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/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2021. Toyota Research Institute
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of CNRS-LAAS and AIST nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
/** @author Sean Curtis (sean@tri.global) (2021) */
// Tests the custom sphere-box tests: distance and collision.
#include "fcl/narrowphase/detail/collision_func_matrix.h"
#include <array>
#include <gtest/gtest.h>
#include "fcl/geometry/collision_geometry.h"
#include "fcl/narrowphase/detail/gjk_solver_libccd.h"
#include "fcl/narrowphase/detail/gjk_solver_indep.h"
namespace fcl {
#define NODE_CASE(node) case node: \
out << #node; \
break;
std::ostream& operator<<(std::ostream& out, const NODE_TYPE& node) {
switch (node) {
NODE_CASE(BV_UNKNOWN)
NODE_CASE(BV_AABB)
NODE_CASE(BV_OBB)
NODE_CASE(BV_RSS)
NODE_CASE(BV_kIOS)
NODE_CASE(BV_OBBRSS)
NODE_CASE(BV_KDOP16)
NODE_CASE(BV_KDOP18)
NODE_CASE(BV_KDOP24)
NODE_CASE(GEOM_BOX)
NODE_CASE(GEOM_SPHERE)
NODE_CASE(GEOM_ELLIPSOID)
NODE_CASE(GEOM_CAPSULE)
NODE_CASE(GEOM_CONE)
NODE_CASE(GEOM_CYLINDER)
NODE_CASE(GEOM_CONVEX)
NODE_CASE(GEOM_PLANE)
NODE_CASE(GEOM_HALFSPACE)
NODE_CASE(GEOM_TRIANGLE)
NODE_CASE(GEOM_OCTREE)
NODE_CASE(NODE_COUNT)
}
return out;
}
#undef NODE_CASE
namespace detail {
namespace {
using std::array;
/* The collision function matrix defines the function that can be used to
evaluate collision between two CollisionGeometry instances based on their
node type. In NODE_TYPE, there are nine primitive types, eight BV types, and
three special values (see below). We want to confirm the table satisfies the
following invariants:
1 There's a function for all primitive pairs, in both orderings.
2 There's a function for each (BV, geometry) combination (but not
(geometry, BV)).
3 There's a function for each BV type with its *own* type.
4 If octomap is available, there should be functions between GEOM_OCTREE
and every geometry type (in both orderings), with itself, and with each
BV type (in both orderings).
Primitive geometries: GEOM_BOX, GEOM_SPHERE, GEOM_ELLIPSOID, GEOM_CAPSULE,
GEOM_CONE, GEOM_CYLINDER, GEOM_CONVEX, GEOM_PLANE,
GEOM_HALFSPACE
BV types: BV_AABB, BV_OBB, BV_RSS, BV_kIOS, BV_OBBRSS, BV_KDOP16, BV_KDOP18,
BV_KDOP24
Special: GEOM_TRIANGLE, GEOM_OCTREE, NODE_COUNT, BV_UNKNOWN
NODE_COUNT is merely a convenient symbol for reporting the number of enumerated
values. BV_UNKNOWN and GEOM_TRIANGLE are not part of the function matrix. */
template <typename Solver>
void ConfirmSupportedGeometryForSolver() {
const array<NODE_TYPE, 9> geoms{GEOM_BOX, GEOM_SPHERE, GEOM_ELLIPSOID,
GEOM_CAPSULE, GEOM_CONE, GEOM_CYLINDER,
GEOM_CONVEX, GEOM_PLANE, GEOM_HALFSPACE};
const array<NODE_TYPE, 8> bvs{BV_AABB, BV_OBB, BV_RSS, BV_kIOS, BV_OBBRSS,
BV_KDOP16, BV_KDOP18, BV_KDOP24};
const CollisionFunctionMatrix<Solver> matrix_struct;
const auto& matrix = matrix_struct.collision_matrix;
// 1) Confirm a function between geom_A -> geom_B for all geometries.
for (const NODE_TYPE& g1 : geoms) {
for (const NODE_TYPE& g2 : geoms) {
EXPECT_NE(matrix[g1][g2], nullptr) << "(" << g1 << ", " << g2 << ")";
}
}
// 2) and 3) There's a function for BV -> geometry and BV -> self.
for (const NODE_TYPE& bv : bvs) {
EXPECT_NE(matrix[bv][bv], nullptr) << "(" << bv << ", " << bv << ")";
for (const NODE_TYPE& g : geoms) {
EXPECT_NE(matrix[bv][g], nullptr) << "(" << bv << ", " << g << ")";
}
}
#if FCL_HAVE_OCTOMAP
// 4) Octomap has functions.
const NODE_TYPE oct = GEOM_OCTREE;
EXPECT_NE(matrix[oct][oct], nullptr) << "(" << oct << ", " << oct << ")";
for (const NODE_TYPE& g: geoms) {
EXPECT_NE(matrix[oct][g], nullptr) << "(" << oct << ", " << g << ")";
EXPECT_NE(matrix[g][oct], nullptr) << "(" << g << ", " << oct << ")";
}
for (const NODE_TYPE& bv: bvs) {
EXPECT_NE(matrix[oct][bv], nullptr) << "(" << oct << ", " << bv << ")";
EXPECT_NE(matrix[bv][oct], nullptr) << "(" << bv << ", " << oct << ")";
}
#endif
}
GTEST_TEST(CollisionFuncMatrix, LibCccdSolverSupport) {
ConfirmSupportedGeometryForSolver<GJKSolver_libccd<double>>();
}
GTEST_TEST(CollisionFuncMatrix, IndepSolverSupport) {
ConfirmSupportedGeometryForSolver<GJKSolver_indep<double>>();
}
} // namespace
} // namespace detail
} // namespace fcl
//==============================================================================
int main(int argc, char *argv[]) {
::testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}
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