From 088ef9a0c6d705b6c57a465b8b2fe87805136033 Mon Sep 17 00:00:00 2001
From: isucan <isucan@253336fb-580f-4252-a368-f3cef5a2a82b>
Date: Thu, 26 Jan 2012 06:03:30 +0000
Subject: [PATCH] adding fcl_test package
git-svn-id: https://kforge.ros.org/fcl/fcl_ros@67 253336fb-580f-4252-a368-f3cef5a2a82b
---
trunk/fcl/manifest.xml | 2 -
trunk/fcl_test/CMakeLists.txt | 43 +
trunk/fcl_test/Makefile | 1 +
trunk/fcl_test/mainpage.dox | 26 +
trunk/fcl_test/manifest.xml | 19 +
trunk/fcl_test/test/env.obj | 8721 +++++++++++++++++
trunk/fcl_test/test/rob.obj | 865 ++
trunk/fcl_test/test/test_core_broad_phase.cpp | 247 +
trunk/fcl_test/test/test_core_collision.cpp | 847 ++
.../test/test_core_collision_point.cpp | 516 +
..._core_collision_shape_mesh_consistency.cpp | 1187 +++
.../test_core_conservative_advancement.cpp | 538 +
.../test/test_core_continuous_collision.cpp | 296 +
.../test/test_core_deformable_object.cpp | 357 +
trunk/fcl_test/test/test_core_distance.cpp | 329 +
trunk/fcl_test/test/test_core_front_list.cpp | 412 +
.../test/test_core_geometric_shapes.cpp | 500 +
trunk/fcl_test/test/test_core_utility.h | 665 ++
trunk/fcl_test/test/timer.cpp | 121 +
trunk/fcl_test/test/timer.h | 70 +
trunk/fcl_test/test/timing_test.cpp | 247 +
21 files changed, 16007 insertions(+), 2 deletions(-)
create mode 100644 trunk/fcl_test/CMakeLists.txt
create mode 100644 trunk/fcl_test/Makefile
create mode 100644 trunk/fcl_test/mainpage.dox
create mode 100644 trunk/fcl_test/manifest.xml
create mode 100644 trunk/fcl_test/test/env.obj
create mode 100644 trunk/fcl_test/test/rob.obj
create mode 100644 trunk/fcl_test/test/test_core_broad_phase.cpp
create mode 100644 trunk/fcl_test/test/test_core_collision.cpp
create mode 100644 trunk/fcl_test/test/test_core_collision_point.cpp
create mode 100644 trunk/fcl_test/test/test_core_collision_shape_mesh_consistency.cpp
create mode 100644 trunk/fcl_test/test/test_core_conservative_advancement.cpp
create mode 100644 trunk/fcl_test/test/test_core_continuous_collision.cpp
create mode 100644 trunk/fcl_test/test/test_core_deformable_object.cpp
create mode 100644 trunk/fcl_test/test/test_core_distance.cpp
create mode 100644 trunk/fcl_test/test/test_core_front_list.cpp
create mode 100644 trunk/fcl_test/test/test_core_geometric_shapes.cpp
create mode 100644 trunk/fcl_test/test/test_core_utility.h
create mode 100644 trunk/fcl_test/test/timer.cpp
create mode 100644 trunk/fcl_test/test/timer.h
create mode 100644 trunk/fcl_test/test/timing_test.cpp
diff --git a/trunk/fcl/manifest.xml b/trunk/fcl/manifest.xml
index 9434d81f..bc894938 100644
--- a/trunk/fcl/manifest.xml
+++ b/trunk/fcl/manifest.xml
@@ -12,8 +12,6 @@
<depend package="ann"/>
<depend package="common_rosdeps"/>
- <rosdep name="assimp"/>
-
<export>
<cpp cflags="-I${prefix}/include" lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib -lfcl"/>
</export>
diff --git a/trunk/fcl_test/CMakeLists.txt b/trunk/fcl_test/CMakeLists.txt
new file mode 100644
index 00000000..3c70b463
--- /dev/null
+++ b/trunk/fcl_test/CMakeLists.txt
@@ -0,0 +1,43 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type. Options are:
+# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
+# Debug : w/ debug symbols, w/o optimization
+# Release : w/o debug symbols, w/ optimization
+# RelWithDebInfo : w/ debug symbols, w/ optimization
+# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+set(ROS_BUILD_TYPE Release)
+
+rosbuild_init()
+
+add_definitions(-DUSE_PQP=1)
+add_definitions(-DUSE_SVMLIGHT=0)
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+rosbuild_add_gtest(test_core_collision test/test_core_collision.cpp)
+
+rosbuild_add_gtest(test_core_distance test/test_core_distance.cpp)
+
+rosbuild_add_executable(test_core_collision_point test/test_core_collision_point.cpp)
+
+rosbuild_add_gtest(test_core_geometric_shapes test/test_core_geometric_shapes.cpp)
+
+rosbuild_add_gtest(test_core_collision_shape_mesh_consistency test/test_core_collision_shape_mesh_consistency.cpp)
+
+rosbuild_add_gtest(test_core_broad_phase test/test_core_broad_phase.cpp)
+
+rosbuild_add_gtest(test_core_front_list test/test_core_front_list.cpp)
+
+rosbuild_add_gtest(test_core_continuous_collision test/test_core_continuous_collision.cpp)
+
+rosbuild_add_executable(test_core_deformable_object test/test_core_deformable_object.cpp)
+
+rosbuild_add_executable(test_core_conservative_advancement test/test_core_conservative_advancement.cpp)
+
+rosbuild_add_executable(timing_test test/timing_test.cpp test/timer.cpp)
diff --git a/trunk/fcl_test/Makefile b/trunk/fcl_test/Makefile
new file mode 100644
index 00000000..b75b928f
--- /dev/null
+++ b/trunk/fcl_test/Makefile
@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
diff --git a/trunk/fcl_test/mainpage.dox b/trunk/fcl_test/mainpage.dox
new file mode 100644
index 00000000..b84671b9
--- /dev/null
+++ b/trunk/fcl_test/mainpage.dox
@@ -0,0 +1,26 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b fcl_test is ...
+
+<!--
+Provide an overview of your package.
+-->
+
+
+\section codeapi Code API
+
+<!--
+Provide links to specific auto-generated API documentation within your
+package that is of particular interest to a reader. Doxygen will
+document pretty much every part of your code, so do your best here to
+point the reader to the actual API.
+
+If your codebase is fairly large or has different sets of APIs, you
+should use the doxygen 'group' tag to keep these APIs together. For
+example, the roscpp documentation has 'libros' group.
+-->
+
+
+*/
diff --git a/trunk/fcl_test/manifest.xml b/trunk/fcl_test/manifest.xml
new file mode 100644
index 00000000..7002c2ed
--- /dev/null
+++ b/trunk/fcl_test/manifest.xml
@@ -0,0 +1,19 @@
+<package>
+ <description brief="fcl_test">
+
+ fcl_test
+
+ </description>
+ <author>Ioan Sucan</author>
+ <license>BSD</license>
+ <review status="unreviewed" notes=""/>
+ <url>http://ros.org/wiki/fcl_test</url>
+ <depend package="fcl"/>
+ <depend package="PQP"/>
+ <depend package="svm_light"/>
+
+ <rosdep name="assimp"/>
+
+</package>
+
+
diff --git a/trunk/fcl_test/test/env.obj b/trunk/fcl_test/test/env.obj
new file mode 100644
index 00000000..1aeb971d
--- /dev/null
+++ b/trunk/fcl_test/test/env.obj
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diff --git a/trunk/fcl_test/test/test_core_broad_phase.cpp b/trunk/fcl_test/test/test_core_broad_phase.cpp
new file mode 100644
index 00000000..ae196f99
--- /dev/null
+++ b/trunk/fcl_test/test/test_core_broad_phase.cpp
@@ -0,0 +1,247 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * 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 Willow Garage, Inc. 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 "fcl/broad_phase_collision.h"
+#include "fcl/geometric_shape_to_BVH_model.h"
+#include "fcl/transform.h"
+#include "test_core_utility.h"
+#include <gtest/gtest.h>
+
+using namespace fcl;
+
+
+void generateEnvironments(std::vector<CollisionObject*>& env, int n);
+
+
+TEST(test_core, broad_phase_collision)
+{
+ bool exhaustive = false;
+
+ std::vector<CollisionObject*> env;
+ generateEnvironments(env, 100);
+
+ std::vector<CollisionObject*> query;
+ generateEnvironments(query, 10);
+
+ BroadPhaseCollisionManager* manager1 = new NaiveCollisionManager();
+ BroadPhaseCollisionManager* manager2 = new SSaPCollisionManager();
+ BroadPhaseCollisionManager* manager3 = new SaPCollisionManager();
+ BroadPhaseCollisionManager* manager4 = new IntervalTreeCollisionManager();
+
+
+ for(unsigned int i = 0; i < env.size(); ++i)
+ {
+ manager1->registerObject(env[i]);
+ manager2->registerObject(env[i]);
+ manager3->registerObject(env[i]);
+ manager4->registerObject(env[i]);
+ }
+
+ manager1->setup();
+ manager2->setup();
+ manager3->setup();
+ manager4->setup();
+
+ CollisionData self_data1;
+ self_data1.exhaustive = exhaustive;
+ CollisionData self_data2;
+ self_data2.exhaustive = exhaustive;
+ CollisionData self_data3;
+ self_data3.exhaustive = exhaustive;
+ CollisionData self_data4;
+ self_data4.exhaustive = exhaustive;
+
+ manager1->collide(&self_data1, defaultCollisionFunction);
+ manager2->collide(&self_data2, defaultCollisionFunction);
+ manager3->collide(&self_data3, defaultCollisionFunction);
+ manager3->collide(&self_data4, defaultCollisionFunction);
+
+ bool self_res1 = (self_data1.contacts.size() > 0);
+ bool self_res2 = (self_data2.contacts.size() > 0);
+ bool self_res3 = (self_data3.contacts.size() > 0);
+ bool self_res4 = (self_data4.contacts.size() > 0);
+
+ ASSERT_TRUE(self_res1 == self_res2);
+ ASSERT_TRUE(self_res1 == self_res3);
+ ASSERT_TRUE(self_res1 == self_res4);
+
+
+ for(unsigned int i = 0; i < query.size(); ++i)
+ {
+ CollisionData query_data1;
+ query_data1.exhaustive = exhaustive;
+ CollisionData query_data2;
+ query_data2.exhaustive = exhaustive;
+ CollisionData query_data3;
+ query_data3.exhaustive = exhaustive;
+ CollisionData query_data4;
+ query_data4.exhaustive = exhaustive;
+
+ manager1->collide(query[i], &query_data1, defaultCollisionFunction);
+ manager2->collide(query[i], &query_data2, defaultCollisionFunction);
+ manager3->collide(query[i], &query_data3, defaultCollisionFunction);
+ manager4->collide(query[i], &query_data4, defaultCollisionFunction);
+
+ bool query_res1 = (query_data1.contacts.size() > 0);
+ bool query_res2 = (query_data2.contacts.size() > 0);
+ bool query_res3 = (query_data3.contacts.size() > 0);
+ bool query_res4 = (query_data4.contacts.size() > 0);
+
+ ASSERT_TRUE(query_res1 == query_res2);
+ ASSERT_TRUE(query_res1 == query_res3);
+ ASSERT_TRUE(query_res1 == query_res4);
+ }
+
+
+ for(unsigned int i = 0; i < env.size(); ++i)
+ delete env[i];
+ for(unsigned int i = 0; i < query.size(); ++i)
+ delete query[i];
+
+ delete manager1;
+ delete manager2;
+ delete manager3;
+ delete manager4;
+}
+
+
+
+TEST(test_core, broad_phase_self_collision_exhaustive)
+{
+ bool exhaustive = true;
+
+ std::vector<CollisionObject*> env;
+ generateEnvironments(env, 100);
+
+ BroadPhaseCollisionManager* manager1 = new NaiveCollisionManager();
+ BroadPhaseCollisionManager* manager2 = new SSaPCollisionManager();
+ BroadPhaseCollisionManager* manager3 = new SaPCollisionManager();
+ BroadPhaseCollisionManager* manager4 = new IntervalTreeCollisionManager();
+
+
+ for(unsigned int i = 0; i < env.size(); ++i)
+ {
+ manager1->registerObject(env[i]);
+ manager2->registerObject(env[i]);
+ manager3->registerObject(env[i]);
+ manager4->registerObject(env[i]);
+ }
+
+ manager1->setup();
+ manager2->setup();
+ manager3->setup();
+ manager4->setup();
+
+ CollisionData self_data1;
+ self_data1.exhaustive = exhaustive;
+ CollisionData self_data2;
+ self_data2.exhaustive = exhaustive;
+ CollisionData self_data3;
+ self_data3.exhaustive = exhaustive;
+ CollisionData self_data4;
+ self_data4.exhaustive = exhaustive;
+
+ manager1->collide(&self_data1, defaultCollisionFunction);
+ manager2->collide(&self_data2, defaultCollisionFunction);
+ manager3->collide(&self_data3, defaultCollisionFunction);
+ manager3->collide(&self_data4, defaultCollisionFunction);
+
+ unsigned int self_res1 = self_data1.contacts.size();
+ unsigned int self_res2 = self_data2.contacts.size();
+ unsigned int self_res3 = self_data3.contacts.size();
+ unsigned int self_res4 = self_data4.contacts.size();
+
+ ASSERT_TRUE(self_res1 == self_res2);
+ ASSERT_TRUE(self_res1 == self_res3);
+ ASSERT_TRUE(self_res1 == self_res4);
+
+
+ for(unsigned int i = 0; i < env.size(); ++i)
+ delete env[i];
+
+ delete manager1;
+ delete manager2;
+ delete manager3;
+ delete manager4;
+}
+
+
+int main(int argc, char **argv)
+{
+ testing::InitGoogleTest(&argc, argv);
+ return RUN_ALL_TESTS();
+}
+
+
+void generateEnvironments(std::vector<CollisionObject*>& env, int n)
+{
+ BVH_REAL extents[] = {-200, 200, -200, 200, -200, 200};
+ BVH_REAL delta_trans[] = {1, 1, 1};
+ std::vector<Transform> transforms;
+ std::vector<Transform> transforms2;
+
+
+ generateRandomTransform(extents, transforms, transforms2, delta_trans, 0.005 * 2 * 3.1415, n);
+ Box box(5, 10, 20);
+ for(int i = 0; i < n; ++i)
+ {
+ BVHModel<OBB>* model = new BVHModel<OBB>();
+ box.setLocalTransform(transforms[i].R, transforms[i].T);
+ generateBVHModel(*model, box, SimpleTransform());
+ env.push_back(new CollisionObject(boost::shared_ptr<CollisionGeometry>(model)));
+ }
+
+ generateRandomTransform(extents, transforms, transforms2, delta_trans, 0.005 * 2 * 3.1415, n);
+ Sphere sphere(30);
+ for(int i = 0; i < n; ++i)
+ {
+ BVHModel<OBB>* model = new BVHModel<OBB>();
+ sphere.setLocalTransform(transforms[i].R, transforms[i].T);
+ generateBVHModel(*model, sphere, SimpleTransform());
+ env.push_back(new CollisionObject(boost::shared_ptr<CollisionGeometry>(model)));
+ }
+
+ generateRandomTransform(extents, transforms, transforms2, delta_trans, 0.005 * 2 * 3.1415, n);
+ Cylinder cylinder(10, 40);
+ for(int i = 0; i < n; ++i)
+ {
+ BVHModel<OBB>* model = new BVHModel<OBB>();
+ cylinder.setLocalTransform(transforms[i].R, transforms[i].T);
+ generateBVHModel(*model, cylinder, SimpleTransform());
+ env.push_back(new CollisionObject(boost::shared_ptr<CollisionGeometry>(model)));
+ }
+}
diff --git a/trunk/fcl_test/test/test_core_collision.cpp b/trunk/fcl_test/test/test_core_collision.cpp
new file mode 100644
index 00000000..6623189f
--- /dev/null
+++ b/trunk/fcl_test/test/test_core_collision.cpp
@@ -0,0 +1,847 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * 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 Willow Garage, Inc. 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 "fcl/traversal_node_bvhs.h"
+#include "fcl/collision_node.h"
+#include "fcl/simple_setup.h"
+#include "fcl/collision.h"
+#include "test_core_utility.h"
+#include <gtest/gtest.h>
+
+#if USE_PQP
+#include <PQP.h>
+#endif
+
+using namespace fcl;
+
+template<typename BV>
+bool collide_Test(const Transform& 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 Transform& 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);
+
+bool collide_Test_OBB(const Transform& 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);
+
+bool collide_Test_RSS(const Transform& 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 Transform& 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 = -1;
+bool exhaustive = true;
+bool enable_contact = true;
+
+std::vector<BVHCollisionPair> global_pairs;
+std::vector<BVHCollisionPair> global_pairs_now;
+
+std::vector<std::pair<int, int> > PQP_pairs;
+
+TEST(collision_test, mesh_mesh)
+{
+ std::vector<Vec3f> p1, p2;
+ std::vector<Triangle> t1, t2;
+ loadOBJFile("test/env.obj", p1, t1);
+ loadOBJFile("test/rob.obj", p2, t2);
+
+ std::vector<Transform> transforms; // t0
+ std::vector<Transform> transforms2; // t1
+ BVH_REAL extents[] = {-3000, -3000, 0, 3000, 3000, 3000};
+ BVH_REAL delta_trans[] = {1, 1, 1};
+ int n = 10;
+ bool verbose = false;
+
+ generateRandomTransform(extents, transforms, transforms2, delta_trans, 0.005 * 2 * 3.1415, n);
+
+ // collision
+ for(unsigned int i = 0; i < transforms.size(); ++i)
+ {
+ global_pairs.clear();
+ global_pairs_now.clear();
+#if USE_PQP
+ PQP_pairs.clear();
+ collide_PQP(transforms[i], p1, t1, p2, t2, PQP_pairs, verbose);
+ global_pairs.resize(PQP_pairs.size());
+ for(unsigned int j = 0; j < PQP_pairs.size(); ++j)
+ global_pairs[j] = BVHCollisionPair(PQP_pairs[j].first, PQP_pairs[j].second);
+
+ PQP_pairs.clear();
+ collide_PQP2(transforms[i], p1, t1, p2, t2, PQP_pairs, verbose);
+ global_pairs_now.resize(PQP_pairs.size());
+ for(unsigned int j = 0; j < PQP_pairs.size(); ++j)
+ global_pairs_now[j] = BVHCollisionPair(PQP_pairs[j].first, PQP_pairs[j].second);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+#endif
+
+ collide_Test<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
+
+#if USE_PQP
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+#endif
+
+ collide_Test<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test<AABB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test<AABB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test<AABB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test<KDOP<24> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test<KDOP<24> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test<KDOP<24> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test<KDOP<18> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test<KDOP<18> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test<KDOP<18> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test<KDOP<16> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test<KDOP<16> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test<KDOP<16> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test2<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test2<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test2<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test2<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test2<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test2<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test2<AABB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test2<AABB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test2<AABB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test2<KDOP<24> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test2<KDOP<24> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test2<KDOP<24> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test2<KDOP<18> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test2<KDOP<18> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test2<KDOP<18> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test2<KDOP<16> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test2<KDOP<16> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test2<KDOP<16> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test_OBB(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test_OBB(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test_OBB(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test_RSS(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test_RSS(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ collide_Test_RSS(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ test_collide_func<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ test_collide_func<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+
+ test_collide_func<AABB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN);
+
+ ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
+ for(unsigned int j = 0; j < global_pairs.size(); ++j)
+ {
+ ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
+ ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
+ }
+ }
+}
+
+int main(int argc, char **argv)
+{
+ testing::InitGoogleTest(&argc, argv);
+ return RUN_ALL_TESTS();
+}
+
+template<typename BV>
+bool collide_Test2(const Transform& 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.R * vertices1[i] + tf.T;
+ }
+
+
+ m1.beginModel();
+ m1.addSubModel(vertices1_new, triangles1);
+ m1.endModel();
+
+ m2.beginModel();
+ m2.addSubModel(vertices2, triangles2);
+ m2.endModel();
+
+ SimpleTransform pose1, pose2;
+
+ MeshCollisionTraversalNode<BV> node;
+
+ if(!initialize<BV>(node, m1, pose1, m2, pose2))
+ std::cout << "initialize error" << std::endl;
+
+ node.enable_statistics = verbose;
+ node.num_max_contacts = num_max_contacts;
+ node.exhaustive = exhaustive;
+ node.enable_contact = enable_contact;
+
+ collide(&node);
+
+
+ if(node.pairs.size() > 0)
+ {
+ std::vector<BVHCollisionPair> pairs(node.pairs.size());
+ for(unsigned i = 0; i < node.pairs.size(); ++i)
+ pairs[i] = node.pairs[i];
+
+ std::sort(pairs.begin(), pairs.end(), BVHCollisionPairComp());
+
+ if(global_pairs.size() == 0)
+ {
+ global_pairs.resize(pairs.size());
+ for(unsigned int i = 0 ; i < pairs.size(); ++i)
+ global_pairs[i] = pairs[i];
+ }
+ else
+ {
+ global_pairs_now.resize(pairs.size());
+ for(unsigned int i = 0 ; i < pairs.size(); ++i)
+ global_pairs_now[i] = pairs[i];
+ }
+
+
+ if(verbose)
+ std::cout << "in collision " << node.pairs.size() << ": " << 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 Transform& 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();
+
+ SimpleTransform pose1(tf.R, tf.T), pose2;
+
+ MeshCollisionTraversalNode<BV> node;
+
+ if(!initialize<BV>(node, m1, pose1, m2, pose2))
+ std::cout << "initialize error" << std::endl;
+
+ node.enable_statistics = verbose;
+ node.num_max_contacts = num_max_contacts;
+ node.exhaustive = exhaustive;
+ node.enable_contact = enable_contact;
+
+ collide(&node);
+
+
+ if(node.pairs.size() > 0)
+ {
+ std::vector<BVHCollisionPair> pairs(node.pairs.size());
+ for(unsigned i = 0; i < node.pairs.size(); ++i)
+ pairs[i] = node.pairs[i];
+
+ std::sort(pairs.begin(), pairs.end(), BVHCollisionPairComp());
+
+ if(global_pairs.size() == 0)
+ {
+ global_pairs.resize(pairs.size());
+ for(unsigned int i = 0 ; i < pairs.size(); ++i)
+ global_pairs[i] = pairs[i];
+ }
+ else
+ {
+ global_pairs_now.resize(pairs.size());
+ for(unsigned int i = 0 ; i < pairs.size(); ++i)
+ global_pairs_now[i] = pairs[i];
+ }
+
+ if(verbose)
+ std::cout << "in collision " << node.pairs.size() << ": " << 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;
+ }
+}
+
+bool collide_Test_OBB(const Transform& 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<OBB> m1;
+ BVHModel<OBB> m2;
+ m1.bv_splitter.reset(new BVSplitter<OBB>(split_method));
+ m2.bv_splitter.reset(new BVSplitter<OBB>(split_method));
+
+ m1.beginModel();
+ m1.addSubModel(vertices1, triangles1);
+ m1.endModel();
+
+ m2.beginModel();
+ m2.addSubModel(vertices2, triangles2);
+ m2.endModel();
+
+ SimpleTransform pose1(tf.R, tf.T), pose2;
+
+ MeshCollisionTraversalNodeOBB node;
+ if(!initialize(node, (const BVHModel<OBB>&)m1, pose1, (const BVHModel<OBB>&)m2, pose2))
+ std::cout << "initialize error" << std::endl;
+
+ node.enable_statistics = verbose;
+ node.num_max_contacts = num_max_contacts;
+ node.exhaustive = exhaustive;
+ node.enable_contact = enable_contact;
+
+ collide(&node);
+
+ if(node.pairs.size() > 0)
+ {
+ std::vector<BVHCollisionPair> pairs(node.pairs.size());
+ for(unsigned i = 0; i < node.pairs.size(); ++i)
+ pairs[i] = node.pairs[i];
+
+ std::sort(pairs.begin(), pairs.end(), BVHCollisionPairComp());
+
+ if(global_pairs.size() == 0)
+ {
+ global_pairs.resize(pairs.size());
+ for(unsigned int i = 0 ; i < pairs.size(); ++i)
+ global_pairs[i] = pairs[i];
+ }
+ else
+ {
+ global_pairs_now.resize(pairs.size());
+ for(unsigned int i = 0 ; i < pairs.size(); ++i)
+ global_pairs_now[i] = pairs[i];
+ }
+
+
+ if(verbose)
+ std::cout << "in collision " << node.pairs.size() << ": " << 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;
+ }
+}
+
+bool collide_Test_RSS(const Transform& 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<RSS> m1;
+ BVHModel<RSS> m2;
+ m1.bv_splitter.reset(new BVSplitter<RSS>(split_method));
+ m2.bv_splitter.reset(new BVSplitter<RSS>(split_method));
+
+ m1.beginModel();
+ m1.addSubModel(vertices1, triangles1);
+ m1.endModel();
+
+ m2.beginModel();
+ m2.addSubModel(vertices2, triangles2);
+ m2.endModel();
+
+ SimpleTransform pose1(tf.R, tf.T), pose2;
+
+ MeshCollisionTraversalNodeRSS node;
+ if(!initialize(node, (const BVHModel<RSS>&)m1, pose1, (const BVHModel<RSS>&)m2, pose2))
+ std::cout << "initialize error" << std::endl;
+
+ node.enable_statistics = verbose;
+ node.num_max_contacts = num_max_contacts;
+ node.exhaustive = exhaustive;
+ node.enable_contact = enable_contact;
+
+ collide(&node);
+
+ if(node.pairs.size() > 0)
+ {
+ std::vector<BVHCollisionPair> pairs(node.pairs.size());
+ for(unsigned i = 0; i < node.pairs.size(); ++i)
+ pairs[i] = node.pairs[i];
+
+ std::sort(pairs.begin(), pairs.end(), BVHCollisionPairComp());
+
+ if(global_pairs.size() == 0)
+ {
+ global_pairs.resize(pairs.size());
+ for(unsigned int i = 0 ; i < pairs.size(); ++i)
+ global_pairs[i] = pairs[i];
+ }
+ else
+ {
+ global_pairs_now.resize(pairs.size());
+ for(unsigned int i = 0 ; i < pairs.size(); ++i)
+ global_pairs_now[i] = pairs[i];
+ }
+
+ if(verbose)
+ std::cout << "in collision " << node.pairs.size() << ": " << 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 Transform& 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();
+
+ SimpleTransform pose1(tf.R, tf.T), pose2;
+
+ std::vector<Contact> contacts;
+ int num_contacts = collide(&m1, pose1, &m2, pose2, num_max_contacts, enable_contact, exhaustive, contacts);
+ global_pairs_now.resize(num_contacts);
+
+ for(int i = 0; i < num_contacts; ++i)
+ {
+ global_pairs_now[i].id1 = contacts[i].b1;
+ global_pairs_now[i].id2 = contacts[i].b2;
+ }
+
+ std::sort(global_pairs_now.begin(), global_pairs_now.end(), BVHCollisionPairComp());
+
+ if(num_contacts > 0) return true;
+ else return false;
+}
diff --git a/trunk/fcl_test/test/test_core_collision_point.cpp b/trunk/fcl_test/test/test_core_collision_point.cpp
new file mode 100644
index 00000000..832f8cc7
--- /dev/null
+++ b/trunk/fcl_test/test/test_core_collision_point.cpp
@@ -0,0 +1,516 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * 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 Willow Garage, Inc. 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 */
+
+
+#if USE_SVMLIGHT
+
+#include "fcl/traversal_node_bvhs.h"
+#include "fcl/collision_node.h"
+#include "fcl/simple_setup.h"
+#include "test_core_utility.h"
+
+#if USE_PQP
+#include <PQP.h>
+#endif
+
+using namespace fcl;
+
+template<typename BV>
+bool collide_Test_PP(const Transform& tf,
+ const std::vector<Vec3f>& vertices1, const std::vector<Vec3f>& vertices2, SplitMethodType split_method, bool verbose = true);
+
+template<typename BV>
+bool collide_Test_MP(const Transform& tf,
+ const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
+ const std::vector<Vec3f>& vertices2, SplitMethodType split_method, bool verbose = true);
+template<typename BV>
+bool collide_Test_PM(const Transform& tf,
+ const std::vector<Vec3f>& vertices1,
+ const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method, bool verbose = true);
+
+bool collide_Test_PP_OBB(const Transform& tf,
+ const std::vector<Vec3f>& vertices1, const std::vector<Vec3f>& vertices2, SplitMethodType split_method, bool verbose = true);
+
+bool collide_Test_MP_OBB(const Transform& tf,
+ const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
+ const std::vector<Vec3f>& vertices2, SplitMethodType split_method, bool verbose = true);
+
+bool collide_Test_PM_OBB(const Transform& tf,
+ const std::vector<Vec3f>& vertices1,
+ const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method, bool verbose = true);
+
+int num_max_contacts = 1;
+
+int main()
+{
+ std::vector<Vec3f> p1, p2;
+ std::vector<Triangle> t1, t2;
+ loadOBJFile("env.obj", p1, t1);
+ loadOBJFile("rob.obj", p2, t2);
+
+ std::vector<Transform> transforms; // t0
+ std::vector<Transform> transforms2; // t1
+ std::vector<Transform> transforms_ccd; // t0
+ std::vector<Transform> transforms_ccd2; // t1
+ BVH_REAL extents[] = {-3000, -3000, 0, 3000, 3000, 3000};
+ BVH_REAL delta_trans[] = {1, 1, 1};
+ int n = 10;
+
+ generateRandomTransform(extents, transforms, transforms2, delta_trans, 0.005 * 2 * 3.1415, n);
+
+ for(unsigned int i = 0; i < transforms.size(); ++i)
+ {
+ std::cout << "test id " << i << std::endl;
+
+ std::vector<std::pair<int, int> > PQP_pairs;
+ DistanceRes PQP_dist;
+
+#if USE_PQP
+ collide_PQP(transforms[i], p1, t1, p2, t2, PQP_pairs);
+
+ distance_PQP(transforms[i], p1, t1, p2, t2, PQP_dist);
+#endif
+
+ collide_Test_PP<OBB>(transforms[i], p1, p2, SPLIT_METHOD_MEAN);
+
+ collide_Test_PP<OBB>(transforms[i], p1, p2, SPLIT_METHOD_BV_CENTER);
+
+ collide_Test_PP<OBB>(transforms[i], p1, p2, SPLIT_METHOD_MEDIAN);
+
+ collide_Test_PM<OBB>(transforms[i], p1, p2, t2, SPLIT_METHOD_MEAN);
+
+ collide_Test_PM<OBB>(transforms[i], p1, p2, t2, SPLIT_METHOD_BV_CENTER);
+
+ collide_Test_PM<OBB>(transforms[i], p1, p2, t2, SPLIT_METHOD_MEDIAN);
+
+ collide_Test_MP<OBB>(transforms[i], p1, t1, p2, SPLIT_METHOD_MEAN);
+
+ collide_Test_MP<OBB>(transforms[i], p1, t1, p2, SPLIT_METHOD_BV_CENTER);
+
+ collide_Test_MP<OBB>(transforms[i], p1, t1, p2, SPLIT_METHOD_MEDIAN);
+
+ collide_Test_PP_OBB(transforms[i], p1, p2, SPLIT_METHOD_MEAN);
+
+ collide_Test_PP_OBB(transforms[i], p1, p2, SPLIT_METHOD_BV_CENTER);
+
+ collide_Test_PP_OBB(transforms[i], p1, p2, SPLIT_METHOD_MEDIAN);
+
+ collide_Test_PM_OBB(transforms[i], p1, p2, t2, SPLIT_METHOD_MEAN);
+
+ collide_Test_PM_OBB(transforms[i], p1, p2, t2, SPLIT_METHOD_BV_CENTER);
+
+ collide_Test_PM_OBB(transforms[i], p1, p2, t2, SPLIT_METHOD_MEDIAN);
+
+ collide_Test_MP_OBB(transforms[i], p1, t1, p2, SPLIT_METHOD_MEAN);
+
+ collide_Test_MP_OBB(transforms[i], p1, t1, p2, SPLIT_METHOD_BV_CENTER);
+
+ collide_Test_MP_OBB(transforms[i], p1, t1, p2, SPLIT_METHOD_MEDIAN);
+
+ std::cout << std::endl;
+ }
+}
+
+template<typename BV>
+bool collide_Test_PP(const Transform& tf,
+ const std::vector<Vec3f>& vertices1, const std::vector<Vec3f>& vertices2, 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);
+ m1.endModel();
+
+ m2.beginModel();
+ m2.addSubModel(vertices2);
+ m2.endModel();
+
+ SimpleTransform pose1(tf.R, tf.T), pose2;
+
+ PointCloudCollisionTraversalNode<BV> node;
+
+ if(!initialize<BV, false, false>(node, m1, pose1, m2, pose2, 0.6, 20))
+ std::cout << "initialize error" << std::endl;
+
+ node.enable_statistics = verbose;
+ node.num_max_contacts = num_max_contacts;
+
+ collide(&node);
+
+ if(node.pairs.size() > 0)
+ {
+ if(verbose)
+ {
+ std::cout << "in collision " << node.pairs.size() << ": " << std::endl;
+
+ std::vector<BVHPointCollisionPair> pairs(node.pairs.size());
+ for(unsigned i = 0; i < node.pairs.size(); ++i)
+ pairs[i] = node.pairs[i];
+
+ std::sort(pairs.begin(), pairs.end(), BVHPointCollisionPairComp());
+
+ for(unsigned i = 0; i < pairs.size(); ++i)
+ {
+ std::cout << "(" << pairs[i].id1_start << "(" << pairs[i].id1_num << ")" << " " << pairs[i].id2_start << "(" << pairs[i].id2_num << ")" << " " << pairs[i].collision_prob << ") ";
+ }
+ std::cout << 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.max_collision_prob << std::endl;
+ if(verbose) std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
+ return false;
+ }
+}
+
+bool collide_Test_PP_OBB(const Transform& tf,
+ const std::vector<Vec3f>& vertices1, const std::vector<Vec3f>& vertices2, SplitMethodType split_method, bool verbose)
+{
+ BVHModel<OBB> m1;
+ BVHModel<OBB> m2;
+ m1.bv_splitter.reset(new BVSplitter<OBB>(split_method));
+ m2.bv_splitter.reset(new BVSplitter<OBB>(split_method));
+
+ m1.beginModel();
+ m1.addSubModel(vertices1);
+ m1.endModel();
+
+ m2.beginModel();
+ m2.addSubModel(vertices2);
+ m2.endModel();
+
+ SimpleTransform pose1(tf.R, tf.T), pose2;
+
+ PointCloudCollisionTraversalNodeOBB node;
+
+ if(!initialize(node, m1, pose1, m2, pose2, 0.6, 20))
+ std::cout << "initialize error" << std::endl;
+
+ node.enable_statistics = verbose;
+ node.num_max_contacts = num_max_contacts;
+
+ collide(&node);
+
+ if(node.pairs.size() > 0)
+ {
+ if(verbose)
+ {
+ std::cout << "in collision " << node.pairs.size() << ": " << std::endl;
+
+ std::vector<BVHPointCollisionPair> pairs(node.pairs.size());
+ for(unsigned i = 0; i < node.pairs.size(); ++i)
+ pairs[i] = node.pairs[i];
+
+ std::sort(pairs.begin(), pairs.end(), BVHPointCollisionPairComp());
+
+ for(unsigned i = 0; i < pairs.size(); ++i)
+ {
+ std::cout << "(" << pairs[i].id1_start << "(" << pairs[i].id1_num << ")" << " " << pairs[i].id2_start << "(" << pairs[i].id2_num << ")" << " " << pairs[i].collision_prob << ") ";
+ }
+ std::cout << 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.max_collision_prob << std::endl;
+ if(verbose) std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
+ return false;
+ }
+}
+
+
+
+template<typename BV>
+bool collide_Test_MP(const Transform& tf,
+ const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
+ const std::vector<Vec3f>& vertices2, 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);
+ m2.endModel();
+
+ SimpleTransform pose1(tf.R, tf.T), pose2;
+
+ PointCloudMeshCollisionTraversalNode<BV> node;
+
+ if(!initialize<BV, false, false>(node, m2, pose2, m1, pose1, 0.6, 20))
+ std::cout << "initialize error" << std::endl;
+
+ node.enable_statistics = verbose;
+ node.num_max_contacts = num_max_contacts;
+
+ collide(&node);
+
+ if(node.pairs.size() > 0)
+ {
+ if(verbose)
+ {
+ std::cout << "in collision " << node.pairs.size() << ": " << std::endl;
+
+ std::vector<BVHPointCollisionPair> pairs(node.pairs.size());
+ for(unsigned i = 0; i < node.pairs.size(); ++i)
+ pairs[i] = node.pairs[i];
+
+ std::sort(pairs.begin(), pairs.end(), BVHPointCollisionPairComp());
+
+ for(unsigned i = 0; i < pairs.size(); ++i)
+ {
+ std::cout << "(" << pairs[i].id1_start << "(" << pairs[i].id1_num << ")" << " " << pairs[i].id2_start << "(" << pairs[i].id2_num << ")" << " " << pairs[i].collision_prob << ") ";
+ }
+ std::cout << 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.max_collision_prob << std::endl;
+ if(verbose) std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
+ return false;
+ }
+}
+
+
+
+bool collide_Test_MP_OBB(const Transform& tf,
+ const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
+ const std::vector<Vec3f>& vertices2, SplitMethodType split_method, bool verbose)
+{
+ BVHModel<OBB> m1;
+ BVHModel<OBB> m2;
+ m1.bv_splitter.reset(new BVSplitter<OBB>(split_method));
+ m2.bv_splitter.reset(new BVSplitter<OBB>(split_method));
+
+ m1.beginModel();
+ m1.addSubModel(vertices1, triangles1);
+ m1.endModel();
+
+ m2.beginModel();
+ m2.addSubModel(vertices2);
+ m2.endModel();
+
+ SimpleTransform pose1(tf.R, tf.T), pose2;
+
+ PointCloudMeshCollisionTraversalNodeOBB node;
+
+ if(!initialize(node, m2, pose2, m1, pose1, 0.6, 20))
+ std::cout << "initialize error" << std::endl;
+
+ node.enable_statistics = verbose;
+ node.num_max_contacts = num_max_contacts;
+
+ collide(&node);
+
+ if(node.pairs.size() > 0)
+ {
+ if(verbose)
+ {
+ std::cout << "in collision " << node.pairs.size() << ": " << std::endl;
+
+ std::vector<BVHPointCollisionPair> pairs(node.pairs.size());
+ for(unsigned i = 0; i < node.pairs.size(); ++i)
+ pairs[i] = node.pairs[i];
+
+ std::sort(pairs.begin(), pairs.end(), BVHPointCollisionPairComp());
+
+ for(unsigned i = 0; i < pairs.size(); ++i)
+ {
+ std::cout << "(" << pairs[i].id1_start << "(" << pairs[i].id1_num << ")" << " " << pairs[i].id2_start << "(" << pairs[i].id2_num << ")" << " " << pairs[i].collision_prob << ") ";
+ }
+ std::cout << 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.max_collision_prob << std::endl;
+ if(verbose) std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
+ return false;
+ }
+}
+
+
+
+template<typename BV>
+bool collide_Test_PM(const Transform& tf,
+ const std::vector<Vec3f>& vertices1,
+ 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);
+ m1.endModel();
+
+ m2.beginModel();
+ m2.addSubModel(vertices2, triangles2);
+ m2.endModel();
+
+ SimpleTransform pose1(tf.R, tf.T), pose2;
+
+ PointCloudMeshCollisionTraversalNode<BV> node;
+
+ if(!initialize<BV, false, false>(node, m1, pose1, m2, pose2, 0.6, 20))
+ std::cout << "initialize error" << std::endl;
+
+ node.enable_statistics = verbose;
+ node.num_max_contacts = num_max_contacts;
+
+ collide(&node);
+
+ if(node.pairs.size() > 0)
+ {
+ if(verbose)
+ {
+ std::cout << "in collision " << node.pairs.size() << ": " << std::endl;
+
+ std::vector<BVHPointCollisionPair> pairs(node.pairs.size());
+ for(unsigned i = 0; i < node.pairs.size(); ++i)
+ pairs[i] = node.pairs[i];
+
+ std::sort(pairs.begin(), pairs.end(), BVHPointCollisionPairComp());
+
+ for(unsigned i = 0; i < pairs.size(); ++i)
+ {
+ std::cout << "(" << pairs[i].id1_start << "(" << pairs[i].id1_num << ")" << " " << pairs[i].id2_start << "(" << pairs[i].id2_num << ")" << " " << pairs[i].collision_prob << ") ";
+ }
+ std::cout << 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.max_collision_prob << std::endl;
+ if(verbose) std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
+ return false;
+ }
+}
+
+
+bool collide_Test_PM_OBB(const Transform& tf,
+ const std::vector<Vec3f>& vertices1,
+ const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method, bool verbose)
+{
+ BVHModel<OBB> m1;
+ BVHModel<OBB> m2;
+ m1.bv_splitter.reset(new BVSplitter<OBB>(split_method));
+ m2.bv_splitter.reset(new BVSplitter<OBB>(split_method));
+
+ m1.beginModel();
+ m1.addSubModel(vertices1);
+ m1.endModel();
+
+ m2.beginModel();
+ m2.addSubModel(vertices2, triangles2);
+ m2.endModel();
+
+ SimpleTransform pose1(tf.R, tf.T), pose2;
+
+ PointCloudMeshCollisionTraversalNodeOBB node;
+
+ if(!initialize(node, m1, pose1, m2, pose2, 0.6, 20))
+ std::cout << "initialize error" << std::endl;
+
+ node.enable_statistics = verbose;
+ node.num_max_contacts = num_max_contacts;
+
+ collide(&node);
+
+ if(node.pairs.size() > 0)
+ {
+ if(verbose)
+ {
+ std::cout << "in collision " << node.pairs.size() << ": " << std::endl;
+
+ std::vector<BVHPointCollisionPair> pairs(node.pairs.size());
+ for(unsigned i = 0; i < node.pairs.size(); ++i)
+ pairs[i] = node.pairs[i];
+
+ std::sort(pairs.begin(), pairs.end(), BVHPointCollisionPairComp());
+
+ for(unsigned i = 0; i < pairs.size(); ++i)
+ {
+ std::cout << "(" << pairs[i].id1_start << "(" << pairs[i].id1_num << ")" << " " << pairs[i].id2_start << "(" << pairs[i].id2_num << ")" << " " << pairs[i].collision_prob << ") ";
+ }
+ std::cout << 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.max_collision_prob << std::endl;
+ if(verbose) std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
+ return false;
+ }
+}
+
+#else
+int main()
+{
+ return 1;
+}
+#endif
+
+
diff --git a/trunk/fcl_test/test/test_core_collision_shape_mesh_consistency.cpp b/trunk/fcl_test/test/test_core_collision_shape_mesh_consistency.cpp
new file mode 100644
index 00000000..cfa608fa
--- /dev/null
+++ b/trunk/fcl_test/test/test_core_collision_shape_mesh_consistency.cpp
@@ -0,0 +1,1187 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * 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 Willow Garage, Inc. 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 "fcl/geometric_shape_to_BVH_model.h"
+#include "fcl/collision.h"
+#include "test_core_utility.h"
+#include <gtest/gtest.h>
+
+using namespace fcl;
+
+TEST(consistency_shapemesh, spheresphere)
+{
+ Sphere s1(20);
+ Sphere s2(10);
+ BVHModel<AABB> s1_aabb;
+ BVHModel<AABB> s2_aabb;
+ BVHModel<OBB> s1_obb;
+ BVHModel<OBB> s2_obb;
+
+ generateBVHModel(s1_aabb, s1, SimpleTransform());
+ generateBVHModel(s2_aabb, s2, SimpleTransform());
+ generateBVHModel(s1_obb, s1, SimpleTransform());
+ generateBVHModel(s2_obb, s2, SimpleTransform());
+
+ std::vector<Contact> contacts;
+ bool res;
+
+ SimpleTransform pose, pose_aabb, pose_obb;
+
+
+ // s2 is within s1
+ // both are shapes --> collision
+ // s1 is shape, s2 is mesh --> in collision
+ // s1 is mesh, s2 is shape --> collision free
+ // all are reasonable
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2_aabb, pose_aabb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2_obb, pose_obb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2, pose, &s1_aabb, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s2, pose, &s1_obb, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+
+ pose.setTranslation(Vec3f(40, 0, 0));
+ pose_aabb.setTranslation(Vec3f(40, 0, 0));
+ pose_obb.setTranslation(Vec3f(40, 0, 0));
+
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s2_aabb, pose_aabb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s2_obb, pose_obb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s2, pose, &s1_aabb, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s2, pose, &s1_obb, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+
+ pose.setTranslation(Vec3f(30, 0, 0));
+ pose_aabb.setTranslation(Vec3f(30, 0, 0));
+ pose_obb.setTranslation(Vec3f(30, 0, 0));
+
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s2_aabb, pose_aabb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s2_obb, pose_obb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s2, pose, &s1_aabb, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s2, pose, &s1_obb, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+
+ pose.setTranslation(Vec3f(29.9, 0, 0));
+ pose_aabb.setTranslation(Vec3f(29.8, 0, 0)); // 29.9 fails, result depends on mesh precision
+ pose_obb.setTranslation(Vec3f(29.8, 0, 0)); // 29.9 fails, result depends on mesh precision
+
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2_aabb, pose_aabb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2_obb, pose_obb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2, pose, &s1_aabb, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2, pose, &s1_obb, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+
+ pose.setTranslation(Vec3f(-29.9, 0, 0));
+ pose_aabb.setTranslation(Vec3f(-29.8, 0, 0)); // 29.9 fails, result depends on mesh precision
+ pose_obb.setTranslation(Vec3f(-29.8, 0, 0)); // 29.9 fails, result depends on mesh precision
+
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2_aabb, pose_aabb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2_obb, pose_obb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2, pose, &s1_aabb, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2, pose, &s1_obb, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ pose.setTranslation(Vec3f(-30, 0, 0));
+ pose_aabb.setTranslation(Vec3f(-30, 0, 0));
+ pose_obb.setTranslation(Vec3f(-30, 0, 0));
+
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s2_aabb, pose_aabb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s2_obb, pose_obb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s2, pose, &s1_aabb, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s2, pose, &s1_obb, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+}
+
+TEST(consistency_shapemesh, boxbox)
+{
+ Box s1(20, 40, 50);
+ Box s2(10, 10, 10);
+
+ BVHModel<AABB> s1_aabb;
+ BVHModel<AABB> s2_aabb;
+ BVHModel<OBB> s1_obb;
+ BVHModel<OBB> s2_obb;
+ BVHModel<RSS> s1_rss;
+ BVHModel<RSS> s2_rss;
+
+ generateBVHModel(s1_aabb, s1, SimpleTransform());
+ generateBVHModel(s2_aabb, s2, SimpleTransform());
+ generateBVHModel(s1_obb, s1, SimpleTransform());
+ generateBVHModel(s2_obb, s2, SimpleTransform());
+ generateBVHModel(s1_rss, s1, SimpleTransform());
+ generateBVHModel(s2_rss, s2, SimpleTransform());
+
+ std::vector<Contact> contacts;
+ bool res;
+
+ SimpleTransform pose, pose_aabb, pose_obb;
+
+ // s2 is within s1
+ // both are shapes --> collision
+ // s1 is shape, s2 is mesh --> in collision
+ // s1 is mesh, s2 is shape --> collision free
+ // all are reasonable
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2_aabb, pose_aabb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2_obb, pose_obb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2, pose, &s1_aabb, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s2, pose, &s1_obb, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+
+ pose.setTranslation(Vec3f(15.01, 0, 0));
+ pose_aabb.setTranslation(Vec3f(15.01, 0, 0));
+ pose_obb.setTranslation(Vec3f(15.01, 0, 0));
+
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s2_aabb, pose_aabb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s2_obb, pose_obb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s2, pose, &s1_aabb, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s2, pose, &s1_obb, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+
+ pose.setTranslation(Vec3f(14.99, 0, 0));
+ pose_aabb.setTranslation(Vec3f(14.99, 0, 0));
+ pose_obb.setTranslation(Vec3f(14.99, 0, 0));
+
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2_aabb, pose_aabb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2_obb, pose_obb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2, pose, &s1_aabb, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2, pose, &s1_obb, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+}
+
+TEST(consistency_shapemesh, spherebox)
+{
+ Sphere s1(20);
+ Box s2(5, 5, 5);
+
+ BVHModel<AABB> s1_aabb;
+ BVHModel<AABB> s2_aabb;
+ BVHModel<OBB> s1_obb;
+ BVHModel<OBB> s2_obb;
+ BVHModel<RSS> s1_rss;
+ BVHModel<RSS> s2_rss;
+
+ generateBVHModel(s1_aabb, s1, SimpleTransform());
+ generateBVHModel(s2_aabb, s2, SimpleTransform());
+ generateBVHModel(s1_obb, s1, SimpleTransform());
+ generateBVHModel(s2_obb, s2, SimpleTransform());
+ generateBVHModel(s1_rss, s1, SimpleTransform());
+ generateBVHModel(s2_rss, s2, SimpleTransform());
+
+ std::vector<Contact> contacts;
+ bool res;
+
+ SimpleTransform pose, pose_aabb, pose_obb;
+
+ // s2 is within s1
+ // both are shapes --> collision
+ // s1 is shape, s2 is mesh --> in collision
+ // s1 is mesh, s2 is shape --> collision free
+ // all are reasonable
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2_aabb, pose_aabb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2_obb, pose_obb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2, pose, &s1_aabb, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s2, pose, &s1_obb, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+
+ pose.setTranslation(Vec3f(22.4, 0, 0));
+ pose_aabb.setTranslation(Vec3f(22.4, 0, 0));
+ pose_obb.setTranslation(Vec3f(22.4, 0, 0));
+
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2_aabb, pose_aabb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2_obb, pose_obb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2, pose, &s1_aabb, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2, pose, &s1_obb, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ pose.setTranslation(Vec3f(22.51, 0, 0));
+ pose_aabb.setTranslation(Vec3f(22.51, 0, 0));
+ pose_obb.setTranslation(Vec3f(22.51, 0, 0));
+
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s2_aabb, pose_aabb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s2_obb, pose_obb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s2, pose, &s1_aabb, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s2, pose, &s1_obb, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+}
+
+TEST(consistency_shapemesh, cylindercylinder)
+{
+ Cylinder s1(5, 10);
+ Cylinder s2(5, 10);
+
+ BVHModel<AABB> s1_aabb;
+ BVHModel<AABB> s2_aabb;
+ BVHModel<OBB> s1_obb;
+ BVHModel<OBB> s2_obb;
+ BVHModel<RSS> s1_rss;
+ BVHModel<RSS> s2_rss;
+
+ generateBVHModel(s1_aabb, s1, SimpleTransform());
+ generateBVHModel(s2_aabb, s2, SimpleTransform());
+ generateBVHModel(s1_obb, s1, SimpleTransform());
+ generateBVHModel(s2_obb, s2, SimpleTransform());
+ generateBVHModel(s1_rss, s1, SimpleTransform());
+ generateBVHModel(s2_rss, s2, SimpleTransform());
+
+ std::vector<Contact> contacts;
+ bool res;
+
+ SimpleTransform pose, pose_aabb, pose_obb;
+
+ pose.setTranslation(Vec3f(9.99, 0, 0));
+ pose_aabb.setTranslation(Vec3f(9.99, 0, 0));
+ pose_obb.setTranslation(Vec3f(9.99, 0, 0));
+
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2_aabb, pose_aabb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2_obb, pose_obb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2, pose, &s1_aabb, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2, pose, &s1_obb, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ pose.setTranslation(Vec3f(10.01, 0, 0));
+ pose_aabb.setTranslation(Vec3f(10.01, 0, 0));
+ pose_obb.setTranslation(Vec3f(10.01, 0, 0));
+
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s2_aabb, pose_aabb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s2_obb, pose_obb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s2, pose, &s1_aabb, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s2, pose, &s1_obb, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+}
+
+TEST(consistency_shapemesh, conecone)
+{
+ Cone s1(5, 10);
+ Cone s2(5, 10);
+
+ BVHModel<AABB> s1_aabb;
+ BVHModel<AABB> s2_aabb;
+ BVHModel<OBB> s1_obb;
+ BVHModel<OBB> s2_obb;
+ BVHModel<RSS> s1_rss;
+ BVHModel<RSS> s2_rss;
+
+ generateBVHModel(s1_aabb, s1, SimpleTransform());
+ generateBVHModel(s2_aabb, s2, SimpleTransform());
+ generateBVHModel(s1_obb, s1, SimpleTransform());
+ generateBVHModel(s2_obb, s2, SimpleTransform());
+ generateBVHModel(s1_rss, s1, SimpleTransform());
+ generateBVHModel(s2_rss, s2, SimpleTransform());
+
+ std::vector<Contact> contacts;
+ bool res;
+
+ SimpleTransform pose, pose_aabb, pose_obb;
+
+ pose.setTranslation(Vec3f(9.9, 0, 0));
+ pose_aabb.setTranslation(Vec3f(9.9, 0, 0));
+ pose_obb.setTranslation(Vec3f(9.9, 0, 0));
+
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2_aabb, pose_aabb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2_obb, pose_obb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2, pose, &s1_aabb, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2, pose, &s1_obb, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ pose.setTranslation(Vec3f(10.1, 0, 0));
+ pose_aabb.setTranslation(Vec3f(10.1, 0, 0));
+ pose_obb.setTranslation(Vec3f(10.1, 0, 0));
+
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s2_aabb, pose_aabb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s2_obb, pose_obb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s2, pose, &s1_aabb, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s2, pose, &s1_obb, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+
+ pose.setTranslation(Vec3f(0, 0, 9.9));
+ pose_aabb.setTranslation(Vec3f(0, 0, 9.9));
+ pose_obb.setTranslation(Vec3f(0, 0, 9.9));
+
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2_aabb, pose_aabb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2_obb, pose_obb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2, pose, &s1_aabb, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s2, pose, &s1_obb, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ pose.setTranslation(Vec3f(0, 0, 10.1));
+ pose_aabb.setTranslation(Vec3f(0, 0, 10.1));
+ pose_obb.setTranslation(Vec3f(0, 0, 10.1));
+
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s2_aabb, pose_aabb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s2_obb, pose_obb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s2, pose, &s1_aabb, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s2, pose, &s1_obb, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+}
+
+TEST(consistency, spheresphere)
+{
+ Sphere s1(20);
+ Sphere s2(10);
+ BVHModel<AABB> s1_aabb;
+ BVHModel<AABB> s2_aabb;
+ BVHModel<OBB> s1_obb;
+ BVHModel<OBB> s2_obb;
+ BVHModel<RSS> s1_rss;
+ BVHModel<RSS> s2_rss;
+
+ generateBVHModel(s1_aabb, s1, SimpleTransform());
+ generateBVHModel(s2_aabb, s2, SimpleTransform());
+ generateBVHModel(s1_obb, s1, SimpleTransform());
+ generateBVHModel(s2_obb, s2, SimpleTransform());
+ generateBVHModel(s1_rss, s1, SimpleTransform());
+ generateBVHModel(s2_rss, s2, SimpleTransform());
+
+ std::vector<Contact> contacts;
+ bool res;
+
+ SimpleTransform pose, pose_aabb, pose_obb, pose_rss;
+
+ pose.setTranslation(Vec3f(40, 0, 0));
+ pose_aabb.setTranslation(Vec3f(40, 0, 0));
+ pose_obb.setTranslation(Vec3f(40, 0, 0));
+ pose_rss.setTranslation(Vec3f(40, 0, 0));
+
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_obb, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_rss, SimpleTransform(), &s2_rss, pose_rss, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+
+ pose.setTranslation(Vec3f(30, 0, 0));
+ pose_aabb.setTranslation(Vec3f(30, 0, 0));
+ pose_obb.setTranslation(Vec3f(30, 0, 0));
+ pose_rss.setTranslation(Vec3f(30, 0, 0));
+
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_obb, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_rss, SimpleTransform(), &s2_rss, pose_rss, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+
+ pose.setTranslation(Vec3f(29.9, 0, 0));
+ pose_aabb.setTranslation(Vec3f(29.8, 0, 0)); // 29.9 fails, result depends on mesh precision
+ pose_obb.setTranslation(Vec3f(29.8, 0, 0)); // 29.9 fails, result depends on mesh precision
+ pose_rss.setTranslation(Vec3f(29.8, 0, 0)); // 29.9 fails, result depends on mesh precision
+
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_obb, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_rss, SimpleTransform(), &s2_rss, pose_rss, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ pose.setTranslation(Vec3f(0, 0, 0));
+ pose_aabb.setTranslation(Vec3f(0, 0, 0)); // mesh can not detect collision when ball contains ball
+ pose_obb.setTranslation(Vec3f(0, 0, 0)); // mesh can not detect collision when ball contains ball
+ pose_rss.setTranslation(Vec3f(0, 0, 0)); // mesh can not detect collision when ball contains ball
+
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_obb, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_rss, SimpleTransform(), &s2_rss, pose_rss, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+
+ pose.setTranslation(Vec3f(-29.9, 0, 0));
+ pose_aabb.setTranslation(Vec3f(-29.8, 0, 0)); // 29.9 fails, result depends on mesh precision
+ pose_obb.setTranslation(Vec3f(-29.8, 0, 0)); // 29.9 fails, result depends on mesh precision
+ pose_rss.setTranslation(Vec3f(-29.8, 0, 0)); // 29.9 fails, result depends on mesh precision
+
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_obb, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_rss, SimpleTransform(), &s2_rss, pose_rss, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ pose.setTranslation(Vec3f(-30, 0, 0));
+ pose_aabb.setTranslation(Vec3f(-30, 0, 0));
+ pose_obb.setTranslation(Vec3f(-30, 0, 0));
+ pose_rss.setTranslation(Vec3f(-30, 0, 0));
+
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_obb, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_rss, SimpleTransform(), &s2_rss, pose_rss, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+}
+
+TEST(consistency, boxbox)
+{
+ Box s1(20, 40, 50);
+ Box s2(10, 10, 10);
+
+ BVHModel<AABB> s1_aabb;
+ BVHModel<AABB> s2_aabb;
+ BVHModel<OBB> s1_obb;
+ BVHModel<OBB> s2_obb;
+ BVHModel<RSS> s1_rss;
+ BVHModel<RSS> s2_rss;
+
+ generateBVHModel(s1_aabb, s1, SimpleTransform());
+ generateBVHModel(s2_aabb, s2, SimpleTransform());
+ generateBVHModel(s1_obb, s1, SimpleTransform());
+ generateBVHModel(s2_obb, s2, SimpleTransform());
+ generateBVHModel(s1_rss, s1, SimpleTransform());
+ generateBVHModel(s2_rss, s2, SimpleTransform());
+
+ std::vector<Contact> contacts;
+ bool res;
+
+ SimpleTransform pose, pose_aabb, pose_obb, pose_rss;
+
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res); // mesh can not detect collision when box contains box
+ contacts.clear();
+ res = (collide(&s1_obb, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res); // mesh can not detect collision when box contains box
+ contacts.clear();
+ res = (collide(&s1_rss, SimpleTransform(), &s2_rss, pose_rss, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res); // mesh can not detect collision when box contains box
+
+ pose.setTranslation(Vec3f(15.01, 0, 0));
+ pose_aabb.setTranslation(Vec3f(15.01, 0, 0));
+ pose_obb.setTranslation(Vec3f(15.01, 0, 0));
+ pose_rss.setTranslation(Vec3f(15.01, 0, 0));
+
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_obb, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_rss, SimpleTransform(), &s2_rss, pose_rss, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+
+ pose.setTranslation(Vec3f(14.99, 0, 0));
+ pose_aabb.setTranslation(Vec3f(14.99, 0, 0));
+ pose_obb.setTranslation(Vec3f(14.99, 0, 0));
+ pose_rss.setTranslation(Vec3f(14.99, 0, 0));
+
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_obb, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_rss, SimpleTransform(), &s2_rss, pose_rss, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+}
+
+TEST(consistency, spherebox)
+{
+ Sphere s1(20);
+ Box s2(5, 5, 5);
+
+ BVHModel<AABB> s1_aabb;
+ BVHModel<AABB> s2_aabb;
+ BVHModel<OBB> s1_obb;
+ BVHModel<OBB> s2_obb;
+ BVHModel<RSS> s1_rss;
+ BVHModel<RSS> s2_rss;
+
+ generateBVHModel(s1_aabb, s1, SimpleTransform());
+ generateBVHModel(s2_aabb, s2, SimpleTransform());
+ generateBVHModel(s1_obb, s1, SimpleTransform());
+ generateBVHModel(s2_obb, s2, SimpleTransform());
+ generateBVHModel(s1_rss, s1, SimpleTransform());
+ generateBVHModel(s2_rss, s2, SimpleTransform());
+
+ std::vector<Contact> contacts;
+ bool res;
+
+ SimpleTransform pose, pose_aabb, pose_obb, pose_rss;
+
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res); // mesh can not detect collision when box contains box
+ contacts.clear();
+ res = (collide(&s1_obb, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res); // mesh can not detect collision when box contains box
+ contacts.clear();
+ res = (collide(&s1_rss, SimpleTransform(), &s2_rss, pose_rss, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res); // mesh can not detect collision when box contains box
+
+ pose.setTranslation(Vec3f(22.4, 0, 0));
+ pose_aabb.setTranslation(Vec3f(22.4, 0, 0));
+ pose_obb.setTranslation(Vec3f(22.4, 0, 0));
+ pose_rss.setTranslation(Vec3f(22.4, 0, 0));
+
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_obb, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_rss, SimpleTransform(), &s2_rss, pose_rss, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ pose.setTranslation(Vec3f(22.51, 0, 0));
+ pose_aabb.setTranslation(Vec3f(22.51, 0, 0));
+ pose_obb.setTranslation(Vec3f(22.51, 0, 0));
+ pose_rss.setTranslation(Vec3f(22.51, 0, 0));
+
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_obb, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_rss, SimpleTransform(), &s2_rss, pose_rss, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+}
+
+TEST(consistency, cylindercylinder)
+{
+ Cylinder s1(5, 10);
+ Cylinder s2(5, 10);
+
+ BVHModel<AABB> s1_aabb;
+ BVHModel<AABB> s2_aabb;
+ BVHModel<OBB> s1_obb;
+ BVHModel<OBB> s2_obb;
+ BVHModel<RSS> s1_rss;
+ BVHModel<RSS> s2_rss;
+
+ generateBVHModel(s1_aabb, s1, SimpleTransform());
+ generateBVHModel(s2_aabb, s2, SimpleTransform());
+ generateBVHModel(s1_obb, s1, SimpleTransform());
+ generateBVHModel(s2_obb, s2, SimpleTransform());
+ generateBVHModel(s1_rss, s1, SimpleTransform());
+ generateBVHModel(s2_rss, s2, SimpleTransform());
+
+ std::vector<Contact> contacts;
+ bool res;
+
+ SimpleTransform pose, pose_aabb, pose_obb, pose_rss;
+
+ pose.setTranslation(Vec3f(9.99, 0, 0));
+ pose_aabb.setTranslation(Vec3f(9.99, 0, 0));
+ pose_obb.setTranslation(Vec3f(9.99, 0, 0));
+ pose_rss.setTranslation(Vec3f(9.99, 0, 0));
+
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_obb, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_rss, SimpleTransform(), &s2_rss, pose_rss, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ pose.setTranslation(Vec3f(10.01, 0, 0));
+ pose_aabb.setTranslation(Vec3f(10.01, 0, 0));
+ pose_obb.setTranslation(Vec3f(10.01, 0, 0));
+ pose_rss.setTranslation(Vec3f(10.01, 0, 0));
+
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_obb, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_rss, SimpleTransform(), &s2_rss, pose_rss, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+}
+
+TEST(consistency, conecone)
+{
+ Cone s1(5, 10);
+ Cone s2(5, 10);
+
+ BVHModel<AABB> s1_aabb;
+ BVHModel<AABB> s2_aabb;
+ BVHModel<OBB> s1_obb;
+ BVHModel<OBB> s2_obb;
+ BVHModel<RSS> s1_rss;
+ BVHModel<RSS> s2_rss;
+
+ generateBVHModel(s1_aabb, s1, SimpleTransform());
+ generateBVHModel(s2_aabb, s2, SimpleTransform());
+ generateBVHModel(s1_obb, s1, SimpleTransform());
+ generateBVHModel(s2_obb, s2, SimpleTransform());
+ generateBVHModel(s1_rss, s1, SimpleTransform());
+ generateBVHModel(s2_rss, s2, SimpleTransform());
+
+ std::vector<Contact> contacts;
+ bool res;
+
+ SimpleTransform pose, pose_aabb, pose_obb, pose_rss;
+
+ pose.setTranslation(Vec3f(9.9, 0, 0));
+ pose_aabb.setTranslation(Vec3f(9.9, 0, 0));
+ pose_obb.setTranslation(Vec3f(9.9, 0, 0));
+ pose_rss.setTranslation(Vec3f(9.9, 0, 0));
+
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_obb, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_rss, SimpleTransform(), &s2_rss, pose_rss, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ pose.setTranslation(Vec3f(10.1, 0, 0));
+ pose_aabb.setTranslation(Vec3f(10.1, 0, 0));
+ pose_obb.setTranslation(Vec3f(10.1, 0, 0));
+ pose_rss.setTranslation(Vec3f(10.1, 0, 0));
+
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_obb, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_rss, SimpleTransform(), &s2_rss, pose_rss, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+
+ pose.setTranslation(Vec3f(0, 0, 9.9));
+ pose_aabb.setTranslation(Vec3f(0, 0, 9.9));
+ pose_obb.setTranslation(Vec3f(0, 0, 9.9));
+ pose_rss.setTranslation(Vec3f(0, 0, 9.9));
+
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_obb, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1_rss, SimpleTransform(), &s2_rss, pose_rss, 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ pose.setTranslation(Vec3f(0, 0, 10.1));
+ pose_aabb.setTranslation(Vec3f(0, 0, 10.1));
+ pose_obb.setTranslation(Vec3f(0, 0, 10.1));
+ pose_rss.setTranslation(Vec3f(0, 0, 10.1));
+
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_aabb, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_obb, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1_rss, SimpleTransform(), &s2_rss, pose_rss, 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+}
+
+int main(int argc, char **argv)
+{
+ testing::InitGoogleTest(&argc, argv);
+ return RUN_ALL_TESTS();
+}
diff --git a/trunk/fcl_test/test/test_core_conservative_advancement.cpp b/trunk/fcl_test/test/test_core_conservative_advancement.cpp
new file mode 100644
index 00000000..d59131f2
--- /dev/null
+++ b/trunk/fcl_test/test/test_core_conservative_advancement.cpp
@@ -0,0 +1,538 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * 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 Willow Garage, Inc. 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 "fcl/conservative_advancement.h"
+#include "test_core_utility.h"
+#include "fcl/collision_node.h"
+#include "fcl/simple_setup.h"
+
+
+using namespace fcl;
+
+
+bool CA_linear_Test(const Transform& tf1, const Transform& tf2,
+ const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
+ const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
+ SplitMethodType split_method,
+ bool use_COM,
+ BVH_REAL& toc);
+
+bool linear_interp_Test(const Transform& tf1, const Transform& tf2,
+ const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
+ const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
+ SplitMethodType split_method,
+ unsigned int nsamples,
+ bool use_COM,
+ BVH_REAL& toc);
+
+bool CA_screw_Test(const Transform& tf1, const Transform& tf2,
+ const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
+ const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
+ SplitMethodType split_method,
+ BVH_REAL& toc);
+
+
+bool screw_interp_Test(const Transform& tf1, const Transform& tf2,
+ const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
+ const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
+ SplitMethodType split_method,
+ unsigned int nsamples,
+ BVH_REAL& toc);
+
+// for spline test: the deBoor points are generated with screw motion, so will not pass tf1 and tf2 exactly
+bool CA_spline_Test(const Transform& tf1, const Transform& tf2,
+ const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
+ const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
+ SplitMethodType split_method,
+ BVH_REAL& toc);
+
+
+bool spline_interp_Test(const Transform& tf1, const Transform& tf2,
+ const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
+ const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
+ SplitMethodType split_method,
+ unsigned int nsamples,
+ BVH_REAL& toc);
+
+
+unsigned int n_dcd_samples = 1000000;
+
+int main()
+{
+ std::vector<Vec3f> p1, p2;
+ std::vector<Triangle> t1, t2;
+ loadOBJFile("test/env.obj", p1, t1);
+ loadOBJFile("test/rob.obj", p2, t2);
+
+ std::vector<Transform> transforms; // t0
+ std::vector<Transform> transforms2; // t1
+ BVH_REAL extents[] = {-3000, -3000, 0, 3000, 3000, 3000};
+ BVH_REAL delta_trans[] = {100, 100, 100};
+ int n = 100;
+
+ generateRandomTransform(extents, transforms, transforms2, delta_trans, 0.005 * 2 * 3.1415, n);
+
+ for(unsigned int i = 0; i < transforms.size(); ++i)
+ {
+ //std::cout << i << std::endl;
+ BVH_REAL toc;
+ bool res = CA_linear_Test(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, false, toc);
+
+ BVH_REAL toc2;
+ bool res2 = linear_interp_Test(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, n_dcd_samples, false, toc2);
+
+ BVH_REAL toc3;
+ bool res3 = CA_linear_Test(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, true, toc3);
+
+ BVH_REAL toc4;
+ bool res4 = linear_interp_Test(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, n_dcd_samples, true, toc4);
+
+ BVH_REAL toc5;
+ bool res5 = CA_screw_Test(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, toc5);
+
+ BVH_REAL toc6;
+ bool res6 = screw_interp_Test(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, n_dcd_samples, toc6);
+
+ BVH_REAL toc7;
+ bool res7 = CA_spline_Test(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, toc7);
+
+ BVH_REAL toc8;
+ bool res8 = spline_interp_Test(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, n_dcd_samples, toc8);
+
+
+ if(!(i == 2 || i == 44 || i == 53))
+ continue;
+
+
+ if(res) std::cout << "yes "; else std::cout << "no ";
+ if(res2) std::cout << "yes "; else std::cout << "no ";
+ if(res3) std::cout << "yes "; else std::cout << "no ";
+ if(res4) std::cout << "yes "; else std::cout << "no ";
+ if(res5) std::cout << "yes "; else std::cout << "no ";
+ if(res6) std::cout << "yes "; else std::cout << "no ";
+ if(res7) std::cout << "yes "; else std::cout << "no ";
+ if(res8) std::cout << "yes "; else std::cout << "no ";
+
+ std::cout << std::endl;
+
+ std::cout << toc << " " << toc2 << " " << toc3 << " " << toc4 << " " << toc5 << " " << toc6 << " " << toc7 << " " << toc8 << std::endl;
+ std::cout << std::endl;
+ }
+
+ return 1;
+
+}
+
+
+bool CA_linear_Test(const Transform& tf1, const Transform& tf2,
+ const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
+ const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
+ SplitMethodType split_method,
+ bool use_COM,
+ BVH_REAL& toc)
+{
+ BVHModel<RSS> m1;
+ BVHModel<RSS> m2;
+
+ m1.bv_splitter.reset(new BVSplitter<RSS>(split_method));
+ m2.bv_splitter.reset(new BVSplitter<RSS>(split_method));
+
+ m1.beginModel();
+ m1.addSubModel(vertices1, triangles1);
+ m1.endModel();
+
+ m2.beginModel();
+ m2.addSubModel(vertices2, triangles2);
+ m2.endModel();
+
+ Matrix3f R2;
+ R2.setIdentity();
+ Vec3f T2;
+
+ std::vector<Contact> contacts;
+
+ Vec3f m1_ref;
+ Vec3f m2_ref;
+
+ if(use_COM)
+ {
+ for(unsigned int i = 0; i < vertices1.size(); ++i)
+ m1_ref += vertices1[i];
+ m1_ref *= (1.0 / vertices1.size());
+
+ for(unsigned int i = 0; i < vertices2.size(); ++i)
+ m2_ref += vertices2[i];
+ m2_ref *= (1.0 / vertices2.size());
+ }
+
+ InterpMotion<RSS> motion1(tf1.R, tf1.T, tf2.R, tf2.T, m1_ref);
+ InterpMotion<RSS> motion2(R2, T2, R2, T2, m2_ref);
+
+ int b = conservativeAdvancement(&m1, &motion1,
+ &m2, &motion2,
+ 1, false, false, contacts, toc);
+
+ return (b > 0);
+}
+
+bool CA_screw_Test(const Transform& tf1, const Transform& tf2,
+ const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
+ const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
+ SplitMethodType split_method,
+ BVH_REAL& toc)
+{
+ BVHModel<RSS> m1;
+ BVHModel<RSS> m2;
+
+ m1.bv_splitter.reset(new BVSplitter<RSS>(split_method));
+ m2.bv_splitter.reset(new BVSplitter<RSS>(split_method));
+
+ m1.beginModel();
+ m1.addSubModel(vertices1, triangles1);
+ m1.endModel();
+
+ m2.beginModel();
+ m2.addSubModel(vertices2, triangles2);
+ m2.endModel();
+
+ Matrix3f R2;
+ R2.setIdentity();
+ Vec3f T2;
+
+ std::vector<Contact> contacts;
+
+ Vec3f m1_ref;
+ Vec3f m2_ref;
+
+
+ ScrewMotion<RSS> motion1(tf1.R, tf1.T, tf2.R, tf2.T);
+ ScrewMotion<RSS> motion2(R2, T2, R2, T2);
+
+ int b = conservativeAdvancement(&m1, &motion1,
+ &m2, &motion2,
+ 1, false, false, contacts, toc);
+
+
+ return (b > 0);
+
+}
+bool linear_interp_Test(const Transform& tf1, const Transform& tf2,
+ const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
+ const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
+ SplitMethodType split_method,
+ unsigned int nsamples,
+ bool use_COM,
+ BVH_REAL& toc)
+{
+ BVHModel<RSS> m1;
+ BVHModel<RSS> m2;
+
+ m1.bv_splitter.reset(new BVSplitter<RSS>(split_method));
+ m2.bv_splitter.reset(new BVSplitter<RSS>(split_method));
+
+ m1.beginModel();
+ m1.addSubModel(vertices1, triangles1);
+ m1.endModel();
+
+ m2.beginModel();
+ m2.addSubModel(vertices2, triangles2);
+ m2.endModel();
+
+ Matrix3f R2;
+ R2.setIdentity();
+ Vec3f T2;
+
+ Vec3f m1_ref;
+ Vec3f m2_ref;
+
+ if(use_COM)
+ {
+ for(unsigned int i = 0; i < vertices1.size(); ++i)
+ m1_ref += vertices1[i];
+ m1_ref *= (1.0 / vertices1.size());
+
+ for(unsigned int i = 0; i < vertices2.size(); ++i)
+ m2_ref += vertices2[i];
+ m2_ref *= (1.0 / vertices2.size());
+ }
+
+ InterpMotion<RSS> motion1(tf1.R, tf1.T, tf2.R, tf2.T, m1_ref);
+
+ for(unsigned int i = 0; i <= nsamples; ++i)
+ {
+ BVH_REAL curt = i / (BVH_REAL)nsamples;
+
+ SimpleTransform pose;
+ motion1.integrate(curt);
+ motion1.getCurrentTransform(pose);
+
+ MeshCollisionTraversalNodeRSS node;
+ if(!initialize(node, (const BVHModel<RSS>&)m1, pose, (const BVHModel<RSS>&)m2, SimpleTransform(R2, T2)))
+ std::cout << "initialize error" << std::endl;
+
+ node.enable_statistics = false;
+ node.num_max_contacts = 1;
+ node.exhaustive = false;
+ node.enable_contact = false;
+
+ collide(&node);
+
+ if(node.pairs.size() > 0)
+ {
+ toc = curt;
+ return true;
+ }
+ }
+
+ toc = 1;
+ return false;
+}
+
+bool screw_interp_Test(const Transform& tf1, const Transform& tf2,
+ const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
+ const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
+ SplitMethodType split_method,
+ unsigned int nsamples,
+ BVH_REAL& toc)
+{
+ BVHModel<RSS> m1;
+ BVHModel<RSS> m2;
+
+ m1.bv_splitter.reset(new BVSplitter<RSS>(split_method));
+ m2.bv_splitter.reset(new BVSplitter<RSS>(split_method));
+
+ m1.beginModel();
+ m1.addSubModel(vertices1, triangles1);
+ m1.endModel();
+
+ m2.beginModel();
+ m2.addSubModel(vertices2, triangles2);
+ m2.endModel();
+
+ Matrix3f R2;
+ R2.setIdentity();
+ Vec3f T2;
+
+
+ Vec3f m1_ref;
+ Vec3f m2_ref;
+
+
+ ScrewMotion<RSS> motion1(tf1.R, tf1.T, tf2.R, tf2.T);
+
+ for(unsigned int i = 0; i <= nsamples; ++i)
+ {
+ BVH_REAL curt = i / (BVH_REAL)nsamples;
+
+ SimpleTransform pose;
+ motion1.integrate(curt);
+ motion1.getCurrentTransform(pose);
+
+ MeshCollisionTraversalNodeRSS node;
+ if(!initialize(node, (const BVHModel<RSS>&)m1, pose, (const BVHModel<RSS>&)m2, SimpleTransform(R2, T2)))
+ std::cout << "initialize error" << std::endl;
+
+ node.enable_statistics = false;
+ node.num_max_contacts = 1;
+ node.exhaustive = false;
+ node.enable_contact = false;
+
+ collide(&node);
+
+ if(node.pairs.size() > 0)
+ {
+ toc = curt;
+ return true;
+ }
+ }
+
+ toc = 1;
+ return false;
+}
+
+
+bool CA_spline_Test(const Transform& tf1, const Transform& tf2,
+ const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
+ const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
+ SplitMethodType split_method,
+ BVH_REAL& toc)
+{
+ BVHModel<RSS> m1;
+ BVHModel<RSS> m2;
+
+ m1.bv_splitter.reset(new BVSplitter<RSS>(split_method));
+ m2.bv_splitter.reset(new BVSplitter<RSS>(split_method));
+
+ m1.beginModel();
+ m1.addSubModel(vertices1, triangles1);
+ m1.endModel();
+
+ m2.beginModel();
+ m2.addSubModel(vertices2, triangles2);
+ m2.endModel();
+
+ ScrewMotion<RSS> motion(tf1.R, tf1.T, tf2.R, tf2.T);
+ Vec3f Td_1[4];
+ Vec3f Rd_1[4];
+ Vec3f Td_2[4];
+ Vec3f Rd_2[4];
+
+ for(int i = 0; i < 4; ++i)
+ {
+ motion.integrate(i / 4.0);
+ Matrix3f R;
+ Vec3f T;
+ motion.getCurrentTransform(R, T);
+ SimpleQuaternion q;
+ q.fromRotation(R);
+ Vec3f axis;
+ BVH_REAL angle;
+ q.toAxisAngle(axis, angle);
+ Td_1[i] = T;
+ Rd_1[i] = axis * angle;
+ }
+
+ for(int i = 0; i < 4; ++i)
+ {
+ Td_2[i].setValue(0);
+ Rd_2[i].setValue(0);
+ }
+
+ SplineMotion<RSS> motion1(Td_1[0], Td_1[1], Td_1[2], Td_1[3],
+ Rd_1[0], Rd_1[1], Rd_1[2], Rd_1[3]);
+
+ SplineMotion<RSS> motion2(Td_2[0], Td_2[1], Td_2[2], Td_2[3],
+ Rd_2[0], Rd_2[1], Rd_2[2], Rd_2[3]);
+
+ std::vector<Contact> contacts;
+
+ int b = conservativeAdvancement(&m1, &motion1,
+ &m2, &motion2,
+ 1, false, false, contacts, toc);
+
+
+ return (b > 0);
+
+}
+
+bool spline_interp_Test(const Transform& tf1, const Transform& tf2,
+ const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
+ const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
+ SplitMethodType split_method,
+ unsigned int nsamples,
+ BVH_REAL& toc)
+{
+ BVHModel<RSS> m1;
+ BVHModel<RSS> m2;
+
+ m1.bv_splitter.reset(new BVSplitter<RSS>(split_method));
+ m2.bv_splitter.reset(new BVSplitter<RSS>(split_method));
+
+ m1.beginModel();
+ m1.addSubModel(vertices1, triangles1);
+ m1.endModel();
+
+ m2.beginModel();
+ m2.addSubModel(vertices2, triangles2);
+ m2.endModel();
+
+
+ ScrewMotion<RSS> motion(tf1.R, tf1.T, tf2.R, tf2.T);
+ Vec3f Td_1[4];
+ Vec3f Rd_1[4];
+ Vec3f Td_2[4];
+ Vec3f Rd_2[4];
+
+ for(int i = 0; i < 4; ++i)
+ {
+ motion.integrate(i / 4.0);
+ Matrix3f R;
+ Vec3f T;
+ motion.getCurrentTransform(R, T);
+ SimpleQuaternion q;
+ q.fromRotation(R);
+ Vec3f axis;
+ BVH_REAL angle;
+ q.toAxisAngle(axis, angle);
+ Td_1[i] = T;
+ Rd_1[i] = axis * angle;
+ }
+
+ for(int i = 0; i < 4; ++i)
+ {
+ Td_2[i].setValue(0);
+ Rd_2[i].setValue(0);
+ }
+
+ SplineMotion<RSS> motion1(Td_1[0], Td_1[1], Td_1[2], Td_1[3],
+ Rd_1[0], Rd_1[1], Rd_1[2], Rd_1[3]);
+
+ SplineMotion<RSS> motion2(Td_2[0], Td_2[1], Td_2[2], Td_2[3],
+ Rd_2[0], Rd_2[1], Rd_2[2], Rd_2[3]);
+
+
+ for(unsigned int i = 0; i < nsamples; ++i)
+ {
+ BVH_REAL curt = i / (BVH_REAL)nsamples;
+
+ motion1.integrate(curt);
+ motion2.integrate(curt);
+
+ SimpleTransform tf1, tf2;
+ motion1.getCurrentTransform(tf1);
+ motion2.getCurrentTransform(tf2);
+
+ MeshCollisionTraversalNodeRSS node;
+ if(!initialize(node, (const BVHModel<RSS>&)m1, tf1, (const BVHModel<RSS>&)m2, tf2))
+ std::cout << "initialize error" << std::endl;
+
+ node.enable_statistics = false;
+ node.num_max_contacts = 1;
+ node.exhaustive = false;
+ node.enable_contact = false;
+
+ collide(&node);
+
+ if(node.pairs.size() > 0)
+ {
+ toc = curt;
+ return true;
+ }
+ }
+
+ toc = 1;
+ return false;
+}
diff --git a/trunk/fcl_test/test/test_core_continuous_collision.cpp b/trunk/fcl_test/test/test_core_continuous_collision.cpp
new file mode 100644
index 00000000..45556607
--- /dev/null
+++ b/trunk/fcl_test/test/test_core_continuous_collision.cpp
@@ -0,0 +1,296 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * 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 Willow Garage, Inc. 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 "fcl/traversal_node_bvhs.h"
+#include "fcl/collision_node.h"
+#include "fcl/simple_setup.h"
+#include "test_core_utility.h"
+#include <gtest/gtest.h>
+#include <boost/timer.hpp>
+
+using namespace fcl;
+
+template<typename BV>
+bool continuous_collide_Test(const Transform& tf1, const Transform& tf2,
+ const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
+ const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
+ SplitMethodType split_method,
+ bool refit_bottomup, bool verbose);
+
+template<typename BV>
+bool discrete_continuous_collide_Test(const Transform& tf1, const Transform& tf2,
+ const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
+ const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
+ SplitMethodType split_method,
+ unsigned int nsamples,
+ bool verbose);
+
+int num_max_contacts = -1;
+bool exhaustive = true;
+bool enable_contact = true;
+unsigned int n_dcd_samples = 10;
+
+
+
+TEST(ccd_test, mesh_mesh_bottomup)
+{
+ double t_ccd = 0;
+ double t_dcd = 0;
+
+ std::vector<Vec3f> p1, p2;
+ std::vector<Triangle> t1, t2;
+ loadOBJFile("test/env.obj", p1, t1);
+ loadOBJFile("test/rob.obj", p2, t2);
+
+ std::vector<Transform> transforms; // t0
+ std::vector<Transform> transforms2; // t1
+ BVH_REAL extents[] = {-3000, -3000, 0, 3000, 3000, 3000};
+ BVH_REAL delta_trans[] = {10, 10, 10};
+ int n = 100;
+ bool verbose = false;
+
+ generateRandomTransform(extents, transforms, transforms2, delta_trans, 0.005 * 2 * 3.1415, n);
+
+ bool res, res2;
+
+ for(unsigned int i = 0; i < transforms.size(); ++i)
+ {
+ boost::timer timer1;
+ res = discrete_continuous_collide_Test<AABB>(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, n_dcd_samples, verbose);
+ t_dcd += timer1.elapsed();
+
+ boost::timer timer2;
+ res2 = continuous_collide_Test<AABB>(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, true, verbose);
+ t_ccd += timer2.elapsed();
+ if(res)
+ ASSERT_TRUE(res == res2);
+ else
+ {
+ if(res2)
+ std::cout << "CCD detects collision missed in DCD" << std::endl;
+ }
+ }
+
+ std::cout << "dcd timing: " << t_dcd << " sec" << std::endl;
+ std::cout << "ccd timing: " << t_ccd << " sec" << std::endl;
+}
+
+
+TEST(ccd_test, mesh_mesh_topdown)
+{
+ double t_ccd = 0;
+ double t_dcd = 0;
+
+ std::vector<Vec3f> p1, p2;
+ std::vector<Triangle> t1, t2;
+ loadOBJFile("test/env.obj", p1, t1);
+ loadOBJFile("test/rob.obj", p2, t2);
+
+ std::vector<Transform> transforms; // t0
+ std::vector<Transform> transforms2; // t1
+ BVH_REAL extents[] = {-3000, -3000, 0, 3000, 3000, 3000};
+ BVH_REAL delta_trans[] = {10, 10, 10};
+ int n = 100;
+ bool verbose = false;
+
+ generateRandomTransform(extents, transforms, transforms2, delta_trans, 0.005 * 2 * 3.1415, n);
+
+ bool res, res2;
+
+ for(unsigned int i = 0; i < transforms.size(); ++i)
+ {
+ boost::timer timer1;
+ res = discrete_continuous_collide_Test<AABB>(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, n_dcd_samples, verbose);
+ t_dcd += timer1.elapsed();
+
+ boost::timer timer2;
+ res2 = continuous_collide_Test<AABB>(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, false, verbose);
+ t_ccd += timer2.elapsed();
+ if(res)
+ ASSERT_TRUE(res == res2);
+ else
+ {
+ if(res2)
+ std::cout << "CCD detects collision missed in DCD" << std::endl;
+ }
+ }
+ std::cout << "dcd timing: " << t_dcd << " sec" << std::endl;
+ std::cout << "ccd timing: " << t_ccd << " sec" << std::endl;
+}
+
+
+int main(int argc, char **argv)
+{
+ testing::InitGoogleTest(&argc, argv);
+ return RUN_ALL_TESTS();
+}
+
+template<typename BV>
+bool continuous_collide_Test(const Transform& tf1, const Transform& tf2,
+ const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
+ const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
+ SplitMethodType split_method,
+ bool refit_bottomup, 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] = tf1.R * vertices1[i] + tf1.T;
+ }
+
+ m1.beginModel();
+ m1.addSubModel(vertices1_new, triangles1);
+ m1.endModel();
+
+ m2.beginModel();
+ m2.addSubModel(vertices2, triangles2);
+ m2.endModel();
+
+ SimpleTransform pose1, pose2;
+
+ MeshCollisionTraversalNode<BV> node0;
+
+ if(!initialize<BV>(node0, m1, pose1, m2, pose2))
+ std::cout << "initialize error" << std::endl;
+
+ node0.enable_statistics = verbose;
+ node0.num_max_contacts = num_max_contacts;
+ node0.exhaustive = exhaustive;
+ node0.enable_contact = enable_contact;
+
+ collide(&node0);
+ if(node0.pairs.size() > 0)
+ return true;
+
+ // update
+ for(unsigned int i = 0; i < vertices1_new.size(); ++i)
+ {
+ vertices1_new[i] = tf2.R * vertices1[i] + tf2.T;
+ }
+
+ m1.beginUpdateModel();
+ m1.updateSubModel(vertices1_new);
+ m1.endUpdateModel(true, refit_bottomup);
+
+ m2.beginUpdateModel();
+ m2.updateSubModel(vertices2);
+ m2.endUpdateModel(true, refit_bottomup);
+
+ SimpleTransform pose11, pose21;
+
+ MeshContinuousCollisionTraversalNode<BV> node;
+
+ if(!initialize<BV>(node, m1, pose11, m2, pose21))
+ std::cout << "initialize error" << std::endl;
+
+ node.enable_statistics = verbose;
+ node.num_max_contacts = num_max_contacts;
+ node.exhaustive = exhaustive;
+ node.enable_contact = enable_contact;
+
+ collide(&node);
+
+ if(node.pairs.size() > 0)
+ return true;
+ else
+ return false;
+}
+
+template<typename BV>
+bool discrete_continuous_collide_Test(const Transform& tf1, const Transform& tf2,
+ const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
+ const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
+ SplitMethodType split_method,
+ unsigned int nsamples,
+ bool verbose)
+{
+ std::vector<Vec3f> vertices1_t1(vertices1.size());
+ for(unsigned int i = 0; i < vertices1_t1.size(); ++i)
+ {
+ vertices1_t1[i] = tf1.R * vertices1[i] + tf1.T;
+ }
+
+ std::vector<Vec3f> vertices1_t2(vertices1.size());
+ for(unsigned int i = 0; i < vertices1_t2.size(); ++i)
+ {
+ vertices1_t2[i] = tf2.R * vertices1[i] + tf2.T;
+ }
+
+ std::vector<Vec3f> vertices1_t(vertices1.size());
+
+ for(unsigned int i = 0; i <= nsamples; ++i)
+ {
+ BVHModel<BV> m1;
+ BVHModel<BV> m2;
+ m1.bv_splitter.reset(new BVSplitter<BV>(split_method));
+ m2.bv_splitter.reset(new BVSplitter<BV>(split_method));
+
+ BVH_REAL delta = i / (BVH_REAL)nsamples;
+
+ for(unsigned int j = 0; j < vertices1_t.size(); ++j)
+ vertices1_t[j] = vertices1_t1[j] * (1 - delta) + vertices1_t2[j] * delta;
+
+ m1.beginModel();
+ m1.addSubModel(vertices1_t, triangles1);
+ m1.endModel();
+
+ m2.beginModel();
+ m2.addSubModel(vertices2, triangles2);
+ m2.endModel();
+
+ SimpleTransform pose1, pose2;
+
+ MeshCollisionTraversalNode<BV> node;
+ if(!initialize<BV>(node, m1, pose1, m2, pose2))
+ std::cout << "initialize error" << std::endl;
+
+ node.enable_statistics = verbose;
+ node.num_max_contacts = num_max_contacts;
+ node.exhaustive = exhaustive;
+ node.enable_contact = enable_contact;
+
+ collide(&node);
+
+ if(node.pairs.size() > 0) return true;
+ }
+
+ return false;
+}
diff --git a/trunk/fcl_test/test/test_core_deformable_object.cpp b/trunk/fcl_test/test/test_core_deformable_object.cpp
new file mode 100644
index 00000000..ef208829
--- /dev/null
+++ b/trunk/fcl_test/test/test_core_deformable_object.cpp
@@ -0,0 +1,357 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * 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 Willow Garage, Inc. 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 "fcl/traversal_node_bvhs.h"
+#include "fcl/collision_node.h"
+#include "fcl/simple_setup.h"
+#include <assimp/assimp.hpp>
+#include <assimp/aiScene.h>
+#include <assimp/aiPostProcess.h>
+#include <cstdlib>
+#include <cstdio>
+#include <boost/timer.hpp>
+
+#define _strdup strdup
+
+using namespace fcl;
+
+unsigned int n_dcd_samples = 10;
+
+bool loadPLYFile(const std::string& fileName, float scalarFactor, std::vector<Vec3f>& vert_list,
+ std::vector<Triangle>& tri_list);
+
+void lionTest();
+
+void ballTest();
+
+void lionTest_DCD();
+
+void ballTest_DCD();
+
+int main()
+{
+ lionTest();
+ ballTest();
+ lionTest_DCD();
+ ballTest_DCD();
+
+ return 1;
+}
+
+void lionTest()
+{
+ std::vector<Vec3f> p;
+ std::vector<Triangle> t;
+
+
+ std::string base = std::string("test/deformable_data/breakinglion/");
+
+ BVHModel<AABB> m;
+ m.bv_splitter.reset(new BVSplitter<AABB>(SPLIT_METHOD_MEDIAN));
+
+ double timing = 0;
+
+ for(int i = 16; i <= 60; ++i)
+ {
+ char buffer[10];
+ sprintf(buffer, "%d", i);
+ std::string filename = base + std::string(buffer) + std::string(".ply");
+ loadPLYFile(filename, 1.0, p, t);
+ // std::cout << p.size() << " " << t.size() << std::endl;
+
+ boost::timer timer;
+
+ if(i == 16)
+ {
+ m.beginModel();
+ m.addSubModel(p, t);
+ m.endModel();
+ }
+ else
+ {
+ m.beginUpdateModel();
+ m.updateSubModel(p);
+ m.endUpdateModel(true, true);
+ }
+
+ SimpleTransform tf1, tf2;
+
+ MeshCollisionTraversalNode<AABB> node;
+ initialize(node, m, tf1, m, tf2);
+ selfCollide(&node);
+
+ timing += timer.elapsed();
+
+ // if(node.pairs.size() > 0) std::cout << "collision" << std::endl;
+ // else std::cout << "collision free" << std::endl;
+ }
+
+ std::cout << "timing: " << timing << " sec" << std::endl;
+}
+
+
+void lionTest_DCD()
+{
+ std::vector<Vec3f> p1, p2;
+ std::vector<Triangle> t1, t2;
+
+ std::string base = std::string("test/deformable_data/breakinglion/");
+
+
+ double timing = 0;
+
+ for(int i = 17; i <= 60; ++i)
+ {
+ {
+ char buffer[10];
+ sprintf(buffer, "%d", i - 1);
+ std::string filename = base + std::string(buffer) + std::string(".ply");
+ loadPLYFile(filename, 1.0, p1, t1);
+ }
+
+ {
+ char buffer[10];
+ sprintf(buffer, "%d", i);
+ std::string filename = base + std::string(buffer) + std::string(".ply");
+ loadPLYFile(filename, 1.0, p2, t2);
+ }
+
+ std::vector<Vec3f> p(p1.size());
+
+ boost::timer timer;
+
+ for(unsigned int n = 0; n <= n_dcd_samples; ++n)
+ {
+ // std::cout << i << " " << n << std::endl;
+ double delta = n / (double)n_dcd_samples;
+ for(unsigned int j = 0; j < p.size(); ++j)
+ {
+ p[j] = p1[j] * (1 - delta) + p2[j] * delta;
+ }
+
+ BVHModel<AABB> m;
+ m.bv_splitter.reset(new BVSplitter<AABB>(SPLIT_METHOD_MEDIAN));
+
+ m.beginModel();
+ m.addSubModel(p, t1);
+ m.endModel();
+
+ SimpleTransform tf1, tf2;
+
+ MeshCollisionTraversalNode<AABB> node;
+ initialize(node, m, tf1, m, tf2);
+ selfCollide(&node);
+
+ if(node.pairs.size() > 0) break;
+ }
+
+ timing += timer.elapsed();
+
+ //if(node.pairs.size() > 0) std::cout << "collision" << std::endl;
+ //else std::cout << "collision free" << std::endl;
+ }
+
+ std::cout << "timing: " << timing << " sec" << std::endl;
+}
+
+
+void ballTest()
+{
+ std::vector<Vec3f> p;
+ std::vector<Triangle> t;
+
+
+ std::string base = std::string("test/deformable_data/balls16/balls16_");
+
+ BVHModel<AABB> m;
+ m.bv_splitter.reset(new BVSplitter<AABB>(SPLIT_METHOD_MEDIAN));
+
+ double timing = 0;
+
+ for(int i = 0; i <= 75; ++i)
+ {
+ char buffer[10];
+ sprintf(buffer, "%d", i);
+ std::string filename = base + std::string(buffer) + std::string(".ply");
+ loadPLYFile(filename, 1.0, p, t);
+ // std::cout << p.size() << " " << t.size() << std::endl;
+
+ boost::timer timer;
+
+ if(i == 0)
+ {
+ m.beginModel();
+ m.addSubModel(p, t);
+ m.endModel();
+ }
+ else
+ {
+ m.beginUpdateModel();
+ m.updateSubModel(p);
+ m.endUpdateModel(true, true);
+ }
+
+ SimpleTransform tf1, tf2;
+
+ MeshCollisionTraversalNode<AABB> node;
+ initialize(node, m, tf1, m, tf2);
+ selfCollide(&node);
+
+ timing += timer.elapsed();
+
+ // if(node.pairs.size() > 0) std::cout << "collision" << std::endl;
+ // else std::cout << "collision free" << std::endl;
+ }
+
+ std::cout << "timing: " << timing << " sec" << std::endl;
+}
+
+
+void ballTest_DCD()
+{
+ std::vector<Vec3f> p1, p2;
+ std::vector<Triangle> t1, t2;
+
+
+ std::string base = std::string("test/deformable_data/balls16/balls16_");
+
+ double timing = 0;
+
+ for(int i = 1; i <= 75; ++i)
+ {
+ {
+ char buffer[10];
+ sprintf(buffer, "%d", i - 1);
+ std::string filename = base + std::string(buffer) + std::string(".ply");
+ loadPLYFile(filename, 1.0, p1, t1);
+ }
+
+ {
+ char buffer[10];
+ sprintf(buffer, "%d", i);
+ std::string filename = base + std::string(buffer) + std::string(".ply");
+ loadPLYFile(filename, 1.0, p2, t2);
+ }
+
+ std::vector<Vec3f> p(p1.size());
+
+ boost::timer timer;
+
+ for(unsigned int n = 0; n <= n_dcd_samples; ++n)
+ {
+ // std::cout << i << " " << n << std::endl;
+ double delta = n / (double)n_dcd_samples;
+ for(unsigned int j = 0; j < p.size(); ++j)
+ {
+ p[j] = p1[j] * (1 - delta) + p2[j] * delta;
+ }
+
+ BVHModel<AABB> m;
+ m.bv_splitter.reset(new BVSplitter<AABB>(SPLIT_METHOD_MEDIAN));
+
+ m.beginModel();
+ m.addSubModel(p, t1);
+ m.endModel();
+
+ SimpleTransform tf1, tf2;
+
+ MeshCollisionTraversalNode<AABB> node;
+ initialize(node, m, tf1, m, tf2);
+ selfCollide(&node);
+
+ if(node.pairs.size() > 0) break;
+ }
+
+ timing += timer.elapsed();
+
+ //if(node.pairs.size() > 0) std::cout << "collision" << std::endl;
+ //else std::cout << "collision free" << std::endl;
+ }
+
+ std::cout << "timing: " << timing << " sec" << std::endl;
+}
+
+bool loadPLYFile(const std::string& fileName, float scalarFactor, std::vector<Vec3f>& vert_list,
+ std::vector<Triangle>& tri_list)
+{
+ Assimp::Importer importer;
+
+ const aiScene* scene = importer.ReadFile(fileName,
+ 0);
+
+ if(!scene) return false;
+
+ int mNumMeshes = scene->mNumMeshes;
+
+ int numVertices = 0;
+ int numTriangles = 0;
+ for(int i = 0; i < mNumMeshes; ++i)
+ {
+ aiMesh* mesh = scene->mMeshes[i];
+ numVertices += mesh->mNumVertices;
+ numTriangles += mesh->mNumFaces;
+ }
+
+ vert_list.resize(numVertices);
+ tri_list.resize(numTriangles);
+
+
+
+ int v_index = 0;
+ int t_index = 0;
+
+ for(int i = 0; i < mNumMeshes; ++i)
+ {
+ aiMesh* mesh = scene->mMeshes[i];
+
+ for(int j = 0 ; j < mesh->mNumVertices; ++j)
+ {
+ vert_list[v_index + j].setValue(mesh->mVertices[j].x, mesh->mVertices[j].y, mesh->mVertices[j].z);
+ }
+
+
+ for(int j = 0; j < mesh->mNumFaces; ++j)
+ {
+ tri_list[t_index + j].set(mesh->mFaces[j].mIndices[0] + v_index,
+ mesh->mFaces[j].mIndices[1] + v_index,
+ mesh->mFaces[j].mIndices[2] + v_index);
+ }
+ v_index += mesh->mNumVertices;
+ t_index += mesh->mNumFaces;
+ }
+
+ return true;
+}
diff --git a/trunk/fcl_test/test/test_core_distance.cpp b/trunk/fcl_test/test/test_core_distance.cpp
new file mode 100644
index 00000000..62a57431
--- /dev/null
+++ b/trunk/fcl_test/test/test_core_distance.cpp
@@ -0,0 +1,329 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * 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 Willow Garage, Inc. 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 "fcl/traversal_node_bvhs.h"
+#include "fcl/collision_node.h"
+#include "fcl/simple_setup.h"
+#include "test_core_utility.h"
+#include <gtest/gtest.h>
+#include <boost/timer.hpp>
+
+
+#if USE_PQP
+#include <PQP.h>
+#endif
+
+using namespace fcl;
+
+
+void distance_Test(const Transform& 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 qsize,
+ DistanceRes& distance_result,
+ bool verbose = true);
+
+template<typename BV>
+void distance_Test2(const Transform& 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 qsize,
+ DistanceRes& distance_result,
+ bool verbose = true);
+
+bool collide_Test_OBB(const Transform& 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);
+
+
+bool verbose = false;
+BVH_REAL DELTA = 0.001;
+
+inline bool nearlyEqual(const Vec3f& a, const Vec3f& b)
+{
+ if(fabs(a[0] - b[0]) > DELTA) return false;
+ if(fabs(a[1] - b[1]) > DELTA) return false;
+ if(fabs(a[2] - b[2]) > DELTA) return false;
+ return true;
+}
+
+TEST(collision_core, mesh_distance)
+{
+ std::vector<Vec3f> p1, p2;
+ std::vector<Triangle> t1, t2;
+ loadOBJFile("test/env.obj", p1, t1);
+ loadOBJFile("test/rob.obj", p2, t2);
+
+ std::vector<Transform> transforms; // t0
+ std::vector<Transform> transforms2; // t1
+ std::vector<Transform> transforms_ccd; // t0
+ std::vector<Transform> transforms_ccd2; // t1
+ BVH_REAL extents[] = {-3000, -3000, 0, 3000, 3000, 3000};
+ BVH_REAL delta_trans[] = {1, 1, 1};
+ int n = 10;
+
+ generateRandomTransform(extents, transforms, transforms2, delta_trans, 0.005 * 2 * 3.1415, n);
+
+ double dis_time = 0;
+ double col_time = 0;
+
+ DistanceRes res, res_now;
+ for(unsigned int i = 0; i < transforms.size(); ++i)
+ {
+ boost::timer timer_col;
+ collide_Test_OBB(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
+ col_time += timer_col.elapsed();
+
+#if USE_PQP
+ distance_PQP(transforms[i], p1, t1, p2, t2, res, verbose);
+
+ distance_PQP2(transforms[i], p1, t1, p2, t2, res_now, verbose);
+
+ ASSERT_TRUE(fabs(res.distance - res_now.distance) < DELTA);
+ ASSERT_TRUE(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
+#endif
+
+ boost::timer timer_dist;
+#if USE_PQP
+ distance_Test(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 2, res_now, verbose);
+ ASSERT_TRUE(fabs(res.distance - res_now.distance) < DELTA);
+ ASSERT_TRUE(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
+#else
+ distance_Test(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 2, res, verbose);
+#endif
+ dis_time += timer_dist.elapsed();
+
+ distance_Test(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 2, res_now, verbose);
+
+ ASSERT_TRUE(fabs(res.distance - res_now.distance) < DELTA);
+ ASSERT_TRUE(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
+
+ distance_Test(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 2, res_now, verbose);
+
+ ASSERT_TRUE(fabs(res.distance - res_now.distance) < DELTA);
+ ASSERT_TRUE(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
+
+ distance_Test(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 20, res_now, verbose);
+
+ ASSERT_TRUE(fabs(res.distance - res_now.distance) < DELTA);
+ ASSERT_TRUE(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
+
+ distance_Test(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 20, res_now, verbose);
+
+ ASSERT_TRUE(fabs(res.distance - res_now.distance) < DELTA);
+ ASSERT_TRUE(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
+
+ distance_Test(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 20, res_now, verbose);
+
+ ASSERT_TRUE(fabs(res.distance - res_now.distance) < DELTA);
+ ASSERT_TRUE(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
+
+ distance_Test2<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 2, res_now, verbose);
+
+ ASSERT_TRUE(fabs(res.distance - res_now.distance) < DELTA);
+ ASSERT_TRUE(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
+
+ distance_Test2<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 2, res_now, verbose);
+
+ ASSERT_TRUE(fabs(res.distance - res_now.distance) < DELTA);
+ ASSERT_TRUE(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
+
+ distance_Test2<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 2, res_now, verbose);
+
+ ASSERT_TRUE(fabs(res.distance - res_now.distance) < DELTA);
+ ASSERT_TRUE(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
+
+ distance_Test2<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 20, res_now, verbose);
+
+ ASSERT_TRUE(fabs(res.distance - res_now.distance) < DELTA);
+ ASSERT_TRUE(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
+
+ distance_Test2<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 20, res_now, verbose);
+
+ ASSERT_TRUE(fabs(res.distance - res_now.distance) < DELTA);
+ ASSERT_TRUE(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
+
+ distance_Test2<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 20, res_now, verbose);
+
+ ASSERT_TRUE(fabs(res.distance - res_now.distance) < DELTA);
+ ASSERT_TRUE(fabs(res.distance) < DELTA || (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;
+
+}
+
+
+int main(int argc, char **argv)
+{
+ srand(time(NULL));
+ testing::InitGoogleTest(&argc, argv);
+ return RUN_ALL_TESTS();
+}
+
+void distance_Test(const Transform& 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 qsize,
+ DistanceRes& distance_result,
+ bool verbose)
+{
+ BVHModel<RSS> m1;
+ BVHModel<RSS> m2;
+ m1.bv_splitter.reset(new BVSplitter<RSS>(split_method));
+ m2.bv_splitter.reset(new BVSplitter<RSS>(split_method));
+
+
+ m1.beginModel();
+ m1.addSubModel(vertices1, triangles1);
+ m1.endModel();
+
+ m2.beginModel();
+ m2.addSubModel(vertices2, triangles2);
+ m2.endModel();
+
+ MeshDistanceTraversalNodeRSS node;
+
+ if(!initialize(node, (const BVHModel<RSS>&)m1, SimpleTransform(tf.R, tf.T), (const BVHModel<RSS>&)m2, SimpleTransform()))
+ std::cout << "initialize error" << std::endl;
+
+ node.enable_statistics = verbose;
+
+ distance(&node, NULL, qsize);
+
+ // points are in local coordinate, to global coordinate
+ Vec3f p1 = tf.R * node.p1 + tf.T;
+ Vec3f p2 = node.p2;
+
+
+ distance_result.distance = node.min_distance;
+ distance_result.p1 = p1;
+ distance_result.p2 = p2;
+
+ if(verbose)
+ {
+ std::cout << "distance " << node.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_Test2(const Transform& 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 qsize,
+ DistanceRes& distance_result,
+ 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();
+
+ SimpleTransform pose1(tf.R, tf.T), pose2;
+
+ MeshDistanceTraversalNode<BV> node;
+
+ if(!initialize<BV>(node, m1, pose1, m2, pose2))
+ std::cout << "initialize error" << std::endl;
+
+ node.enable_statistics = verbose;
+
+ distance(&node, NULL, qsize);
+
+ distance_result.distance = node.min_distance;
+ distance_result.p1 = node.p1;
+ distance_result.p2 = node.p2;
+
+ if(verbose)
+ {
+ std::cout << "distance " << node.min_distance << std::endl;
+
+ std::cout << node.p1[0] << " " << node.p1[1] << " " << node.p1[2] << std::endl;
+ std::cout << node.p2[0] << " " << node.p2[1] << " " << node.p2[2] << std::endl;
+ std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
+ }
+}
+
+
+bool collide_Test_OBB(const Transform& 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<OBB> m1;
+ BVHModel<OBB> m2;
+ m1.bv_splitter.reset(new BVSplitter<OBB>(split_method));
+ m2.bv_splitter.reset(new BVSplitter<OBB>(split_method));
+
+ m1.beginModel();
+ m1.addSubModel(vertices1, triangles1);
+ m1.endModel();
+
+ m2.beginModel();
+ m2.addSubModel(vertices2, triangles2);
+ m2.endModel();
+
+ MeshCollisionTraversalNodeOBB node;
+ if(!initialize(node, (const BVHModel<OBB>&)m1, SimpleTransform(tf.R, tf.T), (const BVHModel<OBB>&)m2, SimpleTransform()))
+ std::cout << "initialize error" << std::endl;
+
+ node.enable_statistics = verbose;
+ node.num_max_contacts = 1;
+ node.exhaustive = false;
+ node.enable_contact = false;
+
+ collide(&node);
+
+ if(node.pairs.size() > 0)
+ return true;
+ else
+ return false;
+}
+
diff --git a/trunk/fcl_test/test/test_core_front_list.cpp b/trunk/fcl_test/test/test_core_front_list.cpp
new file mode 100644
index 00000000..6f146989
--- /dev/null
+++ b/trunk/fcl_test/test/test_core_front_list.cpp
@@ -0,0 +1,412 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * 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 Willow Garage, Inc. 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 "fcl/traversal_node_bvhs.h"
+#include "fcl/collision_node.h"
+#include "fcl/simple_setup.h"
+#include "test_core_utility.h"
+#include <gtest/gtest.h>
+
+using namespace fcl;
+
+template<typename BV>
+bool collide_front_list_Test(const Transform& tf1, const Transform& tf2,
+ const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
+ const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
+ SplitMethodType split_method,
+ bool refit_bottomup, bool verbose);
+
+bool collide_front_list_OBB_Test(const Transform& tf1, const Transform& tf2,
+ 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);
+
+bool collide_front_list_RSS_Test(const Transform& tf1, const Transform& tf2,
+ 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);
+
+template<typename BV>
+bool collide_Test(const Transform& 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);
+
+// TODO: randomly still have some runtime error
+TEST(collision_test, front_list)
+{
+ //srand(time(NULL));
+ std::vector<Vec3f> p1, p2;
+ std::vector<Triangle> t1, t2;
+ loadOBJFile("test/env.obj", p1, t1);
+ loadOBJFile("test/rob.obj", p2, t2);
+
+ std::vector<Transform> transforms; // t0
+ std::vector<Transform> transforms2; // t1
+ BVH_REAL extents[] = {-3000, -3000, 0, 3000, 3000, 3000};
+ BVH_REAL delta_trans[] = {1, 1, 1};
+ int n = 10;
+ bool verbose = false;
+
+ generateRandomTransform(extents, transforms, transforms2, delta_trans, 0.005 * 2 * 3.1415, n);
+
+ bool res, res2;
+
+ for(unsigned int i = 0; i < transforms.size(); ++i)
+ {
+ res = collide_Test<AABB>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
+ res2 = collide_front_list_Test<AABB>(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, false, verbose);
+ ASSERT_TRUE(res == res2);
+ res = collide_Test<AABB>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
+ res2 = collide_front_list_Test<AABB>(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, false, verbose);
+ ASSERT_TRUE(res == res2);
+ res = collide_Test<AABB>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
+ res2 = collide_front_list_Test<AABB>(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, false, verbose);
+ ASSERT_TRUE(res == res2);
+ }
+
+ for(unsigned int i = 0; i < transforms.size(); ++i)
+ {
+ res = collide_Test<OBB>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
+ res2 = collide_front_list_Test<OBB>(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, false, verbose);
+ ASSERT_TRUE(res == res2);
+ res = collide_Test<OBB>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
+ res2 = collide_front_list_Test<OBB>(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, false, verbose);
+ ASSERT_TRUE(res == res2);
+ res = collide_Test<OBB>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
+ res2 = collide_front_list_Test<OBB>(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, false, verbose);
+ ASSERT_TRUE(res == res2);
+ }
+
+ for(unsigned int i = 0; i < transforms.size(); ++i)
+ {
+ res = collide_Test<RSS>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
+ res2 = collide_front_list_Test<RSS>(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, false, verbose);
+ ASSERT_TRUE(res == res2);
+ res = collide_Test<RSS>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
+ res2 = collide_front_list_Test<RSS>(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, false, verbose);
+ ASSERT_TRUE(res == res2);
+ res = collide_Test<RSS>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
+ res2 = collide_front_list_Test<RSS>(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, false, verbose);
+ ASSERT_TRUE(res == res2);
+ }
+
+ for(unsigned int i = 0; i < transforms.size(); ++i)
+ {
+ res = collide_Test<KDOP<16> >(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
+ res2 = collide_front_list_Test<KDOP<16> >(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, false, verbose);
+ ASSERT_TRUE(res == res2);
+ res = collide_Test<KDOP<16> >(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
+ res2 = collide_front_list_Test<KDOP<16> >(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, false, verbose);
+ ASSERT_TRUE(res == res2);
+ res = collide_Test<KDOP<16> >(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
+ res2 = collide_front_list_Test<KDOP<16> >(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, false, verbose);
+ ASSERT_TRUE(res == res2);
+ }
+
+ for(unsigned int i = 0; i < transforms.size(); ++i)
+ {
+ res = collide_Test<KDOP<18> >(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
+ res2 = collide_front_list_Test<KDOP<18> >(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, false, verbose);
+ ASSERT_TRUE(res == res2);
+ res = collide_Test<KDOP<18> >(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
+ res2 = collide_front_list_Test<KDOP<18> >(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, false, verbose);
+ ASSERT_TRUE(res == res2);
+ res = collide_Test<KDOP<18> >(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
+ res2 = collide_front_list_Test<KDOP<18> >(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, false, verbose);
+ ASSERT_TRUE(res == res2);
+ }
+
+ for(unsigned int i = 0; i < transforms.size(); ++i)
+ {
+ res = collide_Test<KDOP<24> >(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
+ res2 = collide_front_list_Test<KDOP<24> >(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, false, verbose);
+ ASSERT_TRUE(res == res2);
+ res = collide_Test<KDOP<24> >(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
+ res2 = collide_front_list_Test<KDOP<24> >(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, false, verbose);
+ ASSERT_TRUE(res == res2);
+ res = collide_Test<KDOP<24> >(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
+ res2 = collide_front_list_Test<KDOP<24> >(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, false, verbose);
+ ASSERT_TRUE(res == res2);
+ }
+
+ for(unsigned int i = 0; i < transforms.size(); ++i)
+ {
+ res = collide_Test<OBB>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
+ res2 = collide_front_list_OBB_Test(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
+ ASSERT_TRUE(res == res2);
+ res = collide_Test<OBB>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
+ res2 = collide_front_list_OBB_Test(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
+ ASSERT_TRUE(res == res2);
+ res = collide_Test<OBB>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
+ res2 = collide_front_list_OBB_Test(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
+ ASSERT_TRUE(res == res2);
+ }
+
+ for(unsigned int i = 0; i < transforms.size(); ++i)
+ {
+ res = collide_Test<RSS>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
+ res2 = collide_front_list_RSS_Test(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
+ ASSERT_TRUE(res == res2);
+ res = collide_Test<RSS>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
+ res2 = collide_front_list_RSS_Test(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
+ ASSERT_TRUE(res == res2);
+ res = collide_Test<RSS>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
+ res2 = collide_front_list_RSS_Test(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
+ ASSERT_TRUE(res == res2);
+ }
+}
+
+
+int main(int argc, char **argv)
+{
+ testing::InitGoogleTest(&argc, argv);
+ return RUN_ALL_TESTS();
+}
+
+
+template<typename BV>
+bool collide_front_list_Test(const Transform& tf1, const Transform& tf2,
+ const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
+ const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
+ SplitMethodType split_method,
+ bool refit_bottomup, 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));
+
+ BVHFrontList front_list;
+
+
+ std::vector<Vec3f> vertices1_new(vertices1.size());
+ for(unsigned int i = 0; i < vertices1_new.size(); ++i)
+ {
+ vertices1_new[i] = tf1.R * vertices1[i] + tf1.T;
+ }
+
+ m1.beginModel();
+ m1.addSubModel(vertices1_new, triangles1);
+ m1.endModel();
+
+ m2.beginModel();
+ m2.addSubModel(vertices2, triangles2);
+ m2.endModel();
+
+ SimpleTransform pose1, pose2;
+
+ MeshCollisionTraversalNode<BV> node;
+
+ if(!initialize<BV>(node, m1, pose1, m2, pose2))
+ std::cout << "initialize error" << std::endl;
+
+ node.enable_statistics = verbose;
+ node.num_max_contacts = std::numeric_limits<int>::max(); // front technique needs all the contacts;
+ node.exhaustive = true;
+ node.enable_contact = false;
+
+ collide(&node, &front_list);
+
+ if(verbose) std::cout << "front list size " << front_list.size() << std::endl;
+
+
+ // update the mesh
+ for(unsigned int i = 0; i < vertices1.size(); ++i)
+ {
+ vertices1_new[i] = tf2.R * vertices1[i] + tf2.T;
+ }
+
+ m1.beginReplaceModel();
+ m1.replaceSubModel(vertices1_new);
+ m1.endReplaceModel(true, refit_bottomup);
+
+ m2.beginReplaceModel();
+ m2.replaceSubModel(vertices2);
+ m2.endReplaceModel(true, refit_bottomup);
+
+ node.pairs.clear();
+ collide(&node, &front_list);
+
+ if(node.pairs.size() > 0)
+ return true;
+ else
+ return false;
+}
+
+
+bool collide_front_list_OBB_Test(const Transform& tf1, const Transform& tf2,
+ 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<OBB> m1;
+ BVHModel<OBB> m2;
+ m1.bv_splitter.reset(new BVSplitter<OBB>(split_method));
+ m2.bv_splitter.reset(new BVSplitter<OBB>(split_method));
+
+ BVHFrontList front_list;
+
+ m1.beginModel();
+ m1.addSubModel(vertices1, triangles1);
+ m1.endModel();
+
+ m2.beginModel();
+ m2.addSubModel(vertices2, triangles2);
+ m2.endModel();
+
+ SimpleTransform pose1(tf1.R, tf1.T), pose2;
+
+ MeshCollisionTraversalNodeOBB node;
+
+ if(!initialize(node, (const BVHModel<OBB>&)m1, pose1, (const BVHModel<OBB>&)m2, pose2))
+ std::cout << "initialize error" << std::endl;
+
+ node.enable_statistics = verbose;
+ node.num_max_contacts = std::numeric_limits<int>::max(); // front technique needs all the contacts;
+ node.exhaustive = true;
+ node.enable_contact = false;
+
+ collide(&node, &front_list);
+
+ if(verbose) std::cout << "front list size " << front_list.size() << std::endl;
+
+
+ // update the mesh
+ pose1.setTransform(tf2.R, tf2.T);
+ if(!initialize(node, (const BVHModel<OBB>&)m1, pose1, (const BVHModel<OBB>&)m2, pose2))
+ std::cout << "initialize error" << std::endl;
+
+ node.pairs.clear();
+ collide(&node, &front_list);
+
+ if(node.pairs.size() > 0)
+ return true;
+ else
+ return false;
+}
+
+
+bool collide_front_list_RSS_Test(const Transform& tf1, const Transform& tf2,
+ 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<RSS> m1;
+ BVHModel<RSS> m2;
+ m1.bv_splitter.reset(new BVSplitter<RSS>(split_method));
+ m2.bv_splitter.reset(new BVSplitter<RSS>(split_method));
+
+ BVHFrontList front_list;
+
+ m1.beginModel();
+ m1.addSubModel(vertices1, triangles1);
+ m1.endModel();
+
+ m2.beginModel();
+ m2.addSubModel(vertices2, triangles2);
+ m2.endModel();
+
+ SimpleTransform pose1(tf1.R, tf1.T), pose2;
+
+ MeshCollisionTraversalNodeRSS node;
+
+ if(!initialize(node, (const BVHModel<RSS>&)m1, pose1, (const BVHModel<RSS>&)m2, pose2))
+ std::cout << "initialize error" << std::endl;
+
+ node.enable_statistics = verbose;
+ node.num_max_contacts = std::numeric_limits<int>::max(); // front technique needs all the contacts;
+ node.exhaustive = true;
+ node.enable_contact = false;
+
+ collide(&node, &front_list);
+
+ if(verbose) std::cout << "front list size " << front_list.size() << std::endl;
+
+
+ // update the mesh
+ pose1.setTransform(tf2.R, tf2.T);
+ if(!initialize(node, (const BVHModel<RSS>&)m1, pose1, (const BVHModel<RSS>&)m2, pose2))
+ std::cout << "initialize error" << std::endl;
+
+ node.pairs.clear();
+ collide(&node, &front_list);
+
+ if(node.pairs.size() > 0)
+ return true;
+ else
+ return false;
+}
+
+
+template<typename BV>
+bool collide_Test(const Transform& 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();
+
+ SimpleTransform pose1(tf.R, tf.T), pose2;
+
+ MeshCollisionTraversalNode<BV> node;
+
+ if(!initialize<BV>(node, m1, pose1, m2, pose2))
+ std::cout << "initialize error" << std::endl;
+
+ node.enable_statistics = verbose;
+ node.num_max_contacts = std::numeric_limits<int>::max();
+ node.exhaustive = true;
+ node.enable_contact = false;
+
+ collide(&node);
+
+
+ if(node.pairs.size() > 0)
+ return true;
+ else
+ return false;
+}
+
diff --git a/trunk/fcl_test/test/test_core_geometric_shapes.cpp b/trunk/fcl_test/test/test_core_geometric_shapes.cpp
new file mode 100644
index 00000000..8a44b8a9
--- /dev/null
+++ b/trunk/fcl_test/test/test_core_geometric_shapes.cpp
@@ -0,0 +1,500 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * 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 Willow Garage, Inc. 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 "fcl/geometric_shapes_intersect.h"
+#include "fcl/collision.h"
+#include "test_core_utility.h"
+#include <gtest/gtest.h>
+
+using namespace fcl;
+
+BVH_REAL extents [6] = {0, 0, 0, 10, 10, 10};
+
+TEST(shapeIntersection, spheresphere)
+{
+ Sphere s1(20);
+ Sphere s2(10);
+
+ Transform transform;
+ generateRandomTransform(extents, transform);
+ Transform identity;
+
+ std::vector<Contact> contacts;
+ bool res;
+
+ s2.setLocalTranslation(Vec3f(40, 0, 0));
+ res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+
+ res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+
+ s2.setLocalTranslation(Vec3f(30, 0, 0));
+ res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+
+ res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+
+ s2.setLocalTranslation(Vec3f(29.9, 0, 0));
+ res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ s2.setLocalTranslation(Vec3f(0, 0, 0));
+ res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ s2.setLocalTranslation(Vec3f(-29.9, 0, 0));
+ res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ s2.setLocalTranslation(Vec3f(-30, 0, 0));
+ res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+
+ res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+}
+
+TEST(shapeIntersection, boxbox)
+{
+ Box s1(20, 40, 50);
+ Box s2(10, 10, 10);
+
+ Transform transform;
+ generateRandomTransform(extents, transform);
+ Transform identity;
+
+ std::vector<Contact> contacts;
+
+ bool res;
+
+ res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ s2.setLocalTranslation(Vec3f(15, 0, 0));
+ res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+
+ res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+
+ SimpleQuaternion q;
+ q.fromAxisAngle(Vec3f(0, 0, 1), (BVH_REAL)3.140 / 6);
+ Matrix3f R;
+ q.toRotation(R);
+ s2.setLocalRotation(R);
+ res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+}
+
+TEST(shapeIntersection, spherebox)
+{
+ Sphere s1(20);
+ Box s2(5, 5, 5);
+
+ Transform transform;
+ generateRandomTransform(extents, transform);
+ Transform identity;
+
+ std::vector<Contact> contacts;
+
+ bool res;
+
+ res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ s2.setLocalTranslation(Vec3f(22.5, 0, 0));
+ res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+
+ res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+
+ s2.setLocalTranslation(Vec3f(22.4, 0, 0));
+ res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+}
+
+TEST(shapeIntersection, cylindercylinder)
+{
+ Cylinder s1(5, 10);
+ Cylinder s2(5, 10);
+
+ Transform transform;
+ generateRandomTransform(extents, transform);
+ Transform identity;
+
+ std::vector<Contact> contacts;
+
+ bool res;
+
+ res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ s2.setLocalTranslation(Vec3f(9.9, 0, 0));
+ res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ s2.setLocalTranslation(Vec3f(10, 0, 0));
+ res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+
+ res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+}
+
+TEST(shapeIntersection, conecone)
+{
+ Cone s1(5, 10);
+ Cone s2(5, 10);
+
+ Transform transform;
+ generateRandomTransform(extents, transform);
+ Transform identity;
+
+ std::vector<Contact> contacts;
+
+ bool res;
+
+ res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ s2.setLocalTranslation(Vec3f(9.9, 0, 0));
+ res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ s2.setLocalTranslation(Vec3f(10.001, 0, 0));
+ res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+
+ res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+
+ s2.setLocalTranslation(Vec3f(0, 0, 9.9));
+ res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ s2.setLocalTranslation(Vec3f(0, 0, 10));
+ res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+
+ res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+}
+
+TEST(shapeIntersection, conecylinder)
+{
+ Cylinder s1(5, 10);
+ Cone s2(5, 10);
+
+ Transform transform;
+ generateRandomTransform(extents, transform);
+ Transform identity;
+
+ std::vector<Contact> contacts;
+
+ bool res;
+
+ res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ s2.setLocalTranslation(Vec3f(9.9, 0, 0));
+ res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ s2.setLocalTranslation(Vec3f(10, 0, 0));
+ res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+
+ res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+
+ s2.setLocalTranslation(Vec3f(0, 0, 9.9));
+ res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
+ ASSERT_TRUE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
+ ASSERT_TRUE(res);
+
+ s2.setLocalTranslation(Vec3f(0, 0, 10));
+ res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+
+ res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
+ ASSERT_FALSE(res);
+ contacts.clear();
+ res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
+ ASSERT_FALSE(res);
+}
+
+TEST(shapeIntersection, spheretriangle)
+{
+ Sphere s(10);
+ Vec3f t[3];
+ t[0].setValue(20, 0, 0);
+ t[1].setValue(-20, 0, 0);
+ t[2].setValue(0, 20, 0);
+
+ Transform transform;
+ generateRandomTransform(extents, transform);
+ Transform identity;
+
+ bool res;
+
+ res = shapeTriangleIntersect(s, SimpleTransform(), t[0], t[1], t[2]);
+ ASSERT_TRUE(res);
+
+ res = shapeTriangleIntersect(s, SimpleTransform(transform.R, transform.T), t[0], t[1], t[2], transform.R, transform.T);
+ ASSERT_TRUE(res);
+
+ t[0].setValue(30, 0, 0);
+ t[1].setValue(10, -20, 0);
+ t[2].setValue(10, 20, 0);
+ res = shapeTriangleIntersect(s, SimpleTransform(), t[0], t[1], t[2]);
+ ASSERT_FALSE(res);
+
+ res = shapeTriangleIntersect(s, SimpleTransform(transform.R, transform.T), t[0], t[1], t[2], transform.R, transform.T);
+ ASSERT_FALSE(res);
+
+ t[0].setValue(30, 0, 0);
+ t[1].setValue(9.9, -20, 0);
+ t[2].setValue(9.9, 20, 0);
+ res = shapeTriangleIntersect(s, SimpleTransform(), t[0], t[1], t[2]);
+ ASSERT_TRUE(res);
+
+ res = shapeTriangleIntersect(s, SimpleTransform(transform.R, transform.T), t[0], t[1], t[2], transform.R, transform.T);
+ ASSERT_TRUE(res);
+}
+
+
+
+
+int main(int argc, char **argv)
+{
+ testing::InitGoogleTest(&argc, argv);
+ return RUN_ALL_TESTS();
+}
diff --git a/trunk/fcl_test/test/test_core_utility.h b/trunk/fcl_test/test/test_core_utility.h
new file mode 100644
index 00000000..693b6f50
--- /dev/null
+++ b/trunk/fcl_test/test/test_core_utility.h
@@ -0,0 +1,665 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * 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 Willow Garage, Inc. 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 */
+
+
+#ifndef FCL_TEST_CORE_UTILITY_H
+#define FCL_TEST_CORE_UTILITY_H
+
+#include "fcl/vec_3f.h"
+#include "fcl/matrix_3f.h"
+#include "fcl/primitive.h"
+#include <cstdio>
+#include <vector>
+#include <iostream>
+#include <string.h>
+using namespace fcl;
+
+#if USE_PQP
+#include <PQP.h>
+#endif
+
+struct Transform
+{
+ Matrix3f R;
+ Vec3f T;
+
+ Transform()
+ {
+ R.setIdentity();
+ }
+};
+
+
+#if USE_PQP
+
+struct CollisionPairComp_PQP
+{
+ bool operator()(const CollisionPair& a, const CollisionPair& b)
+ {
+ if(a.id1 == b.id1)
+ return a.id2 < b.id2;
+ return a.id1 < b.id1;
+ }
+};
+
+inline void sortCollisionPair_PQP(CollisionPair* pairs, int n)
+{
+ std::vector<CollisionPair> pair_array(n);
+ for(int i = 0; i < n; ++i)
+ pair_array[i] = pairs[i];
+
+ std::sort(pair_array.begin(), pair_array.end(), CollisionPairComp_PQP());
+
+ for(int i = 0; i < n; ++i)
+ pairs[i] = pair_array[i];
+}
+
+inline bool collide_PQP(const Transform& tf,
+ const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
+ const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
+ std::vector<std::pair<int, int> >& results,
+ bool verbose = true)
+{
+ PQP_Model m1, m2;
+
+ m1.BeginModel();
+ for(unsigned int i = 0; i < triangles1.size(); ++i)
+ {
+ const Triangle& t = triangles1[i];
+ const Vec3f& p1_ = vertices1[t[0]];
+ const Vec3f& p2_ = vertices1[t[1]];
+ const Vec3f& p3_ = vertices1[t[2]];
+
+ Vec3f p1 = tf.R * p1_ + tf.T;
+ Vec3f p2 = tf.R * p2_ + tf.T;
+ Vec3f p3 = tf.R * p3_ + tf.T;
+
+ PQP_REAL q1[3];
+ PQP_REAL q2[3];
+ PQP_REAL q3[3];
+
+ q1[0] = p1[0]; q1[1] = p1[1]; q1[2] = p1[2];
+ q2[0] = p2[0]; q2[1] = p2[1]; q2[2] = p2[2];
+ q3[0] = p3[0]; q3[1] = p3[1]; q3[2] = p3[2];
+
+ m1.AddTri(q1, q2, q3, i);
+ }
+
+ m1.EndModel();
+
+
+ m2.BeginModel();
+ for(unsigned int i = 0; i < triangles2.size(); ++i)
+ {
+ const Triangle& t = triangles2[i];
+ const Vec3f& p1 = vertices2[t[0]];
+ const Vec3f& p2 = vertices2[t[1]];
+ const Vec3f& p3 = vertices2[t[2]];
+
+ PQP_REAL q1[3];
+ PQP_REAL q2[3];
+ PQP_REAL q3[3];
+
+ q1[0] = p1[0]; q1[1] = p1[1]; q1[2] = p1[2];
+ q2[0] = p2[0]; q2[1] = p2[1]; q2[2] = p2[2];
+ q3[0] = p3[0]; q3[1] = p3[1]; q3[2] = p3[2];
+
+ m2.AddTri(q1, q2, q3, i);
+ }
+
+ m2.EndModel();
+
+
+ PQP_CollideResult res;
+ PQP_REAL R1[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
+ PQP_REAL R2[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
+ PQP_REAL T1[3] = {0, 0, 0};
+ PQP_REAL T2[3] = {0, 0, 0};
+ PQP_Collide(&res, R1, T1, &m1, R2, T2, &m2);
+
+ if(res.NumPairs() > 0)
+ {
+ sortCollisionPair_PQP(res.pairs, res.NumPairs());
+ results.resize(res.NumPairs());
+
+ for(int i = 0; i < res.NumPairs(); ++i)
+ {
+ results[i] = std::make_pair(res.Id1(i), res.Id2(i));
+ }
+
+ if(verbose)
+ std::cout << "in collision " << res.NumPairs() << ": " << std::endl;
+ if(verbose) std::cout << res.num_bv_tests << " " << res.num_tri_tests << std::endl;
+ return true;
+ }
+ else
+ {
+ if(verbose) std::cout << "collision free " << std::endl;
+ if(verbose) std::cout << res.num_bv_tests << " " << res.num_tri_tests << std::endl;
+ return false;
+ }
+}
+
+
+inline bool collide_PQP2(const Transform& tf,
+ const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
+ const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
+ std::vector<std::pair<int, int> >& results, bool verbose = true)
+{
+ PQP_Model m1, m2;
+
+ m1.BeginModel();
+ for(unsigned int i = 0; i < triangles1.size(); ++i)
+ {
+ const Triangle& t = triangles1[i];
+ const Vec3f& p1 = vertices1[t[0]];
+ const Vec3f& p2 = vertices1[t[1]];
+ const Vec3f& p3 = vertices1[t[2]];
+
+ PQP_REAL q1[3];
+ PQP_REAL q2[3];
+ PQP_REAL q3[3];
+
+ q1[0] = p1[0]; q1[1] = p1[1]; q1[2] = p1[2];
+ q2[0] = p2[0]; q2[1] = p2[1]; q2[2] = p2[2];
+ q3[0] = p3[0]; q3[1] = p3[1]; q3[2] = p3[2];
+
+ m1.AddTri(q1, q2, q3, i);
+ }
+
+ m1.EndModel();
+
+
+ m2.BeginModel();
+ for(unsigned int i = 0; i < triangles2.size(); ++i)
+ {
+ const Triangle& t = triangles2[i];
+ const Vec3f& p1 = vertices2[t[0]];
+ const Vec3f& p2 = vertices2[t[1]];
+ const Vec3f& p3 = vertices2[t[2]];
+
+ PQP_REAL q1[3];
+ PQP_REAL q2[3];
+ PQP_REAL q3[3];
+
+ q1[0] = p1[0]; q1[1] = p1[1]; q1[2] = p1[2];
+ q2[0] = p2[0]; q2[1] = p2[1]; q2[2] = p2[2];
+ q3[0] = p3[0]; q3[1] = p3[1]; q3[2] = p3[2];
+
+ m2.AddTri(q1, q2, q3, i);
+ }
+
+ m2.EndModel();
+
+
+ PQP_CollideResult res;
+ PQP_REAL R1[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
+ PQP_REAL R2[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
+ PQP_REAL T1[3] = {0, 0, 0};
+ PQP_REAL T2[3] = {0, 0, 0};
+ T1[0] = tf.T[0];
+ T1[1] = tf.T[1];
+ T1[2] = tf.T[2];
+ for(int i = 0; i < 3; ++i)
+ {
+ R1[i][0] = tf.R[i][0];
+ R1[i][1] = tf.R[i][1];
+ R1[i][2] = tf.R[i][2];
+ }
+
+ PQP_Collide(&res, R1, T1, &m1, R2, T2, &m2);
+
+ if(res.NumPairs() > 0)
+ {
+ sortCollisionPair_PQP(res.pairs, res.NumPairs());
+ results.resize(res.NumPairs());
+ for(int i = 0; i < res.NumPairs(); ++i)
+ {
+ results[i] = std::make_pair(res.Id1(i), res.Id2(i));
+ }
+
+ if(verbose)
+ std::cout << "in collision " << res.NumPairs() << ": " << std::endl;
+ if(verbose) std::cout << res.num_bv_tests << " " << res.num_tri_tests << std::endl;
+ return true;
+ }
+ else
+ {
+ if(verbose) std::cout << "collision free " << std::endl;
+ if(verbose) std::cout << res.num_bv_tests << " " << res.num_tri_tests << std::endl;
+ return false;
+ }
+}
+
+#endif
+
+
+struct DistanceRes
+{
+ double distance;
+ Vec3f p1;
+ Vec3f p2;
+};
+
+#if USE_PQP
+inline bool distance_PQP(const Transform& tf,
+ const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
+ const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
+ DistanceRes& distance_result,
+ bool verbose = true)
+{
+ PQP_Model m1, m2;
+
+ m1.BeginModel();
+ for(unsigned int i = 0; i < triangles1.size(); ++i)
+ {
+ const Triangle& t = triangles1[i];
+ const Vec3f& p1_ = vertices1[t[0]];
+ const Vec3f& p2_ = vertices1[t[1]];
+ const Vec3f& p3_ = vertices1[t[2]];
+
+ Vec3f p1 = tf.R * p1_ + tf.T;
+ Vec3f p2 = tf.R * p2_ + tf.T;
+ Vec3f p3 = tf.R * p3_ + tf.T;
+
+ PQP_REAL q1[3];
+ PQP_REAL q2[3];
+ PQP_REAL q3[3];
+
+ q1[0] = p1[0]; q1[1] = p1[1]; q1[2] = p1[2];
+ q2[0] = p2[0]; q2[1] = p2[1]; q2[2] = p2[2];
+ q3[0] = p3[0]; q3[1] = p3[1]; q3[2] = p3[2];
+
+ m1.AddTri(q1, q2, q3, i);
+ }
+
+ m1.EndModel();
+
+
+ m2.BeginModel();
+ for(unsigned int i = 0; i < triangles2.size(); ++i)
+ {
+ const Triangle& t = triangles2[i];
+ const Vec3f& p1 = vertices2[t[0]];
+ const Vec3f& p2 = vertices2[t[1]];
+ const Vec3f& p3 = vertices2[t[2]];
+
+ PQP_REAL q1[3];
+ PQP_REAL q2[3];
+ PQP_REAL q3[3];
+
+ q1[0] = p1[0]; q1[1] = p1[1]; q1[2] = p1[2];
+ q2[0] = p2[0]; q2[1] = p2[1]; q2[2] = p2[2];
+ q3[0] = p3[0]; q3[1] = p3[1]; q3[2] = p3[2];
+
+ m2.AddTri(q1, q2, q3, i);
+ }
+
+ m2.EndModel();
+
+
+ PQP_DistanceResult res;
+ PQP_REAL R1[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
+ PQP_REAL R2[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
+ PQP_REAL T1[3] = {0, 0, 0};
+ PQP_REAL T2[3] = {0, 0, 0};
+
+ PQP_Distance(&res, R1, T1, &m1, R2, T2, &m2, 0.01, 0.01);
+
+
+ distance_result.distance = res.distance;
+ distance_result.p1.setValue(res.p1[0], res.p1[1], res.p1[2]);
+ distance_result.p2.setValue(res.p2[0], res.p2[1], res.p2[2]);
+
+
+ if(verbose)
+ {
+ std::cout << "distance " << res.distance << std::endl;
+ std::cout << res.p1[0] << " " << res.p1[1] << " " << res.p1[2] << std::endl;
+ std::cout << res.p2[0] << " " << res.p2[1] << " " << res.p2[2] << std::endl;
+ std::cout << res.num_bv_tests << " " << res.num_tri_tests << std::endl;
+ }
+
+ return true;
+}
+
+
+inline bool distance_PQP2(const Transform& tf,
+ const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
+ const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
+ DistanceRes& distance_result, bool verbose = true)
+{
+ PQP_Model m1, m2;
+
+ m1.BeginModel();
+ for(unsigned int i = 0; i < triangles1.size(); ++i)
+ {
+ const Triangle& t = triangles1[i];
+ const Vec3f& p1 = vertices1[t[0]];
+ const Vec3f& p2 = vertices1[t[1]];
+ const Vec3f& p3 = vertices1[t[2]];
+
+ PQP_REAL q1[3];
+ PQP_REAL q2[3];
+ PQP_REAL q3[3];
+
+ q1[0] = p1[0]; q1[1] = p1[1]; q1[2] = p1[2];
+ q2[0] = p2[0]; q2[1] = p2[1]; q2[2] = p2[2];
+ q3[0] = p3[0]; q3[1] = p3[1]; q3[2] = p3[2];
+
+ m1.AddTri(q1, q2, q3, i);
+ }
+
+ m1.EndModel();
+
+
+ m2.BeginModel();
+ for(unsigned int i = 0; i < triangles2.size(); ++i)
+ {
+ const Triangle& t = triangles2[i];
+ const Vec3f& p1 = vertices2[t[0]];
+ const Vec3f& p2 = vertices2[t[1]];
+ const Vec3f& p3 = vertices2[t[2]];
+
+ PQP_REAL q1[3];
+ PQP_REAL q2[3];
+ PQP_REAL q3[3];
+
+ q1[0] = p1[0]; q1[1] = p1[1]; q1[2] = p1[2];
+ q2[0] = p2[0]; q2[1] = p2[1]; q2[2] = p2[2];
+ q3[0] = p3[0]; q3[1] = p3[1]; q3[2] = p3[2];
+
+ m2.AddTri(q1, q2, q3, i);
+ }
+
+ m2.EndModel();
+
+
+ PQP_DistanceResult res;
+ PQP_REAL R1[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
+ PQP_REAL R2[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
+ PQP_REAL T1[3] = {0, 0, 0};
+ PQP_REAL T2[3] = {0, 0, 0};
+
+ T1[0] = tf.T[0];
+ T1[1] = tf.T[1];
+ T1[2] = tf.T[2];
+ for(int i = 0; i < 3; ++i)
+ {
+ R1[i][0] = tf.R[i][0];
+ R1[i][1] = tf.R[i][1];
+ R1[i][2] = tf.R[i][2];
+ }
+
+ PQP_Distance(&res, R1, T1, &m1, R2, T2, &m2, 0.01, 0.01);
+
+
+ Vec3f p1_temp(res.p1[0], res.p1[1], res.p1[2]);
+ Vec3f p2_temp(res.p2[0], res.p2[1], res.p2[2]);
+
+ Vec3f p1 = tf.R * p1_temp + tf.T;
+ Vec3f p2 = p2_temp;
+
+
+ distance_result.distance = res.distance;
+ distance_result.p1 = p1;
+ distance_result.p2 = p2;
+
+
+ if(verbose)
+ {
+ std::cout << "distance " << res.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 << res.num_bv_tests << " " << res.num_tri_tests << std::endl;
+ }
+
+ return true;
+}
+
+#endif
+
+inline BVH_REAL rand_interval(BVH_REAL rmin, BVH_REAL rmax)
+{
+ BVH_REAL t = rand() / ((BVH_REAL)RAND_MAX + 1);
+ return (t * (rmax - rmin) + rmin);
+}
+
+inline void loadOBJFile(const char* filename, std::vector<Vec3f>& points, std::vector<Triangle>& triangles)
+{
+
+ FILE* file = fopen(filename, "rb");
+ if(!file)
+ {
+ std::cerr << "file not exist" << std::endl;
+ return;
+ }
+
+ bool has_normal = false;
+ bool has_texture = false;
+ char line_buffer[2000];
+ while(fgets(line_buffer, 2000, file))
+ {
+ char* first_token = strtok(line_buffer, "\r\n\t ");
+ if(!first_token || first_token[0] == '#' || first_token[0] == 0)
+ continue;
+
+ switch(first_token[0])
+ {
+ case 'v':
+ {
+ if(first_token[1] == 'n')
+ {
+ strtok(NULL, "\t ");
+ strtok(NULL, "\t ");
+ strtok(NULL, "\t ");
+ has_normal = true;
+ }
+ else if(first_token[1] == 't')
+ {
+ strtok(NULL, "\t ");
+ strtok(NULL, "\t ");
+ has_texture = true;
+ }
+ else
+ {
+ BVH_REAL x = (BVH_REAL)atof(strtok(NULL, "\t "));
+ BVH_REAL y = (BVH_REAL)atof(strtok(NULL, "\t "));
+ BVH_REAL z = (BVH_REAL)atof(strtok(NULL, "\t "));
+ Vec3f p(x, y, z);
+ points.push_back(p);
+ }
+ }
+ break;
+ case 'f':
+ {
+ Triangle tri;
+ char* data[30];
+ int n = 0;
+ while((data[n] = strtok(NULL, "\t \r\n")) != NULL)
+ {
+ if(strlen(data[n]))
+ n++;
+ }
+
+ for(int t = 0; t < (n - 2); ++t)
+ {
+ if((!has_texture) && (!has_normal))
+ {
+ tri[0] = atoi(data[0]) - 1;
+ tri[1] = atoi(data[1]) - 1;
+ tri[2] = atoi(data[2]) - 1;
+ }
+ else
+ {
+ const char *v1;
+ for(int i = 0; i < 3; i++)
+ {
+ // vertex ID
+ if(i == 0)
+ v1 = data[0];
+ else
+ v1 = data[t + i];
+
+ tri[i] = atoi(v1) - 1;
+
+ // texture coordinate
+ const char *v2 = strchr(v1 + 1, '/');
+
+ if(v2)
+ {
+ strchr(v2 + 1, '/');
+ }
+ }
+ }
+ triangles.push_back(tri);
+ }
+ }
+ }
+ }
+}
+
+
+inline void eulerToMatrix(BVH_REAL a, BVH_REAL b, BVH_REAL c, Matrix3f& R)
+{
+ BVH_REAL c1 = cos(a);
+ BVH_REAL c2 = cos(b);
+ BVH_REAL c3 = cos(c);
+ BVH_REAL s1 = sin(a);
+ BVH_REAL s2 = sin(b);
+ BVH_REAL s3 = sin(c);
+
+ R.setValue(c1 * c2, - c2 * s1, s2,
+ c3 * s1 + c1 * s2 * s3, c1 * c3 - s1 * s2 * s3, - c2 * s3,
+ s1 * s3 - c1 * c3 * s2, c3 * s1 * s2 + c1 * s3, c2 * c3);
+}
+
+inline void generateRandomTransform(BVH_REAL extents[6], Transform& transform)
+{
+ BVH_REAL x = rand_interval(extents[0], extents[3]);
+ BVH_REAL y = rand_interval(extents[1], extents[4]);
+ BVH_REAL z = rand_interval(extents[2], extents[5]);
+
+ const BVH_REAL pi = 3.1415926;
+ BVH_REAL a = rand_interval(0, 2 * pi);
+ BVH_REAL b = rand_interval(0, 2 * pi);
+ BVH_REAL c = rand_interval(0, 2 * pi);
+
+ eulerToMatrix(a, b, c, transform.R);
+ transform.T.setValue(x, y, z);
+}
+
+inline void generateRandomTransform(BVH_REAL extents[6], std::vector<Transform>& transforms, std::vector<Transform>& transforms2, BVH_REAL delta_trans[3], BVH_REAL delta_rot, int n)
+{
+ transforms.resize(n);
+ transforms2.resize(n);
+ for(int i = 0; i < n; ++i)
+ {
+ BVH_REAL x = rand_interval(extents[0], extents[3]);
+ BVH_REAL y = rand_interval(extents[1], extents[4]);
+ BVH_REAL z = rand_interval(extents[2], extents[5]);
+
+ const BVH_REAL pi = 3.1415926;
+ BVH_REAL a = rand_interval(0, 2 * pi);
+ BVH_REAL b = rand_interval(0, 2 * pi);
+ BVH_REAL c = rand_interval(0, 2 * pi);
+
+ eulerToMatrix(a, b, c, transforms[i].R);
+ transforms[i].T.setValue(x, y, z);
+
+ BVH_REAL deltax = rand_interval(-delta_trans[0], delta_trans[0]);
+ BVH_REAL deltay = rand_interval(-delta_trans[1], delta_trans[1]);
+ BVH_REAL deltaz = rand_interval(-delta_trans[2], delta_trans[2]);
+
+ BVH_REAL deltaa = rand_interval(-delta_rot, delta_rot);
+ BVH_REAL deltab = rand_interval(-delta_rot, delta_rot);
+ BVH_REAL deltac = rand_interval(-delta_rot, delta_rot);
+
+ eulerToMatrix(a + deltaa, b + deltab, c + deltac, transforms2[i].R);
+ transforms2[i].T.setValue(x + deltax, y + deltay, z + deltaz);
+ }
+}
+
+
+inline void generateRandomTransform_ccd(BVH_REAL extents[6], std::vector<Transform>& transforms, std::vector<Transform>& transforms2, BVH_REAL delta_trans[3], BVH_REAL delta_rot, int n,
+ const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
+ const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2)
+{
+ transforms.resize(n);
+ transforms2.resize(n);
+
+ for(int i = 0; i < n;)
+ {
+ BVH_REAL x = rand_interval(extents[0], extents[3]);
+ BVH_REAL y = rand_interval(extents[1], extents[4]);
+ BVH_REAL z = rand_interval(extents[2], extents[5]);
+
+ const BVH_REAL pi = 3.1415926;
+ BVH_REAL a = rand_interval(0, 2 * pi);
+ BVH_REAL b = rand_interval(0, 2 * pi);
+ BVH_REAL c = rand_interval(0, 2 * pi);
+
+ Transform tf;
+
+ eulerToMatrix(a, b, c, tf.R);
+ tf.T.setValue(x, y, z);
+
+ std::vector<std::pair<int, int> > results;
+#if USE_PQP
+ if(!collide_PQP(tf, vertices1, triangles1, vertices2, triangles2, results, false))
+#endif
+ {
+ transforms[i] = tf;
+
+ BVH_REAL deltax = rand_interval(-delta_trans[0], delta_trans[0]);
+ BVH_REAL deltay = rand_interval(-delta_trans[1], delta_trans[1]);
+ BVH_REAL deltaz = rand_interval(-delta_trans[2], delta_trans[2]);
+
+ BVH_REAL deltaa = rand_interval(-delta_rot, delta_rot);
+ BVH_REAL deltab = rand_interval(-delta_rot, delta_rot);
+ BVH_REAL deltac = rand_interval(-delta_rot, delta_rot);
+
+ eulerToMatrix(a + deltaa, b + deltab, c + deltac, transforms2[i].R);
+ transforms2[i].T.setValue(x + deltax, y + deltay, z + deltaz);
+ ++i;
+ }
+ }
+}
+
+
+
+
+#endif
diff --git a/trunk/fcl_test/test/timer.cpp b/trunk/fcl_test/test/timer.cpp
new file mode 100644
index 00000000..40a5ddcb
--- /dev/null
+++ b/trunk/fcl_test/test/timer.cpp
@@ -0,0 +1,121 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * 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 Willow Garage, Inc. 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 "timer.h"
+#include <cstddef>
+
+
+Timer::Timer()
+{
+#ifdef _WIN32
+ QueryPerformanceFrequency(&frequency);
+ startCount.QuadPart = 0;
+ endCount.QuadPart = 0;
+#else
+ startCount.tv_sec = startCount.tv_usec = 0;
+ endCount.tv_sec = endCount.tv_usec = 0;
+#endif
+
+ stopped = 0;
+ startTimeInMicroSec = 0;
+ endTimeInMicroSec = 0;
+}
+
+
+Timer::~Timer()
+{
+}
+
+
+void Timer::start()
+{
+ stopped = 0; // reset stop flag
+#ifdef _WIN32
+ QueryPerformanceCounter(&startCount);
+#else
+ gettimeofday(&startCount, NULL);
+#endif
+}
+
+
+void Timer::stop()
+{
+ stopped = 1; // set timer stopped flag
+
+#ifdef _WIN32
+ QueryPerformanceCounter(&endCount);
+#else
+ gettimeofday(&endCount, NULL);
+#endif
+}
+
+
+double Timer::getElapsedTimeInMicroSec()
+{
+#ifdef _WIN32
+ if(!stopped)
+ QueryPerformanceCounter(&endCount);
+
+ startTimeInMicroSec = startCount.QuadPart * (1000000.0 / frequency.QuadPart);
+ endTimeInMicroSec = endCount.QuadPart * (1000000.0 / frequency.QuadPart);
+#else
+ if(!stopped)
+ gettimeofday(&endCount, NULL);
+
+ startTimeInMicroSec = (startCount.tv_sec * 1000000.0) + startCount.tv_usec;
+ endTimeInMicroSec = (endCount.tv_sec * 1000000.0) + endCount.tv_usec;
+#endif
+
+ return endTimeInMicroSec - startTimeInMicroSec;
+}
+
+
+double Timer::getElapsedTimeInMilliSec()
+{
+ return this->getElapsedTimeInMicroSec() * 0.001;
+}
+
+
+double Timer::getElapsedTimeInSec()
+{
+ return this->getElapsedTimeInMicroSec() * 0.000001;
+}
+
+
+double Timer::getElapsedTime()
+{
+ return this->getElapsedTimeInMilliSec();
+}
diff --git a/trunk/fcl_test/test/timer.h b/trunk/fcl_test/test/timer.h
new file mode 100644
index 00000000..7eb04c0b
--- /dev/null
+++ b/trunk/fcl_test/test/timer.h
@@ -0,0 +1,70 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * 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 Willow Garage, Inc. 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 */
+
+#ifdef _WIN32
+#include <windows.h>
+#else
+#include <sys/time.h>
+#endif
+
+/** Timer for CPU
+ */
+class Timer
+{
+public:
+ Timer();
+ ~Timer();
+
+ void start(); ///< start timer
+ void stop(); ///< stop the timer
+ double getElapsedTime(); ///< get elapsed time in milli-second
+ double getElapsedTimeInSec(); ///< get elapsed time in second (same as getElapsedTime)
+ double getElapsedTimeInMilliSec(); ///< get elapsed time in milli-second
+ double getElapsedTimeInMicroSec(); ///< get elapsed time in micro-second
+
+private:
+ double startTimeInMicroSec; ///< starting time in micro-second
+ double endTimeInMicroSec; ///< ending time in micro-second
+ int stopped; ///< stop flag
+#ifdef _WIN32
+ LARGE_INTEGER frequency; ///< ticks per second
+ LARGE_INTEGER startCount;
+ LARGE_INTEGER endCount;
+#else
+ timeval startCount;
+ timeval endCount;
+#endif
+};
diff --git a/trunk/fcl_test/test/timing_test.cpp b/trunk/fcl_test/test/timing_test.cpp
new file mode 100644
index 00000000..d02db47d
--- /dev/null
+++ b/trunk/fcl_test/test/timing_test.cpp
@@ -0,0 +1,247 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * 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 Willow Garage, Inc. 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 "fcl/traversal_node_bvhs.h"
+#include "fcl/collision_node.h"
+#include "fcl/simple_setup.h"
+#include "fcl/collision.h"
+#include "test_core_utility.h"
+#include "timer.h"
+
+#if USE_PQP
+#include <PQP.h>
+#endif
+
+
+int main()
+{
+ std::vector<Vec3f> vertices1, vertices2;
+ std::vector<Triangle> triangles1, triangles2;
+ loadOBJFile("test/env.obj", vertices1, triangles1);
+ loadOBJFile("test/rob.obj", vertices2, triangles2);
+
+ std::vector<Transform> transforms; // t0
+ std::vector<Transform> transforms2; // t1
+ BVH_REAL extents[] = {-3000, -3000, 0, 3000, 3000, 3000};
+ BVH_REAL delta_trans[] = {1, 1, 1};
+ int n = 100000;
+ bool verbose = false;
+
+ generateRandomTransform(extents, transforms, transforms2, delta_trans, 0.005 * 2 * 3.1415, n);
+
+ std::cout << "FCL timing 2" << std::endl;
+ {
+ double t_fcl = 0;
+
+ BVHModel<OBB> m1;
+ BVHModel<OBB> m2;
+ SplitMethodType split_method = SPLIT_METHOD_MEAN;
+ m1.bv_splitter.reset(new BVSplitter<OBB>(split_method));
+ m2.bv_splitter.reset(new BVSplitter<OBB>(split_method));
+
+ m1.beginModel();
+ m1.addSubModel(vertices1, triangles1);
+ m1.endModel();
+ m1.makeParentRelative();
+
+ m2.beginModel();
+ m2.addSubModel(vertices2, triangles2);
+ m2.endModel();
+ m2.makeParentRelative();
+
+
+ Matrix3f R2;
+ R2.setIdentity();
+ Vec3f T2;
+
+ for(unsigned int i = 0; i < transforms.size(); ++i)
+ {
+ Transform& tf = transforms[i];
+
+ MeshCollisionTraversalNodeOBB node;
+ if(!initialize(node, (const BVHModel<OBB>&)m1, SimpleTransform(tf.R, tf.T), (const BVHModel<OBB>&)m2, SimpleTransform(R2, T2)))
+ std::cout << "initialize error" << std::endl;
+
+ node.enable_statistics = false;
+ node.num_max_contacts = -1;
+ node.exhaustive = false;
+ node.enable_contact = false;
+
+ Timer timer;
+ timer.start();
+ collide2(&node);
+ timer.stop();
+ t_fcl += timer.getElapsedTime();
+
+ //std::cout << node.pairs.size() << std::endl;
+ }
+
+ std::cout << "fcl timing " << t_fcl << " ms" << std::endl;
+ }
+
+
+ std::cout << "PQP timing" << std::endl;
+#if USE_PQP
+ {
+ double t_pqp = 0;
+
+ PQP_Model m1, m2;
+
+ m1.BeginModel();
+ for(unsigned int i = 0; i < triangles1.size(); ++i)
+ {
+ const Triangle& t = triangles1[i];
+ const Vec3f& p1 = vertices1[t[0]];
+ const Vec3f& p2 = vertices1[t[1]];
+ const Vec3f& p3 = vertices1[t[2]];
+
+ PQP_REAL q1[3];
+ PQP_REAL q2[3];
+ PQP_REAL q3[3];
+
+ q1[0] = p1[0]; q1[1] = p1[1]; q1[2] = p1[2];
+ q2[0] = p2[0]; q2[1] = p2[1]; q2[2] = p2[2];
+ q3[0] = p3[0]; q3[1] = p3[1]; q3[2] = p3[2];
+
+ m1.AddTri(q1, q2, q3, i);
+ }
+ m1.EndModel();
+
+
+ m2.BeginModel();
+ for(unsigned int i = 0; i < triangles2.size(); ++i)
+ {
+ const Triangle& t = triangles2[i];
+ const Vec3f& p1 = vertices2[t[0]];
+ const Vec3f& p2 = vertices2[t[1]];
+ const Vec3f& p3 = vertices2[t[2]];
+
+ PQP_REAL q1[3];
+ PQP_REAL q2[3];
+ PQP_REAL q3[3];
+
+ q1[0] = p1[0]; q1[1] = p1[1]; q1[2] = p1[2];
+ q2[0] = p2[0]; q2[1] = p2[1]; q2[2] = p2[2];
+ q3[0] = p3[0]; q3[1] = p3[1]; q3[2] = p3[2];
+
+ m2.AddTri(q1, q2, q3, i);
+ }
+ m2.EndModel();
+
+
+ for(unsigned int i = 0; i < transforms.size(); ++i)
+ {
+ Transform& tf = transforms[i];
+ PQP_CollideResult res;
+ PQP_REAL R1[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
+ PQP_REAL R2[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
+ PQP_REAL T1[3] = {0, 0, 0};
+ PQP_REAL T2[3] = {0, 0, 0};
+ T1[0] = tf.T[0];
+ T1[1] = tf.T[1];
+ T1[2] = tf.T[2];
+ for(int i = 0; i < 3; ++i)
+ {
+ R1[i][0] = tf.R[i][0];
+ R1[i][1] = tf.R[i][1];
+ R1[i][2] = tf.R[i][2];
+ }
+
+ Timer timer;
+ timer.start();
+ PQP_Collide(&res, R1, T1, &m1, R2, T2, &m2, PQP_FIRST_CONTACT);
+ timer.stop();
+ t_pqp += timer.getElapsedTime();
+
+ //std::cout << res.NumPairs() << std::endl;
+ }
+
+ std::cout << "pqp timing " << t_pqp << " ms" << std::endl;
+ }
+#endif
+
+ std::cout << "FCL timing" << std::endl;
+ {
+ double t_fcl = 0;
+
+ BVHModel<OBB> m1;
+ BVHModel<OBB> m2;
+ SplitMethodType split_method = SPLIT_METHOD_MEAN;
+ m1.bv_splitter.reset(new BVSplitter<OBB>(split_method));
+ m2.bv_splitter.reset(new BVSplitter<OBB>(split_method));
+
+ m1.beginModel();
+ m1.addSubModel(vertices1, triangles1);
+ m1.endModel();
+
+ m2.beginModel();
+ m2.addSubModel(vertices2, triangles2);
+ m2.endModel();
+
+ Matrix3f R2;
+ R2.setIdentity();
+ Vec3f T2;
+
+ for(unsigned int i = 0; i < transforms.size(); ++i)
+ {
+ Transform& tf = transforms[i];
+
+ MeshCollisionTraversalNodeOBB node;
+ if(!initialize(node, (const BVHModel<OBB>&)m1, SimpleTransform(tf.R, tf.T), (const BVHModel<OBB>&)m2, SimpleTransform(R2, T2)))
+ std::cout << "initialize error" << std::endl;
+
+ node.enable_statistics = false;
+ node.num_max_contacts = -1;
+ node.exhaustive = false;
+ node.enable_contact = false;
+
+ Timer timer;
+ timer.start();
+ collide(&node);
+ timer.stop();
+ t_fcl += timer.getElapsedTime();
+
+ //std::cout << node.pairs.size() << std::endl;
+ }
+
+ std::cout << "fcl timing " << t_fcl << " ms" << std::endl;
+ }
+
+
+
+ return 1;
+
+}
--
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