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|
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2011-2014, Willow Garage, Inc.
* Copyright (c) 2014-2016, Open Source Robotics Foundation
* 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 Open Source Robotics Foundation 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 Jia Pan */
#include <gtest/gtest.h>
#include "fcl/narrowphase/detail/traversal/collision_node.h"
#include "test_fcl_utility.h"
#include "eigen_matrix_compare.h"
#include "fcl_resources/config.h"
// TODO(SeanCurtis-TRI): A file called `test_fcl_distance.cpp` should *not* have
// collision tests.
using namespace fcl;
bool verbose = false;
template <typename S>
S DELTA() { return 0.001; }
template<typename BV>
void distance_Test(const Transform3<typename BV::S>& tf,
const std::vector<Vector3<typename BV::S>>& vertices1, const std::vector<Triangle>& triangles1,
const std::vector<Vector3<typename BV::S>>& vertices2, const std::vector<Triangle>& triangles2, detail::SplitMethodType split_method,
int qsize,
test::DistanceRes<typename BV::S>& distance_result,
bool verbose = true);
template <typename S>
bool collide_Test_OBB(const Transform3<S>& tf,
const std::vector<Vector3<S>>& vertices1, const std::vector<Triangle>& triangles1,
const std::vector<Vector3<S>>& vertices2, const std::vector<Triangle>& triangles2, detail::SplitMethodType split_method, bool verbose);
template<typename BV, typename TraversalNode>
void distance_Test_Oriented(const Transform3<typename BV::S>& tf,
const std::vector<Vector3<typename BV::S>>& vertices1, const std::vector<Triangle>& triangles1,
const std::vector<Vector3<typename BV::S>>& vertices2, const std::vector<Triangle>& triangles2, detail::SplitMethodType split_method,
int qsize,
test::DistanceRes<typename BV::S>& distance_result,
bool verbose = true);
template <typename S>
bool nearlyEqual(const Vector3<S>& a, const Vector3<S>& b)
{
if(fabs(a[0] - b[0]) > DELTA<S>()) return false;
if(fabs(a[1] - b[1]) > DELTA<S>()) return false;
if(fabs(a[2] - b[2]) > DELTA<S>()) return false;
return true;
}
template <typename S>
void test_mesh_distance()
{
std::vector<Vector3<S>> p1, p2;
std::vector<Triangle> t1, t2;
test::loadOBJFile(TEST_RESOURCES_DIR"/env.obj", p1, t1);
test::loadOBJFile(TEST_RESOURCES_DIR"/rob.obj", p2, t2);
aligned_vector<Transform3<S>> transforms; // t0
S extents[] = {-3000, -3000, 0, 3000, 3000, 3000};
#ifdef NDEBUG
std::size_t n = 10;
#else
std::size_t n = 1;
#endif
test::generateRandomTransforms(extents, transforms, n);
double dis_time = 0;
double col_time = 0;
test::DistanceRes<S> res, res_now;
for(std::size_t i = 0; i < transforms.size(); ++i)
{
test::Timer timer_col;
timer_col.start();
collide_Test_OBB(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, verbose);
timer_col.stop();
col_time += timer_col.getElapsedTimeInSec();
test::Timer timer_dist;
timer_dist.start();
distance_Test_Oriented<RSS<S>, detail::MeshDistanceTraversalNodeRSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, 2, res, verbose);
timer_dist.stop();
dis_time += timer_dist.getElapsedTimeInSec();
distance_Test_Oriented<RSS<S>, detail::MeshDistanceTraversalNodeRSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, 2, res_now, verbose);
EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
distance_Test_Oriented<RSS<S>, detail::MeshDistanceTraversalNodeRSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, 2, res_now, verbose);
EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
distance_Test_Oriented<RSS<S>, detail::MeshDistanceTraversalNodeRSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, 20, res_now, verbose);
EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
distance_Test_Oriented<RSS<S>, detail::MeshDistanceTraversalNodeRSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, 20, res_now, verbose);
EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
distance_Test_Oriented<RSS<S>, detail::MeshDistanceTraversalNodeRSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, 20, res_now, verbose);
EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
distance_Test_Oriented<kIOS<S>, detail::MeshDistanceTraversalNodekIOS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, 2, res_now, verbose);
EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
distance_Test_Oriented<kIOS<S>, detail::MeshDistanceTraversalNodekIOS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, 2, res_now, verbose);
EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
distance_Test_Oriented<kIOS<S>, detail::MeshDistanceTraversalNodekIOS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, 2, res_now, verbose);
EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
distance_Test_Oriented<kIOS<S>, detail::MeshDistanceTraversalNodekIOS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, 20, res_now, verbose);
EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
distance_Test_Oriented<kIOS<S>, detail::MeshDistanceTraversalNodekIOS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, 20, res_now, verbose);
EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
distance_Test_Oriented<kIOS<S>, detail::MeshDistanceTraversalNodekIOS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, 20, res_now, verbose);
EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
distance_Test_Oriented<OBBRSS<S>, detail::MeshDistanceTraversalNodeOBBRSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, 2, res_now, verbose);
EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
distance_Test_Oriented<OBBRSS<S>, detail::MeshDistanceTraversalNodeOBBRSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, 2, res_now, verbose);
EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
distance_Test_Oriented<OBBRSS<S>, detail::MeshDistanceTraversalNodeOBBRSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, 2, res_now, verbose);
EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
distance_Test_Oriented<OBBRSS<S>, detail::MeshDistanceTraversalNodeOBBRSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, 20, res_now, verbose);
EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
distance_Test_Oriented<OBBRSS<S>, detail::MeshDistanceTraversalNodeOBBRSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, 20, res_now, verbose);
EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
distance_Test_Oriented<OBBRSS<S>, detail::MeshDistanceTraversalNodeOBBRSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, 20, res_now, verbose);
EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
distance_Test<RSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, 2, res_now, verbose);
EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
distance_Test<RSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, 2, res_now, verbose);
EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
distance_Test<RSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, 2, res_now, verbose);
EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
distance_Test<RSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, 20, res_now, verbose);
EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
distance_Test<RSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, 20, res_now, verbose);
EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
distance_Test<RSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, 20, res_now, verbose);
EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
distance_Test<kIOS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, 2, res_now, verbose);
EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
distance_Test<kIOS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, 2, res_now, verbose);
EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
distance_Test<kIOS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, 2, res_now, verbose);
EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
distance_Test<kIOS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, 20, res_now, verbose);
EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
distance_Test<kIOS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, 20, res_now, verbose);
EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
distance_Test<kIOS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, 20, res_now, verbose);
EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
distance_Test<OBBRSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, 2, res_now, verbose);
EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
distance_Test<OBBRSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, 2, res_now, verbose);
EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
distance_Test<OBBRSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, 2, res_now, verbose);
EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
distance_Test<OBBRSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, 20, res_now, verbose);
EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
distance_Test<OBBRSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, 20, res_now, verbose);
EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
distance_Test<OBBRSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, 20, res_now, verbose);
EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
}
std::cout << "distance timing: " << dis_time << " sec" << std::endl;
std::cout << "collision timing: " << col_time << " sec" << std::endl;
}
GTEST_TEST(FCL_DISTANCE, mesh_distance)
{
// test_mesh_distance<float>();
test_mesh_distance<double>();
}
template <typename S>
void NearestPointFromDegenerateSimplex() {
// Tests a historical bug. In certain configurations, the distance query
// would terminate with a degenerate 3-simplex; the triangle was actually a
// line segment. As a result, nearest points were populated with NaN values.
// See https://github.com/flexible-collision-library/fcl/issues/293 for
// more discussion.
// This test is only relevant if box-box distance is computed via GJK. We
// intentionally short-circuit the mechanism for dispatching custom methods
// to guarantee GJK is evaluated on these two boxes.
DistanceResult<S> result;
DistanceRequest<S> request;
// These values were extracted from a real-world scenario that produced NaNs.
std::shared_ptr<CollisionGeometry<S>> box_geometry_1(
new Box<S>(2.750000, 6.000000, 0.050000));
std::shared_ptr<CollisionGeometry<S>> box_geometry_2(
new Box<S>(0.424000, 0.150000, 0.168600));
CollisionObject<S> box_object_1(
box_geometry_1, Eigen::Quaterniond(1, 0, 0, 0).matrix(),
Eigen::Vector3d(1.625000, 0.000000, 0.500000));
CollisionObject<S> box_object_2(
box_geometry_2,
Eigen::Quaterniond(0.672811, 0.340674, 0.155066, 0.638138)
.normalized()
.matrix(),
Eigen::Vector3d(0.192074, -0.277870, 0.273546));
// Direct invocation.
// NOTE: This code is basically lifted from ShapeDistanceLibccdImpl::run() in
// gjk_solver_libbd-inl.h.
Box<S>* box1 = static_cast<Box<S>*>(box_geometry_1.get());
Box<S>* box2 = static_cast<Box<S>*>(box_geometry_2.get());
detail::GJKSolver_libccd<S> solver;
void* o1 = detail::GJKInitializer<S, Box<S>>::createGJKObject(
*box1, box_object_1.getTransform());
void* o2 = detail::GJKInitializer<S, Box<S>>::createGJKObject(
*box2, box_object_2.getTransform());
detail::GJKDistance(
o1, detail::GJKInitializer<S, Box<S>>::getSupportFunction(), o2,
detail::GJKInitializer<S, Box<S>>::getSupportFunction(),
solver.max_distance_iterations, request.distance_tolerance,
&result.min_distance, &result.nearest_points[0],
&result.nearest_points[1]);
detail::GJKInitializer<S, Box<S>>::deleteGJKObject(o1);
detail::GJKInitializer<S, Box<S>>::deleteGJKObject(o2);
// These hard-coded values have been previously computed and visually
// inspected and considered to be the ground truth for this very specific
// test configuration.
S expected_dist{0.053516162824549};
// The "nearest" points (N1 and N2) measured and expressed in box 1's and
// box 2's frames (B1 and B2, respectively).
const Vector3<S> expected_p_B1N1{-1.375, -0.098881502700918666,
-0.025000000000000022};
const Vector3<S> expected_p_B2N2{0.21199965773384655, 0.074999692703297122,
0.084299993303443954};
// The nearest points in the world frame.
const Vector3<S> expected_p_WN1 =
box_object_1.getTransform() * expected_p_B1N1;
const Vector3<S> expected_p_WN2 =
box_object_2.getTransform() * expected_p_B2N2;
EXPECT_TRUE(CompareMatrices(result.nearest_points[0], expected_p_WN1,
DELTA<S>(), MatrixCompareType::absolute));
EXPECT_TRUE(CompareMatrices(result.nearest_points[1], expected_p_WN2,
DELTA<S>(), MatrixCompareType::absolute));
EXPECT_NEAR(expected_dist, result.min_distance,
constants<ccd_real_t>::eps_78());
}
GTEST_TEST(FCL_DISTANCE, NearestPointFromDegenerateSimplex) {
NearestPointFromDegenerateSimplex<double>();
}
template<typename BV, typename TraversalNode>
void distance_Test_Oriented(const Transform3<typename BV::S>& tf,
const std::vector<Vector3<typename BV::S>>& vertices1, const std::vector<Triangle>& triangles1,
const std::vector<Vector3<typename BV::S>>& vertices2, const std::vector<Triangle>& triangles2, detail::SplitMethodType split_method,
int qsize,
test::DistanceRes<typename BV::S>& distance_result,
bool verbose)
{
using S = typename BV::S;
BVHModel<BV> m1;
BVHModel<BV> m2;
m1.bv_splitter.reset(new detail::BVSplitter<BV>(split_method));
m2.bv_splitter.reset(new detail::BVSplitter<BV>(split_method));
m1.beginModel();
m1.addSubModel(vertices1, triangles1);
m1.endModel();
m2.beginModel();
m2.addSubModel(vertices2, triangles2);
m2.endModel();
DistanceResult<S> local_result;
TraversalNode node;
if(!initialize(node, (const BVHModel<BV>&)m1, tf, (const BVHModel<BV>&)m2, Transform3<S>::Identity(), DistanceRequest<S>(true), local_result))
std::cout << "initialize error" << std::endl;
node.enable_statistics = verbose;
distance(&node, nullptr, qsize);
// points are in local coordinate, to global coordinate
Vector3<S> p1 = local_result.nearest_points[0];
Vector3<S> p2 = local_result.nearest_points[1];
distance_result.distance = local_result.min_distance;
distance_result.p1 = p1;
distance_result.p2 = p2;
if(verbose)
{
std::cout << "distance " << local_result.min_distance << std::endl;
std::cout << p1[0] << " " << p1[1] << " " << p1[2] << std::endl;
std::cout << p2[0] << " " << p2[1] << " " << p2[2] << std::endl;
std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
}
}
template<typename BV>
void distance_Test(const Transform3<typename BV::S>& tf,
const std::vector<Vector3<typename BV::S>>& vertices1, const std::vector<Triangle>& triangles1,
const std::vector<Vector3<typename BV::S>>& vertices2, const std::vector<Triangle>& triangles2, detail::SplitMethodType split_method,
int qsize,
test::DistanceRes<typename BV::S>& distance_result,
bool verbose)
{
using S = typename BV::S;
BVHModel<BV> m1;
BVHModel<BV> m2;
m1.bv_splitter.reset(new detail::BVSplitter<BV>(split_method));
m2.bv_splitter.reset(new detail::BVSplitter<BV>(split_method));
m1.beginModel();
m1.addSubModel(vertices1, triangles1);
m1.endModel();
m2.beginModel();
m2.addSubModel(vertices2, triangles2);
m2.endModel();
Transform3<S> pose1(tf);
Transform3<S> pose2 = Transform3<S>::Identity();
DistanceResult<S> local_result;
detail::MeshDistanceTraversalNode<BV> node;
if(!detail::initialize<BV>(node, m1, pose1, m2, pose2, DistanceRequest<S>(true), local_result))
std::cout << "initialize error" << std::endl;
node.enable_statistics = verbose;
distance(&node, nullptr, qsize);
distance_result.distance = local_result.min_distance;
distance_result.p1 = local_result.nearest_points[0];
distance_result.p2 = local_result.nearest_points[1];
if(verbose)
{
std::cout << "distance " << local_result.min_distance << std::endl;
std::cout << local_result.nearest_points[0][0] << " " << local_result.nearest_points[0][1] << " " << local_result.nearest_points[0][2] << std::endl;
std::cout << local_result.nearest_points[1][0] << " " << local_result.nearest_points[1][1] << " " << local_result.nearest_points[1][2] << std::endl;
std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
}
}
template <typename S>
bool collide_Test_OBB(const Transform3<S>& tf,
const std::vector<Vector3<S>>& vertices1, const std::vector<Triangle>& triangles1,
const std::vector<Vector3<S>>& vertices2, const std::vector<Triangle>& triangles2, detail::SplitMethodType split_method, bool verbose)
{
BVHModel<OBB<S>> m1;
BVHModel<OBB<S>> m2;
m1.bv_splitter.reset(new detail::BVSplitter<OBB<S>>(split_method));
m2.bv_splitter.reset(new detail::BVSplitter<OBB<S>>(split_method));
m1.beginModel();
m1.addSubModel(vertices1, triangles1);
m1.endModel();
m2.beginModel();
m2.addSubModel(vertices2, triangles2);
m2.endModel();
CollisionResult<S> local_result;
detail::MeshCollisionTraversalNodeOBB<S> node;
if(!detail::initialize(node, (const BVHModel<OBB<S>>&)m1, tf, (const BVHModel<OBB<S>>&)m2, Transform3<S>::Identity(),
CollisionRequest<S>(), local_result))
std::cout << "initialize error" << std::endl;
node.enable_statistics = verbose;
collide(&node);
if(local_result.numContacts() > 0)
return true;
else
return false;
}
//==============================================================================
int main(int argc, char* argv[])
{
::testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}
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