
3850 |
bool res; |
||
3851 |
FCL_REAL dist; |
||
3852 |
|||
3853 |
✓✗✓✗ ✓✗ |
2 |
res = solver2.shapeDistance(s1, Transform3f(), s2, Transform3f(), dist, |
3854 |
closest_p1, closest_p2, normal); |
||
3855 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(dist <= 0); |
3856 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK_FALSE(res); |
3857 |
|||
3858 |
✓✗ | 2 |
res = solver2.shapeDistance(s1, transform, s2, transform, dist, closest_p1, |
3859 |
closest_p2, normal); |
||
3860 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(dist <= 0); |
3861 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK_FALSE(res); |
3862 |
|||
3863 |
✓✗✓✗ |
2 |
res = solver2.shapeDistance(s1, Transform3f(), s2, |
3864 |
✓✗✓✗ |
4 |
Transform3f(Vec3f(22.6, 0, 0)), dist, closest_p1, |
3865 |
closest_p2, normal); |
||
3866 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 0.1) < 0.01); |
3867 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3868 |
|||
3869 |
✓✗ | 2 |
res = solver2.shapeDistance(s1, transform, s2, |
3870 |
✓✗✓✗ ✓✗ |
4 |
transform * Transform3f(Vec3f(22.6, 0, 0)), dist, |
3871 |
closest_p1, closest_p2, normal); |
||
3872 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 0.1) < 0.01); |
3873 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3874 |
|||
3875 |
res = |
||
3876 |
✓✗✓✗ ✓✗✓✗ |
2 |
solver2.shapeDistance(s1, Transform3f(), s2, Transform3f(Vec3f(40, 0, 0)), |
3877 |
dist, closest_p1, closest_p2, normal); |
||
3878 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 17.5) < 0.001); |
3879 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3880 |
|||
3881 |
✓✗ | 2 |
res = solver2.shapeDistance(s1, transform, s2, |
3882 |
✓✗✓✗ ✓✗ |
4 |
transform * Transform3f(Vec3f(40, 0, 0)), dist, |
3883 |
closest_p1, closest_p2, normal); |
||
3884 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 17.5) < 0.001); |
3885 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3886 |
2 |
} |
|
3887 |
|||
3888 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(cylindercylinder) { |
3889 |
✓✗ | 4 |
Cylinder s1(5, 10); |
3890 |
✓✗ | 4 |
Cylinder s2(5, 10); |
3891 |
✓✗✓✗ ✓✗ |
2 |
Vec3f closest_p1, closest_p2, normal; |
3892 |
|||
3893 |
✓✗ | 2 |
Transform3f transform; |
3894 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
3895 |
|||
3896 |
bool res; |
||
3897 |
FCL_REAL dist; |
||
3898 |
|||
3899 |
✓✗✓✗ ✓✗ |
2 |
res = solver2.shapeDistance(s1, Transform3f(), s2, Transform3f(), dist, |
3900 |
closest_p1, closest_p2, normal); |
||
3901 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(dist <= 0); |
3902 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK_FALSE(res); |
3903 |
|||
3904 |
✓✗ | 2 |
res = solver2.shapeDistance(s1, transform, s2, transform, dist, closest_p1, |
3905 |
closest_p2, normal); |
||
3906 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(dist <= 0); |
3907 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK_FALSE(res); |
3908 |
|||
3909 |
✓✗✓✗ |
2 |
res = solver2.shapeDistance(s1, Transform3f(), s2, |
3910 |
✓✗✓✗ |
4 |
Transform3f(Vec3f(10.1, 0, 0)), dist, closest_p1, |
3911 |
closest_p2, normal); |
||
3912 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 0.1) < 0.001); |
3913 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3914 |
|||
3915 |
✓✗ | 2 |
res = solver2.shapeDistance(s1, transform, s2, |
3916 |
✓✗✓✗ ✓✗ |
4 |
transform * Transform3f(Vec3f(10.1, 0, 0)), dist, |
3917 |
closest_p1, closest_p2, normal); |
||
3918 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 0.1) < 0.001); |
3919 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3920 |
|||
3921 |
res = |
||
3922 |
✓✗✓✗ ✓✗✓✗ |
2 |
solver2.shapeDistance(s1, Transform3f(), s2, Transform3f(Vec3f(40, 0, 0)), |
3923 |
dist, closest_p1, closest_p2, normal); |
||
3924 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 30) < 0.001); |
3925 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3926 |
|||
3927 |
✓✗ | 2 |
res = solver2.shapeDistance(s1, transform, s2, |
3928 |
✓✗✓✗ ✓✗ |
4 |
transform * Transform3f(Vec3f(40, 0, 0)), dist, |
3929 |
closest_p1, closest_p2, normal); |
||
3930 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 30) < 0.001); |
3931 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3932 |
2 |
} |
|
3933 |
|||
3934 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(conecone) { |
3935 |
✓✗ | 4 |
Cone s1(5, 10); |
3936 |
✓✗ | 4 |
Cone s2(5, 10); |
3937 |
✓✗✓✗ ✓✗ |
2 |
Vec3f closest_p1, closest_p2, normal; |
3938 |
|||
3939 |
✓✗ | 2 |
Transform3f transform; |
3940 |
✓✗ | 2 |
generateRandomTransform(extents, transform); |
3941 |
|||
3942 |
bool res; |
||
3943 |
FCL_REAL dist; |
||
3944 |
|||
3945 |
✓✗✓✗ ✓✗ |
2 |
res = solver2.shapeDistance(s1, Transform3f(), s2, Transform3f(), dist, |
3946 |
closest_p1, closest_p2, normal); |
||
3947 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(dist <= 0); |
3948 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK_FALSE(res); |
3949 |
|||
3950 |
✓✗ | 2 |
res = solver2.shapeDistance(s1, transform, s2, transform, dist, closest_p1, |
3951 |
closest_p2, normal); |
||
3952 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(dist <= 0); |
3953 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK_FALSE(res); |
3954 |
|||
3955 |
✓✗✓✗ |
2 |
res = solver2.shapeDistance(s1, Transform3f(), s2, |
3956 |
✓✗✓✗ |
4 |
Transform3f(Vec3f(10.1, 0, 0)), dist, closest_p1, |
3957 |
closest_p2, normal); |
||
3958 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 0.1) < 0.001); |
3959 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3960 |
|||
3961 |
✓✗ | 2 |
res = solver2.shapeDistance(s1, transform, s2, |
3962 |
✓✗✓✗ ✓✗ |
4 |
transform * Transform3f(Vec3f(10.1, 0, 0)), dist, |
3963 |
closest_p1, closest_p2, normal); |
||
3964 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 0.1) < 0.001); |
3965 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3966 |
|||
3967 |
res = |
||
3968 |
✓✗✓✗ ✓✗✓✗ |
2 |
solver2.shapeDistance(s1, Transform3f(), s2, Transform3f(Vec3f(0, 0, 40)), |
3969 |
dist, closest_p1, closest_p2, normal); |
||
3970 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 30) < 0.001); |
3971 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3972 |
|||
3973 |
✓✗ | 2 |
res = solver2.shapeDistance(s1, transform, s2, |
3974 |
✓✗✓✗ ✓✗ |
4 |
transform * Transform3f(Vec3f(0, 0, 40)), dist, |
3975 |
closest_p1, closest_p2, normal); |
||
3976 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(fabs(dist - 30) < 0.001); |
3977 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
2 |
BOOST_CHECK(res); |
3978 |
2 |
} |
|
3979 |
|||
3980 |
template <typename S1, typename S2> |
||
3981 |
1 |
void testReversibleShapeDistance(const S1& s1, const S2& s2, |
|
3982 |
FCL_REAL distance) { |
||
3983 |
✓✗✓✗ |
1 |
Transform3f tf1(Vec3f(-0.5 * distance, 0.0, 0.0)); |
3984 |
✓✗✓✗ |
1 |
Transform3f tf2(Vec3f(+0.5 * distance, 0.0, 0.0)); |
3985 |
|||
3986 |
FCL_REAL distA; |
||
3987 |
FCL_REAL distB; |
||
3988 |
✓✗ | 1 |
Vec3f p1A; |
3989 |
✓✗ | 1 |
Vec3f p1B; |
3990 |
✓✗ | 1 |
Vec3f p2A; |
3991 |
✓✗ | 1 |
Vec3f p2B; |
3992 |
✓✗✓✗ |
1 |
Vec3f normalA, normalB; |
3993 |
|||
3994 |
bool resA; |
||
3995 |
bool resB; |
||
3996 |
|||
3997 |
1 |
const double tol = 1e-6; |
|
3998 |
|||
3999 |
✓✗ | 1 |
resA = solver1.shapeDistance(s1, tf1, s2, tf2, distA, p1A, p2A, normalA); |
4000 |
✓✗ | 1 |
resB = solver1.shapeDistance(s2, tf2, s1, tf1, distB, p1B, p2B, normalB); |
4001 |
|||
4002 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
1 |
BOOST_CHECK(resA); |
4003 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
1 |
BOOST_CHECK(resB); |
4004 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
1 |
BOOST_CHECK_CLOSE(distA, distB, tol); // distances should be same |
4005 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓ |
1 |
BOOST_CHECK( |
4006 |
isEqual(p1A, p2B, tol)); // closest points should in reverse order |
||
4007 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓ |
1 |
BOOST_CHECK(isEqual(p2A, p1B, tol)); |
4008 |
|||
4009 |
✓✗ | 1 |
resA = solver2.shapeDistance(s1, tf1, s2, tf2, distA, p1A, p2A, normalA); |
4010 |
✓✗ | 1 |
resB = solver2.shapeDistance(s2, tf2, s1, tf1, distB, p1B, p2B, normalB); |
4011 |
|||
4012 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
1 |
BOOST_CHECK(resA); |
4013 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
1 |
BOOST_CHECK(resB); |
4014 |
✓✗✓✗ ✓✗✓✗ ✓✗✗✓ |
1 |
BOOST_CHECK_CLOSE(distA, distB, tol); |
4015 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓ |
1 |
BOOST_CHECK(isEqual(p1A, p2B, tol)); |
4016 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✗✓ |
1 |
BOOST_CHECK(isEqual(p2A, p1B, tol)); |
4017 |
1 |
} |
|
4018 |
|||
4019 |
✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗ |
4 |
BOOST_AUTO_TEST_CASE(reversibleShapeDistance_allshapes) { |
4020 |
// This test check whether a shape distance algorithm is called for the |
||
4021 |
// reverse case as well. For example, if FCL has sphere-capsule distance |
||
4022 |
// algorithm, then this algorithm should be called for capsule-sphere case. |
||
4023 |
|||
4024 |
// Prepare all kinds of primitive shapes (7) -- box, sphere, capsule, cone, |
||
4025 |
// cylinder, plane, halfspace |
||
4026 |
✓✗ | 4 |
Box box(10, 10, 10); |
4027 |
✓✗ | 4 |
Sphere sphere(5); |
4028 |
✓✗ | 4 |
Capsule capsule(5, 10); |
4029 |
✓✗ | 4 |
Cone cone(5, 10); |
4030 |
✓✗ | 4 |
Cylinder cylinder(5, 10); |
4031 |
✓✗✓✗ |
4 |
Plane plane(Vec3f(0, 0, 0), 0.0); |
4032 |
✓✗✓✗ |
4 |
Halfspace halfspace(Vec3f(0, 0, 0), 0.0); |
4033 |
|||
4034 |
// Use sufficiently long distance so that all the primitive shapes CANNOT |
||
4035 |
// intersect |
||
4036 |
2 |
FCL_REAL distance = 15.0; |
|
4037 |
|||
4038 |
// If new shape distance algorithm is added for two distinct primitive |
||
4039 |
// shapes, uncomment associated lines. For example, box-sphere intersection |
||
4040 |
// algorithm is added, then uncomment box-sphere. |
||
4041 |
|||
4042 |
// testReversibleShapeDistance(box, sphere, distance); |
||
4043 |
// testReversibleShapeDistance(box, capsule, distance); |
||
4044 |
// testReversibleShapeDistance(box, cone, distance); |
||
4045 |
// testReversibleShapeDistance(box, cylinder, distance); |
||
4046 |
// testReversibleShapeDistance(box, plane, distance); |
||
4047 |
// testReversibleShapeDistance(box, halfspace, distance); |
||
4048 |
|||
4049 |
2 |
SET_LINE; |
|
4050 |
✓✗ | 2 |
testReversibleShapeDistance(sphere, capsule, distance); |
4051 |
// testReversibleShapeDistance(sphere, cone, distance); |
||
4052 |
// testReversibleShapeDistance(sphere, cylinder, distance); |
||
4053 |
// testReversibleShapeDistance(sphere, plane, distance); |
||
4054 |
// testReversibleShapeDistance(sphere, halfspace, distance); |
||
4055 |
|||
4056 |
// testReversibleShapeDistance(capsule, cone, distance); |
||
4057 |
// testReversibleShapeDistance(capsule, cylinder, distance); |
||
4058 |
// testReversibleShapeDistance(capsule, plane, distance); |
||
4059 |
// testReversibleShapeDistance(capsule, halfspace, distance); |
||
4060 |
|||
4061 |
// testReversibleShapeDistance(cone, cylinder, distance); |
||
4062 |
// testReversibleShapeDistance(cone, plane, distance); |
||
4063 |
// testReversibleShapeDistance(cone, halfspace, distance); |
||
4064 |
|||
4065 |
// testReversibleShapeDistance(cylinder, plane, distance); |
||
4066 |
// testReversibleShapeDistance(cylinder, halfspace, distance); |
||
4067 |
|||
4068 |
// testReversibleShapeDistance(plane, halfspace, distance); |
||
4069 |
2 |
} |
| Generated by: GCOVR (Version 4.2) |