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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 "fcl_resources/config.h"
using namespace fcl;
template<typename BV>
bool collide_front_list_Test(const Transform3<typename BV::S>& tf1, const Transform3<typename BV::S>& tf2,
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,
bool refit_bottomup, bool verbose);
template<typename BV, typename TraversalNode>
bool collide_front_list_Test_Oriented(const Transform3<typename BV::S>& tf1, const Transform3<typename BV::S>& tf2,
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, bool verbose);
template<typename BV>
bool collide_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, bool verbose);
// TODO: randomly still have some runtime error
template <typename S>
void test_front_list()
{
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
aligned_vector<Transform3<S>> transforms2; // t1
S extents[] = {-3000, -3000, 0, 3000, 3000, 3000};
S delta_trans[] = {1, 1, 1};
#ifdef NDEBUG
std::size_t n = 10;
#else
std::size_t n = 1;
#endif
bool verbose = false;
test::generateRandomTransforms<S>(extents, delta_trans, 0.005 * 2 * 3.1415, transforms, transforms2, n);
bool res, res2;
for(std::size_t i = 0; i < transforms.size(); ++i)
{
res = collide_Test<AABB<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, verbose);
res2 = collide_front_list_Test<AABB<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, false, verbose);
EXPECT_TRUE(res == res2);
res = collide_Test<AABB<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, verbose);
res2 = collide_front_list_Test<AABB<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, false, verbose);
EXPECT_TRUE(res == res2);
res = collide_Test<AABB<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, verbose);
res2 = collide_front_list_Test<AABB<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, false, verbose);
EXPECT_TRUE(res == res2);
}
for(std::size_t i = 0; i < transforms.size(); ++i)
{
res = collide_Test<OBB<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, verbose);
res2 = collide_front_list_Test<OBB<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, false, verbose);
EXPECT_TRUE(res == res2);
res = collide_Test<OBB<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, verbose);
res2 = collide_front_list_Test<OBB<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, false, verbose);
EXPECT_TRUE(res == res2);
res = collide_Test<OBB<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, verbose);
res2 = collide_front_list_Test<OBB<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, false, verbose);
EXPECT_TRUE(res == res2);
}
for(std::size_t i = 0; i < transforms.size(); ++i)
{
// Disabled broken test lines. Please see #25.
// res = collide_Test<RSS<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, verbose);
// res2 = collide_front_list_Test<RSS<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, false, verbose);
// EXPECT_TRUE(res == res2);
res = collide_Test<RSS<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, verbose);
res2 = collide_front_list_Test<RSS<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, false, verbose);
EXPECT_TRUE(res == res2);
res = collide_Test<RSS<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, verbose);
res2 = collide_front_list_Test<RSS<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, false, verbose);
EXPECT_TRUE(res == res2);
}
for(std::size_t i = 0; i < transforms.size(); ++i)
{
res = collide_Test<KDOP<S, 16> >(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, verbose);
res2 = collide_front_list_Test<KDOP<S, 16> >(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, false, verbose);
EXPECT_TRUE(res == res2);
res = collide_Test<KDOP<S, 16> >(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, verbose);
res2 = collide_front_list_Test<KDOP<S, 16> >(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, false, verbose);
EXPECT_TRUE(res == res2);
res = collide_Test<KDOP<S, 16> >(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, verbose);
res2 = collide_front_list_Test<KDOP<S, 16> >(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, false, verbose);
EXPECT_TRUE(res == res2);
}
for(std::size_t i = 0; i < transforms.size(); ++i)
{
res = collide_Test<KDOP<S, 18> >(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, verbose);
res2 = collide_front_list_Test<KDOP<S, 18> >(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, false, verbose);
EXPECT_TRUE(res == res2);
res = collide_Test<KDOP<S, 18> >(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, verbose);
res2 = collide_front_list_Test<KDOP<S, 18> >(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, false, verbose);
EXPECT_TRUE(res == res2);
res = collide_Test<KDOP<S, 18> >(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, verbose);
res2 = collide_front_list_Test<KDOP<S, 18> >(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, false, verbose);
EXPECT_TRUE(res == res2);
}
for(std::size_t i = 0; i < transforms.size(); ++i)
{
res = collide_Test<KDOP<S, 24> >(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, verbose);
res2 = collide_front_list_Test<KDOP<S, 24> >(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, false, verbose);
EXPECT_TRUE(res == res2);
res = collide_Test<KDOP<S, 24> >(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, verbose);
res2 = collide_front_list_Test<KDOP<S, 24> >(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, false, verbose);
EXPECT_TRUE(res == res2);
res = collide_Test<KDOP<S, 24> >(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, verbose);
res2 = collide_front_list_Test<KDOP<S, 24> >(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, false, verbose);
EXPECT_TRUE(res == res2);
}
for(std::size_t i = 0; i < transforms.size(); ++i)
{
res = collide_Test<RSS<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, verbose);
res2 = collide_front_list_Test_Oriented<RSS<S>, detail::MeshCollisionTraversalNodeRSS<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, verbose);
EXPECT_TRUE(res == res2);
res = collide_Test<RSS<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, verbose);
res2 = collide_front_list_Test_Oriented<RSS<S>, detail::MeshCollisionTraversalNodeRSS<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, verbose);
EXPECT_TRUE(res == res2);
res = collide_Test<RSS<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, verbose);
res2 = collide_front_list_Test_Oriented<RSS<S>, detail::MeshCollisionTraversalNodeRSS<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, verbose);
EXPECT_TRUE(res == res2);
}
for(std::size_t i = 0; i < transforms.size(); ++i)
{
res = collide_Test<OBB<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, verbose);
res2 = collide_front_list_Test_Oriented<OBB<S>, detail::MeshCollisionTraversalNodeOBB<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, verbose);
EXPECT_TRUE(res == res2);
res = collide_Test<OBB<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, verbose);
res2 = collide_front_list_Test_Oriented<OBB<S>, detail::MeshCollisionTraversalNodeOBB<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, verbose);
EXPECT_TRUE(res == res2);
res = collide_Test<OBB<S>>(transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, verbose);
res2 = collide_front_list_Test_Oriented<OBB<S>, detail::MeshCollisionTraversalNodeOBB<S>>(transforms[i], transforms2[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, verbose);
EXPECT_TRUE(res == res2);
}
}
GTEST_TEST(FCL_FRONT_LIST, front_list)
{
// test_front_list<float>();
test_front_list<double>();
}
template<typename BV>
bool collide_front_list_Test(const Transform3<typename BV::S>& tf1, const Transform3<typename BV::S>& tf2,
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,
bool refit_bottomup, 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));
detail::BVHFrontList front_list;
std::vector<Vector3<S>> vertices1_new(vertices1.size());
for(std::size_t i = 0; i < vertices1_new.size(); ++i)
{
vertices1_new[i] = tf1 * vertices1[i];
}
m1.beginModel();
m1.addSubModel(vertices1_new, triangles1);
m1.endModel();
m2.beginModel();
m2.addSubModel(vertices2, triangles2);
m2.endModel();
Transform3<S> pose1 = Transform3<S>::Identity();
Transform3<S> pose2 = Transform3<S>::Identity();
CollisionResult<S> local_result;
detail::MeshCollisionTraversalNode<BV> node;
if(!detail::initialize<BV>(node, m1, pose1, m2, pose2,
CollisionRequest<S>(std::numeric_limits<int>::max(), false), local_result))
std::cout << "initialize error" << std::endl;
node.enable_statistics = verbose;
collide(&node, &front_list);
if(verbose) std::cout << "front list size " << front_list.size() << std::endl;
// update the mesh
for(std::size_t i = 0; i < vertices1.size(); ++i)
{
vertices1_new[i] = tf2 * vertices1[i];
}
m1.beginReplaceModel();
m1.replaceSubModel(vertices1_new);
m1.endReplaceModel(true, refit_bottomup);
m2.beginReplaceModel();
m2.replaceSubModel(vertices2);
m2.endReplaceModel(true, refit_bottomup);
local_result.clear();
collide(&node, &front_list);
if(local_result.numContacts() > 0)
return true;
else
return false;
}
template<typename BV, typename TraversalNode>
bool collide_front_list_Test_Oriented(const Transform3<typename BV::S>& tf1, const Transform3<typename BV::S>& tf2,
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, 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));
detail::BVHFrontList front_list;
m1.beginModel();
m1.addSubModel(vertices1, triangles1);
m1.endModel();
m2.beginModel();
m2.addSubModel(vertices2, triangles2);
m2.endModel();
Transform3<S> pose1(tf1);
Transform3<S> pose2 = Transform3<S>::Identity();
CollisionResult<S> local_result;
TraversalNode node;
if(!initialize(node, (const BVHModel<BV>&)m1, pose1, (const BVHModel<BV>&)m2, pose2,
CollisionRequest<S>(std::numeric_limits<int>::max(), false), local_result))
std::cout << "initialize error" << std::endl;
node.enable_statistics = verbose;
collide(&node, &front_list);
if(verbose) std::cout << "front list size " << front_list.size() << std::endl;
// update the mesh
pose1 = tf2;
if(!initialize(node, (const BVHModel<BV>&)m1, pose1, (const BVHModel<BV>&)m2, pose2, CollisionRequest<S>(), local_result))
std::cout << "initialize error" << std::endl;
local_result.clear();
collide(&node, &front_list);
if(local_result.numContacts() > 0)
return true;
else
return false;
}
template<typename BV>
bool collide_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, 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();
CollisionResult<S> local_result;
detail::MeshCollisionTraversalNode<BV> node;
if(!detail::initialize<BV>(node, m1, pose1, m2, pose2,
CollisionRequest<S>(std::numeric_limits<int>::max(), false), 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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