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Ioan Sucan authoredIoan Sucan authored
test_fcl_collision.cpp 38.76 KiB
/*
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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();
m2.addSubModel(vertices2, triangles2);
m2.endModel();
Transform3f pose1(tf), pose2;
std::vector<Contact> contacts;
CollisionRequest request(num_max_contacts, enable_contact);
CollisionResult result;
int num_contacts = collide(&m1, pose1, &m2, pose2,
request, result);
result.getContacts(contacts);
global_pairs_now.resize(num_contacts);
for(int i = 0; i < num_contacts; ++i)
{
global_pairs_now[i].b1 = contacts[i].b1;
global_pairs_now[i].b2 = contacts[i].b2;
}
std::sort(global_pairs_now.begin(), global_pairs_now.end());
if(num_contacts > 0) return true;
else return false;
}