Merge pull request #234 from nim65s/devel

remove most references to ccd, ref #102

INSTALL

@@ -2,11 +2,12 @@
 Dependencies:
 ============
 
+ - Eigen
  - Boost (thread, date_time, unit_test_framework, filesystem)
- - libccd (available at http://libccd.danfis.cz/)
  - octomap (optional dependency, available at http://octomap.github.com)
+ - Qhull (optional dependency, available at http://www.qhull.org)
 
-Boost and libccd are mandatory dependencies. If octomap is not found,
+Boost and Eigen are mandatory dependencies. If Octomap is not found,
 collision detection with octrees will not be possible.
 
 For installation, CMake will also be needed (http://cmake.org).

test/general_test.cpp

-#include <hpp/fcl/shape/geometric_shapes.h>
-#include <hpp/fcl/shape/geometric_shapes_utility.h>
-#include <hpp/fcl/narrowphase/narrowphase.h>
-#include <iostream>
-#include <hpp/fcl/collision.h>
-#include <boost/foreach.hpp>
-
-using namespace std;
-using namespace hpp::fcl;
-
-int main(int argc, char** argv) 
-{
-  shared_ptr<Box> box0(new Box(1,1,1));
-  shared_ptr<Box> box1(new Box(1,1,1));
-  GJKSolver_libccd solver;
-  Vec3f contact_points;
-  FCL_REAL distance;
-  Vec3f normal;
-
-  Transform3f tf0, tf1;
-  tf0.setIdentity();
-  tf0.setTranslation(Vec3f(.9,0,0));
-  tf0.setQuatRotation(Quaternion3f(.6, .8, 0, 0));
-  tf1.setIdentity();
-
-  bool res = solver.shapeIntersect(*box0, tf0, *box1, tf1, distance, true, &contact_points, &normal);
-
-  cout << "contact points: " << contact_points << endl;
-  cout << "signed distance: " << distance << endl;
-  cout << "normal: " << normal << endl;
-  cout << "result: " << res << endl;
-  
-  static const int num_max_contacts = std::numeric_limits<int>::max();
-  static const bool enable_contact = true;
-  hpp::fcl::CollisionResult result;
-  hpp::fcl::CollisionRequest request(enable_contact, num_max_contacts, false);
-
-
-  CollisionObject co0(box0, tf0);
-  CollisionObject co1(box1, tf1);
-
-  hpp::fcl::collide(&co0, &co1, request, result);
-  vector<Contact> contacts;
-  result.getContacts(contacts);
-
-  cout << contacts.size() << " contacts found" << endl;
-  BOOST_FOREACH(Contact& contact, contacts) {
-    cout << "position: " << contact.pos << endl;
-  }
-}

test/shape_mesh_consistency.cpp

@@ -51,7 +51,7 @@ using namespace hpp::fcl;
 
 FCL_REAL extents[6] = {0, 0, 0, 10, 10, 10};
 
-BOOST_AUTO_TEST_CASE(consistency_distance_spheresphere_libccd)
+BOOST_AUTO_TEST_CASE(consistency_distance_spheresphere)
 {
   Sphere s1(20);
   Sphere s2(20);
@@ -142,7 +142,7 @@ BOOST_AUTO_TEST_CASE(consistency_distance_spheresphere_libccd)
   }
 }
 
-BOOST_AUTO_TEST_CASE(consistency_distance_boxbox_libccd)
+BOOST_AUTO_TEST_CASE(consistency_distance_boxbox)
 {
   Box s1(20, 40, 50);
   Box s2(10, 10, 10);
@@ -233,7 +233,7 @@ BOOST_AUTO_TEST_CASE(consistency_distance_boxbox_libccd)
   }
 }
 
-BOOST_AUTO_TEST_CASE(consistency_distance_cylindercylinder_libccd)
+BOOST_AUTO_TEST_CASE(consistency_distance_cylindercylinder)
 {
   Cylinder s1(5, 10);
   Cylinder s2(5, 10);
@@ -324,7 +324,7 @@ BOOST_AUTO_TEST_CASE(consistency_distance_cylindercylinder_libccd)
   }
 }
 
-BOOST_AUTO_TEST_CASE(consistency_distance_conecone_libccd)
+BOOST_AUTO_TEST_CASE(consistency_distance_conecone)
 {
   Cone s1(5, 10);
   Cone s2(5, 10);
@@ -791,7 +791,7 @@ BOOST_AUTO_TEST_CASE(consistency_distance_conecone_GJK)
 
 
 
-BOOST_AUTO_TEST_CASE(consistency_collision_spheresphere_libccd)
+BOOST_AUTO_TEST_CASE(consistency_collision_spheresphere)
 {
   Sphere s1(20);
   Sphere s2(10);
@@ -1008,7 +1008,7 @@ BOOST_AUTO_TEST_CASE(consistency_collision_spheresphere_libccd)
   BOOST_CHECK_FALSE(res);
 }
 
-BOOST_AUTO_TEST_CASE(consistency_collision_boxbox_libccd)
+BOOST_AUTO_TEST_CASE(consistency_collision_boxbox)
 {
   Box s1(20, 40, 50);
   Box s2(10, 10, 10);
@@ -1128,7 +1128,7 @@ BOOST_AUTO_TEST_CASE(consistency_collision_boxbox_libccd)
   BOOST_CHECK(res);
 }
 
-BOOST_AUTO_TEST_CASE(consistency_collision_spherebox_libccd)
+BOOST_AUTO_TEST_CASE(consistency_collision_spherebox)
 {
   Sphere s1(20);
   Box s2(5, 5, 5);
@@ -1248,7 +1248,7 @@ BOOST_AUTO_TEST_CASE(consistency_collision_spherebox_libccd)
   BOOST_CHECK_FALSE(res);
 }
 
-BOOST_AUTO_TEST_CASE(consistency_collision_cylindercylinder_libccd)
+BOOST_AUTO_TEST_CASE(consistency_collision_cylindercylinder)
 {
   Cylinder s1(5, 10);
   Cylinder s2(5, 10);
@@ -1335,7 +1335,7 @@ BOOST_AUTO_TEST_CASE(consistency_collision_cylindercylinder_libccd)
   BOOST_CHECK_FALSE(res);
 }
 
-BOOST_AUTO_TEST_CASE(consistency_collision_conecone_libccd)
+BOOST_AUTO_TEST_CASE(consistency_collision_conecone)
 {
   Cone s1(5, 10);
   Cone s2(5, 10);

test/sphere_capsule.cpp

-/*
- *  Software License Agreement (BSD License)
- *
- *  Copyright (c) 2011-2014, Willow Garage, Inc.
- *  Copyright (c) 2014-2015, Open Source Robotics Foundation
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of Open Source Robotics Foundation nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-/** \author Martin Felis <martin.felis@iwr.uni-heidelberg.de> */
-
-#define BOOST_TEST_MODULE FCL_SPHERE_CAPSULE
-#include <boost/test/included/unit_test.hpp>
-
-#include <hpp/fcl/collision.h>
-#include <hpp/fcl/shape/geometric_shapes.h>
-#include <hpp/fcl/narrowphase/narrowphase.h>
-
-#ifndef M_PI
-#define M_PI 3.14159265358979323846
-#endif
-
-using namespace hpp::fcl;
-
-BOOST_AUTO_TEST_CASE(Sphere_Capsule_Intersect_test_separated_z)
-{
-	GJKSolver_libccd solver;
-
-	Sphere sphere1 (50);
-	Transform3f sphere1_transform;
-	sphere1_transform.setTranslation (Vec3f (0., 0., -50));
-
-	Capsule capsule (50, 200.);
-	Transform3f capsule_transform (Vec3f (0., 0., 200));
-
-        FCL_REAL distance;
-	BOOST_CHECK (!solver.shapeIntersect(sphere1, sphere1_transform, capsule, capsule_transform, distance, false, NULL, NULL));
-}
-
-BOOST_AUTO_TEST_CASE(Sphere_Capsule_Intersect_test_separated_z_negative)
-{
-	GJKSolver_libccd solver;
-
-	Sphere sphere1 (50);
-	Transform3f sphere1_transform;
-	sphere1_transform.setTranslation (Vec3f (0., 0., 50));
-
-	Capsule capsule (50, 200.);
-	Transform3f capsule_transform (Vec3f (0., 0., -200));
-
-        FCL_REAL distance;
-	BOOST_CHECK (!solver.shapeIntersect(sphere1, sphere1_transform, capsule, capsule_transform, distance, false, NULL, NULL));
-}
-
-BOOST_AUTO_TEST_CASE(Sphere_Capsule_Intersect_test_separated_x)
-{
-	GJKSolver_libccd solver;
-
-	Sphere sphere1 (50);
-	Transform3f sphere1_transform;
-	sphere1_transform.setTranslation (Vec3f (0., 0., -50));
-
-	Capsule capsule (50, 200.);
-	Transform3f capsule_transform (Vec3f (150., 0., 0.));
-
-        FCL_REAL distance;
-	BOOST_CHECK (!solver.shapeIntersect(sphere1, sphere1_transform, capsule, capsule_transform, distance, false, NULL, NULL));
-}
-
-BOOST_AUTO_TEST_CASE(Sphere_Capsule_Intersect_test_separated_capsule_rotated)
-{
-	GJKSolver_libccd solver;
-
-	Sphere sphere1 (50);
-	Transform3f sphere1_transform;
-	sphere1_transform.setTranslation (Vec3f (0., 0., -50));
-
-	Capsule capsule (50, 200.);
-	Matrix3f rotation;
-	// rotation.setEulerZYX (M_PI * 0.5, 0., 0.);
-        setEulerZYX(rotation, M_PI * 0.5, 0., 0.);
-	Transform3f capsule_transform (rotation, Vec3f (150., 0., 0.));
-
-        FCL_REAL distance;
-	BOOST_CHECK (!solver.shapeIntersect(sphere1, sphere1_transform, capsule, capsule_transform, distance, false, NULL, NULL));
-}
-
-BOOST_AUTO_TEST_CASE(Sphere_Capsule_Intersect_test_penetration_z)
-{
-	GJKSolver_libccd solver;
-
-	Sphere sphere1 (50);
-	Transform3f sphere1_transform;
-	sphere1_transform.setTranslation (Vec3f (0., 0., -50));
-
-	Capsule capsule (50, 200.);
-	Transform3f capsule_transform (Vec3f (0., 0., 125));
-
-	FCL_REAL penetration = 0.;
-	Vec3f contact_point;
-	Vec3f normal;
-
-	bool is_intersecting = solver.shapeIntersect(sphere1, sphere1_transform, capsule, capsule_transform, &contact_point, &penetration, &normal);
-
-	BOOST_CHECK (is_intersecting);
-	BOOST_CHECK (penetration == 25.);
-	BOOST_CHECK (isEqual(Vec3f (0., 0., 1.), normal));
-	BOOST_CHECK (isEqual(Vec3f (0., 0., 0.), contact_point));
-}
-
-BOOST_AUTO_TEST_CASE(Sphere_Capsule_Intersect_test_penetration_z_rotated)
-{
-	GJKSolver_libccd solver;
-
-	Sphere sphere1 (50);
-	Transform3f sphere1_transform;
-	sphere1_transform.setTranslation (Vec3f (0., 0., 0));
-
-	Capsule capsule (50, 200.);
-	Matrix3f rotation;
-	// rotation.setEulerZYX (M_PI * 0.5, 0., 0.);
-        setEulerZYX(rotation, M_PI * 0.5, 0., 0.);
-	Transform3f capsule_transform (rotation, Vec3f (0., 50., 75));
-
-	FCL_REAL penetration = 0.;
-	Vec3f contact_point;
-	Vec3f normal;
-
-	bool is_intersecting = solver.shapeIntersect(sphere1, sphere1_transform, capsule, capsule_transform, &contact_point, &penetration, &normal);
-
-	BOOST_CHECK (is_intersecting);
-	BOOST_CHECK_CLOSE (25, penetration, solver.collision_tolerance);
-	BOOST_CHECK (isEqual(Vec3f (0., 0., 1.),normal));
-	BOOST_CHECK (isEqual(Vec3f (0., 0., 50.), contact_point, solver.collision_tolerance));
-}
-
-BOOST_AUTO_TEST_CASE(Sphere_Capsule_Distance_test_collision)
-{
-	GJKSolver_libccd solver;
-
-	Sphere sphere1 (50);
-	Transform3f sphere1_transform;
-	sphere1_transform.setTranslation (Vec3f (0., 0., -50));
-
-	Capsule capsule (50, 200.);
-	Transform3f capsule_transform (Vec3f (0., 0., 100));
-
-	FCL_REAL distance;
-
-	BOOST_CHECK (!solver.shapeDistance(sphere1, sphere1_transform, capsule, capsule_transform, &distance));
-
-}
-
-BOOST_AUTO_TEST_CASE(Sphere_Capsule_Distance_test_separated)
-{
-	GJKSolver_libccd solver;
-
-	Sphere sphere1 (50);
-	Transform3f sphere1_transform;
-	sphere1_transform.setTranslation (Vec3f (0., 0., -50));
-
-	Capsule capsule (50, 200.);
-	Transform3f capsule_transform (Vec3f (0., 0., 175));
-
-	FCL_REAL distance = 0.;
-	Vec3f p1;
-	Vec3f p2;
-	bool is_separated = solver.shapeDistance(sphere1, sphere1_transform, capsule, capsule_transform, &distance);
-
-	BOOST_CHECK (is_separated);
-	BOOST_CHECK (distance == 25.);
-}