test_fcl_collision.cpp

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/** \author Jia Pan */

#define BOOST_TEST_MODULE "FCL_COLLISION"
#include <boost/test/unit_test.hpp>

#include "fcl/traversal/traversal_node_bvhs.h"
#include "fcl/traversal/traversal_node_setup.h"
#include "fcl/collision_node.h"
#include "fcl/collision.h"
#include "fcl/BV/BV.h"
#include "fcl/shape/geometric_shapes.h"
#include "fcl/narrowphase/narrowphase.h"
#include "test_fcl_utility.h"
#include "fcl_resources/config.h"
#include <boost/filesystem.hpp>

using namespace fcl;

template<typename BV>
bool collide_Test(const Transform3f& tf,
                  const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
                  const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method, bool verbose = true);

template<typename BV>
bool collide_Test2(const Transform3f& tf,
                   const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
                   const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method, bool verbose = true);

template<typename BV, typename TraversalNode>
bool collide_Test_Oriented(const Transform3f& tf,
                           const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
                           const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method, bool verbose = true);


template<typename BV>
bool test_collide_func(const Transform3f& tf,
                       const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
                       const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method);

int num_max_contacts = std::numeric_limits<int>::max();
bool enable_contact = true;

std::vector<Contact> global_pairs;
std::vector<Contact> global_pairs_now;

BOOST_AUTO_TEST_CASE(OBB_Box_test)
{
  FCL_REAL r_extents[] = {-1000, -1000, -1000, 1000, 1000, 1000};
  std::vector<Transform3f> rotate_transform;
  generateRandomTransforms(r_extents, rotate_transform, 1);
  
  AABB aabb1;
  aabb1.min_ = Vec3f(-600, -600, -600);
  aabb1.max_ = Vec3f(600, 600, 600);

  OBB obb1;
  convertBV(aabb1, rotate_transform[0], obb1);
  Box box1;
  Transform3f box1_tf;
  constructBox(aabb1, rotate_transform[0], box1, box1_tf);

  FCL_REAL extents[] = {-1000, -1000, -1000, 1000, 1000, 1000};
  std::size_t n = 1000;

  std::vector<Transform3f> transforms;
  generateRandomTransforms(extents, transforms, n);

  for(std::size_t i = 0; i < transforms.size(); ++i)
  {
    AABB aabb;
    aabb.min_ = aabb1.min_ * 0.5;
    aabb.max_ = aabb1.max_ * 0.5;    

    OBB obb2;
    convertBV(aabb, transforms[i], obb2);
    
    Box box2;
    Transform3f box2_tf;
    constructBox(aabb, transforms[i], box2, box2_tf);

    GJKSolver_libccd solver;

    bool overlap_obb = obb1.overlap(obb2);
    bool overlap_box = solver.shapeIntersect(box1, box1_tf, box2, box2_tf, NULL, NULL, NULL);
    
    BOOST_CHECK(overlap_obb == overlap_box);
  }
}

BOOST_AUTO_TEST_CASE(OBB_shape_test)
{
  FCL_REAL r_extents[] = {-1000, -1000, -1000, 1000, 1000, 1000};
  std::vector<Transform3f> rotate_transform;
  generateRandomTransforms(r_extents, rotate_transform, 1);
  
  AABB aabb1;
  aabb1.min_ = Vec3f(-600, -600, -600);
  aabb1.max_ = Vec3f(600, 600, 600);

  OBB obb1;
  convertBV(aabb1, rotate_transform[0], obb1);
  Box box1;
  Transform3f box1_tf;
  constructBox(aabb1, rotate_transform[0], box1, box1_tf);

  FCL_REAL extents[] = {-1000, -1000, -1000, 1000, 1000, 1000};
  std::size_t n = 1000;

  std::vector<Transform3f> transforms;
  generateRandomTransforms(extents, transforms, n);

  for(std::size_t i = 0; i < transforms.size(); ++i)
  {
    FCL_REAL len = (aabb1.max_[0] - aabb1.min_[0]) * 0.5;
    OBB obb2;
    GJKSolver_libccd solver;
 
    {  
      Sphere sphere(len);
      computeBV(sphere, transforms[i], obb2);
 
      bool overlap_obb = obb1.overlap(obb2);
      bool overlap_sphere = solver.shapeIntersect(box1, box1_tf, sphere, transforms[i], NULL, NULL, NULL);
      BOOST_CHECK(overlap_obb >= overlap_sphere);
    }

    {
      Capsule capsule(len, 2 * len);
      computeBV(capsule, transforms[i], obb2);
      
      bool overlap_obb = obb1.overlap(obb2);
      bool overlap_capsule = solver.shapeIntersect(box1, box1_tf, capsule, transforms[i], NULL, NULL, NULL);
      BOOST_CHECK(overlap_obb >= overlap_capsule);
    }

    {
      Cone cone(len, 2 * len);
      computeBV(cone, transforms[i], obb2);
      
      bool overlap_obb = obb1.overlap(obb2);
      bool overlap_cone = solver.shapeIntersect(box1, box1_tf, cone, transforms[i], NULL, NULL, NULL);
      BOOST_CHECK(overlap_obb >= overlap_cone);
    }

    {
      Cylinder cylinder(len, 2 * len);
      computeBV(cylinder, transforms[i], obb2);
      
      bool overlap_obb = obb1.overlap(obb2);
      bool overlap_cylinder = solver.shapeIntersect(box1, box1_tf, cylinder, transforms[i], NULL, NULL, NULL);
      BOOST_CHECK(overlap_obb >= overlap_cylinder);
    }
  }
}

BOOST_AUTO_TEST_CASE(OBB_AABB_test)
{
  FCL_REAL extents[] = {-1000, -1000, -1000, 1000, 1000, 1000};
  std::size_t n = 1000;

  std::vector<Transform3f> transforms;
  generateRandomTransforms(extents, transforms, n);

  AABB aabb1;
  aabb1.min_ = Vec3f(-600, -600, -600);
  aabb1.max_ = Vec3f(600, 600, 600);
  
  OBB obb1;
  convertBV(aabb1, Transform3f(), obb1);
  
  for(std::size_t i = 0; i < transforms.size(); ++i)
  {
    AABB aabb;
    aabb.min_ = aabb1.min_ * 0.5;
    aabb.max_ = aabb1.max_ * 0.5;    

    AABB aabb2 = translate(aabb, transforms[i].getTranslation());
    
    OBB obb2;
    convertBV(aabb, Transform3f(transforms[i].getTranslation()), obb2);

    bool overlap_aabb = aabb1.overlap(aabb2);
    bool overlap_obb = obb1.overlap(obb2);
    if(overlap_aabb != overlap_obb)
    {
      std::cout << aabb1.min_ << " " << aabb1.max_ << std::endl;
      std::cout << aabb2.min_ << " " << aabb2.max_ << std::endl;
      std::cout << obb1.To << " " << obb1.extent << " " << obb1.axis[0] << " " << obb1.axis[1] << " " << obb1.axis[2] << std::endl;
      std::cout << obb2.To << " " << obb2.extent << " " << obb2.axis[0] << " " << obb2.axis[1] << " " << obb2.axis[2] << std::endl;
    }

    BOOST_CHECK(overlap_aabb == overlap_obb);
  }
  std::cout << std::endl;
}

BOOST_AUTO_TEST_CASE(mesh_mesh)
{
  std::vector<Vec3f> p1, p2;
  std::vector<Triangle> t1, t2;
  boost::filesystem::path path(TEST_RESOURCES_DIR);
  
  loadOBJFile((path / "env.obj").string().c_str(), p1, t1);
  loadOBJFile((path / "rob.obj").string().c_str(), p2, t2);

  std::vector<Transform3f> transforms;
  FCL_REAL extents[] = {-3000, -3000, 0, 3000, 3000, 3000};
  std::size_t n = 10;
  bool verbose = false;

  generateRandomTransforms(extents, transforms, n);

  // collision
  for(std::size_t i = 0; i < transforms.size(); ++i)
  {
    global_pairs.clear();
    global_pairs_now.clear();

    collide_Test<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);

    collide_Test<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test<AABB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test<AABB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test<AABB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test<KDOP<24> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test<KDOP<24> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test<KDOP<24> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test<KDOP<18> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test<KDOP<18> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test<KDOP<18> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test<KDOP<16> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test<KDOP<16> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test<KDOP<16> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test2<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test2<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test2<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test2<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test2<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test2<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test2<AABB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test2<AABB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test2<AABB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test2<KDOP<24> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test2<KDOP<24> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test2<KDOP<24> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test2<KDOP<18> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test2<KDOP<18> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test2<KDOP<18> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test2<KDOP<16> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test2<KDOP<16> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test2<KDOP<16> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test_Oriented<OBB, MeshCollisionTraversalNodeOBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);

    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test_Oriented<OBB, MeshCollisionTraversalNodeOBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);

    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test_Oriented<OBB, MeshCollisionTraversalNodeOBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test_Oriented<RSS, MeshCollisionTraversalNodeRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test_Oriented<RSS, MeshCollisionTraversalNodeRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test_Oriented<RSS, MeshCollisionTraversalNodeRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    test_collide_func<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    test_collide_func<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    test_collide_func<AABB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    
    collide_Test<kIOS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test<kIOS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test<kIOS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test2<kIOS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test2<kIOS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test2<kIOS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }
    
    collide_Test_Oriented<kIOS, MeshCollisionTraversalNodekIOS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test_Oriented<kIOS, MeshCollisionTraversalNodekIOS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test_Oriented<kIOS, MeshCollisionTraversalNodekIOS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    test_collide_func<kIOS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    test_collide_func<kIOS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    test_collide_func<kIOS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test<OBBRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test<OBBRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test<OBBRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test2<OBBRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test2<OBBRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test2<OBBRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }
    
    collide_Test_Oriented<OBBRSS, MeshCollisionTraversalNodeOBBRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test_Oriented<OBBRSS, MeshCollisionTraversalNodeOBBRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    collide_Test_Oriented<OBBRSS, MeshCollisionTraversalNodeOBBRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    test_collide_func<OBBRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    test_collide_func<OBBRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }

    test_collide_func<OBBRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER);
    BOOST_CHECK(global_pairs.size() == global_pairs_now.size());
    for(std::size_t j = 0; j < global_pairs.size(); ++j)
    {
      BOOST_CHECK(global_pairs[j].b1 == global_pairs_now[j].b1);
      BOOST_CHECK(global_pairs[j].b2 == global_pairs_now[j].b2);
    }
  }
}


template<typename BV>
bool collide_Test2(const Transform3f& tf,
                   const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
                   const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method, bool verbose)
{
  BVHModel<BV> m1;
  BVHModel<BV> m2;
  m1.bv_splitter.reset(new BVSplitter<BV>(split_method));
  m2.bv_splitter.reset(new BVSplitter<BV>(split_method));

  std::vector<Vec3f> vertices1_new(vertices1.size());
  for(unsigned int i = 0; i < vertices1_new.size(); ++i)
  {
    vertices1_new[i] = tf.transform(vertices1[i]);
  }


  m1.beginModel();
  m1.addSubModel(vertices1_new, triangles1);
  m1.endModel();

  m2.beginModel();
  m2.addSubModel(vertices2, triangles2);
  m2.endModel();

  Transform3f pose1, pose2;

  CollisionResult local_result;
  MeshCollisionTraversalNode<BV> node;

  if(!initialize<BV>(node, m1, pose1, m2, pose2,
                     CollisionRequest(num_max_contacts, enable_contact), local_result))
    std::cout << "initialize error" << std::endl;

  node.enable_statistics = verbose;

  collide(&node);


  if(local_result.numContacts() > 0)
  {
    if(global_pairs.size() == 0)
    {
      local_result.getContacts(global_pairs);
      std::sort(global_pairs.begin(), global_pairs.end());
    }
    else
    {
      local_result.getContacts(global_pairs_now);
      std::sort(global_pairs_now.begin(), global_pairs_now.end());
    }


    if(verbose)
      std::cout << "in collision " << local_result.numContacts() << ": " << std::endl;
    if(verbose) std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
    return true;
  }
  else
  {
    if(verbose) std::cout << "collision free " << std::endl;
    if(verbose) std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
    return false;
  }
}

template<typename BV>
bool collide_Test(const Transform3f& tf,
                  const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
                  const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method, bool verbose)
{
  BVHModel<BV> m1;
  BVHModel<BV> m2;
  m1.bv_splitter.reset(new BVSplitter<BV>(split_method));
  m2.bv_splitter.reset(new BVSplitter<BV>(split_method));

  m1.beginModel();
  m1.addSubModel(vertices1, triangles1);
  m1.endModel();

  m2.beginModel();
  m2.addSubModel(vertices2, triangles2);
  m2.endModel();

  Transform3f pose1(tf), pose2;

  CollisionResult local_result;
  MeshCollisionTraversalNode<BV> node;

  if(!initialize<BV>(node, m1, pose1, m2, pose2,
                     CollisionRequest(num_max_contacts, enable_contact), local_result))
    std::cout << "initialize error" << std::endl;

  node.enable_statistics = verbose;

  collide(&node);


  if(local_result.numContacts() > 0)
  {
    if(global_pairs.size() == 0)
    {
      local_result.getContacts(global_pairs);
      std::sort(global_pairs.begin(), global_pairs.end());
    }
    else
    {
      local_result.getContacts(global_pairs_now);
      std::sort(global_pairs_now.begin(), global_pairs_now.end());
    }

    if(verbose)
      std::cout << "in collision " << local_result.numContacts() << ": " << std::endl;
    if(verbose) std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
    return true;
  }
  else
  {
    if(verbose) std::cout << "collision free " << std::endl;
    if(verbose) std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
    return false;
  }
}

template<typename BV, typename TraversalNode>
bool collide_Test_Oriented(const Transform3f& tf,
                           const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
                           const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method, bool verbose)
{
  BVHModel<BV> m1;
  BVHModel<BV> m2;
  m1.bv_splitter.reset(new BVSplitter<BV>(split_method));
  m2.bv_splitter.reset(new BVSplitter<BV>(split_method));

  m1.beginModel();
  m1.addSubModel(vertices1, triangles1);
  m1.endModel();

  m2.beginModel();
  m2.addSubModel(vertices2, triangles2);
  m2.endModel();

  Transform3f pose1(tf), pose2;

  CollisionResult local_result;
  TraversalNode node;
  if(!initialize(node, (const BVHModel<BV>&)m1, pose1, (const BVHModel<BV>&)m2, pose2, 
                 CollisionRequest(num_max_contacts, enable_contact), local_result))
    std::cout << "initialize error" << std::endl;

  node.enable_statistics = verbose;

  collide(&node);

  if(local_result.numContacts() > 0)
  {
    if(global_pairs.size() == 0)
    {
      local_result.getContacts(global_pairs);
      std::sort(global_pairs.begin(), global_pairs.end());
    }
    else
    {
      local_result.getContacts(global_pairs_now);
      std::sort(global_pairs_now.begin(), global_pairs_now.end());
    }

    if(verbose)
      std::cout << "in collision " << local_result.numContacts() << ": " << std::endl;
    if(verbose) std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
    return true;
  }
  else
  {
    if(verbose) std::cout << "collision free " << std::endl;
    if(verbose) std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
    return false;
  }
}


template<typename BV>
bool test_collide_func(const Transform3f& tf,
                       const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
                       const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method)
{
  BVHModel<BV> m1;
  BVHModel<BV> m2;
  m1.bv_splitter.reset(new BVSplitter<BV>(split_method));
  m2.bv_splitter.reset(new BVSplitter<BV>(split_method));

  m1.beginModel();
  m1.addSubModel(vertices1, triangles1);
  m1.endModel();

  m2.beginModel();