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test_fcl_shape_mesh_consistency.cpp
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test_fcl_shape_mesh_consistency.cpp
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/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2011-2014, Willow Garage, Inc.
* Copyright (c) 2014-2016, Open Source Robotics Foundation
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Open Source Robotics Foundation nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
/** @author Jia Pan */
#include <array>
#include <gtest/gtest.h>
#include "fcl/narrowphase/detail/gjk_solver_indep.h"
#include "fcl/narrowphase/detail/gjk_solver_libccd.h"
#include "fcl/geometry/geometric_shape_to_BVH_model.h"
#include "fcl/narrowphase/distance.h"
#include "fcl/narrowphase/collision.h"
#include "test_fcl_utility.h"
using namespace fcl;
template <typename S>
std::array<S, 6>& extents()
{
static std::array<S, 6> static_extents{ {0, 0, 0, 10, 10, 10} };
return static_extents;
}
template <typename S>
void test_consistency_distance_spheresphere_libccd()
{
Sphere<S> s1(20);
Sphere<S> s2(20);
BVHModel<RSS<S>> s1_rss;
BVHModel<RSS<S>> s2_rss;
generateBVHModel(s1_rss, s1, Transform3<S>::Identity(), 16, 16, false);
generateBVHModel(s2_rss, s2, Transform3<S>::Identity(), 16, 16, false);
DistanceRequest<S> request;
DistanceResult<S> res, res1;
Transform3<S> pose = Transform3<S>::Identity();
pose.translation() = Vector3<S>(50, 0, 0);
res.clear(); res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
res1.clear();
distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
for(std::size_t i = 0; i < 10; ++i)
{
Transform3<S> t;
test::generateRandomTransform(extents<S>(), t);
Transform3<S> pose1(t);
Transform3<S> pose2 = t * pose;
res.clear(); res1.clear();
distance(&s1, pose1, &s2, pose2, request, res);
distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
res1.clear();
distance(&s1, pose1, &s2_rss, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
res1.clear();
distance(&s1_rss, pose1, &s2, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
}
pose.translation() = Vector3<S>(40.1, 0, 0);
res.clear(), res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
res1.clear();
distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
for(std::size_t i = 0; i < 10; ++i)
{
Transform3<S> t;
test::generateRandomTransform(extents<S>(), t);
Transform3<S> pose1(t);
Transform3<S> pose2 = t * pose;
res.clear(); res1.clear();
distance(&s1, pose1, &s2, pose2, request, res);
distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
res1.clear();
distance(&s1, pose1, &s2_rss, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
res1.clear();
distance(&s1_rss, pose1, &s2, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
}
}
GTEST_TEST(FCL_SHAPE_MESH_CONSISTENCY, consistency_distance_spheresphere_libccd)
{
// test_consistency_distance_spheresphere_libccd<float>();
test_consistency_distance_spheresphere_libccd<double>();
}
template <typename S>
void test_consistency_distance_ellipsoidellipsoid_libccd()
{
Ellipsoid<S> s1(20, 40, 50);
Ellipsoid<S> s2(10, 10, 10);
BVHModel<RSS<S>> s1_rss;
BVHModel<RSS<S>> s2_rss;
generateBVHModel(s1_rss, s1, Transform3<S>::Identity(), 16, 16, false);
generateBVHModel(s2_rss, s2, Transform3<S>::Identity(), 16, 16, false);
DistanceRequest<S> request;
DistanceResult<S> res, res1;
Transform3<S> pose = Transform3<S>::Identity();
pose.translation() = Vector3<S>(40, 0, 0);
res.clear(); res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
res1.clear();
distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
for(std::size_t i = 0; i < 10; ++i)
{
Transform3<S> t;
test::generateRandomTransform(extents<S>(), t);
Transform3<S> pose1(t);
Transform3<S> pose2 = t * pose;
res.clear(); res1.clear();
distance(&s1, pose1, &s2, pose2, request, res);
distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
res1.clear();
distance(&s1, pose1, &s2_rss, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
res1.clear();
distance(&s1_rss, pose1, &s2, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
}
pose.translation() = Vector3<S>(30.1, 0, 0);
res.clear(), res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
res1.clear();
distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
for(std::size_t i = 0; i < 10; ++i)
{
Transform3<S> t;
test::generateRandomTransform(extents<S>(), t);
Transform3<S> pose1(t);
Transform3<S> pose2 = t * pose;
res.clear(); res1.clear();
distance(&s1, pose1, &s2, pose2, request, res);
distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
res1.clear();
distance(&s1, pose1, &s2_rss, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
res1.clear();
distance(&s1_rss, pose1, &s2, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
}
}
GTEST_TEST(FCL_SHAPE_MESH_CONSISTENCY, consistency_distance_ellipsoidellipsoid_libccd)
{
// test_consistency_distance_ellipsoidellipsoid_libccd<float>();
test_consistency_distance_ellipsoidellipsoid_libccd<double>();
}
template <typename S>
void test_consistency_distance_boxbox_libccd()
{
Box<S> s1(20, 40, 50);
Box<S> s2(10, 10, 10);
BVHModel<RSS<S>> s1_rss;
BVHModel<RSS<S>> s2_rss;
generateBVHModel(s1_rss, s1, Transform3<S>::Identity());
generateBVHModel(s2_rss, s2, Transform3<S>::Identity());
DistanceRequest<S> request;
DistanceResult<S> res, res1;
Transform3<S> pose = Transform3<S>::Identity();
pose.translation() = Vector3<S>(50, 0, 0);
res.clear(); res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.01);
res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.01);
res1.clear();
distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.01);
for(std::size_t i = 0; i < 10; ++i)
{
Transform3<S> t;
test::generateRandomTransform(extents<S>(), t);
Transform3<S> pose1(t);
Transform3<S> pose2 = t * pose;
res.clear(); res1.clear();
distance(&s1, pose1, &s2, pose2, request, res);
distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.01);
res1.clear();
distance(&s1, pose1, &s2_rss, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.01);
res1.clear();
distance(&s1_rss, pose1, &s2, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.01);
}
pose.translation() = Vector3<S>(15.1, 0, 0);
res.clear(); res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
res1.clear();
distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
for(std::size_t i = 0; i < 10; ++i)
{
Transform3<S> t;
test::generateRandomTransform(extents<S>(), t);
Transform3<S> pose1(t);
Transform3<S> pose2 = t * pose;
res.clear(); res1.clear();
distance(&s1, pose1, &s2, pose2, request, res);
distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
res1.clear();
distance(&s1, pose1, &s2_rss, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
res1.clear();
distance(&s1_rss, pose1, &s2, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
}
}
GTEST_TEST(FCL_SHAPE_MESH_CONSISTENCY, consistency_distance_boxbox_libccd)
{
// test_consistency_distance_boxbox_libccd<float>();
test_consistency_distance_boxbox_libccd<double>();
}
template <typename S>
void test_consistency_distance_cylindercylinder_libccd()
{
Cylinder<S> s1(5, 10);
Cylinder<S> s2(5, 10);
BVHModel<RSS<S>> s1_rss;
BVHModel<RSS<S>> s2_rss;
generateBVHModel(s1_rss, s1, Transform3<S>::Identity(), 16, 16, false);
generateBVHModel(s2_rss, s2, Transform3<S>::Identity(), 16, 16, false);
DistanceRequest<S> request;
DistanceResult<S> res, res1;
Transform3<S> pose = Transform3<S>::Identity();
pose.translation() = Vector3<S>(20, 0, 0);
res.clear(); res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.01);
res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.01);
res1.clear();
distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.01);
for(std::size_t i = 0; i < 10; ++i)
{
Transform3<S> t;
test::generateRandomTransform(extents<S>(), t);
Transform3<S> pose1(t);
Transform3<S> pose2 = t * pose;
res.clear(); res1.clear();
distance(&s1, pose1, &s2, pose2, request, res);
distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.01);
res1.clear();
distance(&s1, pose1, &s2_rss, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.01);
res1.clear();
distance(&s1_rss, pose1, &s2, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.01);
}
pose.translation() = Vector3<S>(15, 0, 0); // libccd cannot use small value here :(
res.clear(); res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
res1.clear();
distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
for(std::size_t i = 0; i < 10; ++i)
{
Transform3<S> t;
test::generateRandomTransform(extents<S>(), t);
Transform3<S> pose1(t);
Transform3<S> pose2 = t * pose;
res.clear(); res1.clear();
distance(&s1, pose1, &s2, pose2, request, res);
distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
res1.clear();
distance(&s1, pose1, &s2_rss, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
res1.clear();
distance(&s1_rss, pose1, &s2, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
}
}
GTEST_TEST(FCL_SHAPE_MESH_CONSISTENCY, consistency_distance_cylindercylinder_libccd)
{
// test_consistency_distance_cylindercylinder_libccd<float>();
test_consistency_distance_cylindercylinder_libccd<double>();
}
template <typename S>
void test_consistency_distance_conecone_libccd()
{
Cone<S> s1(5, 10);
Cone<S> s2(5, 10);
BVHModel<RSS<S>> s1_rss;
BVHModel<RSS<S>> s2_rss;
generateBVHModel(s1_rss, s1, Transform3<S>::Identity(), 16, 16, false);
generateBVHModel(s2_rss, s2, Transform3<S>::Identity(), 16, 16, false);
DistanceRequest<S> request;
DistanceResult<S> res, res1;
Transform3<S> pose = Transform3<S>::Identity();
pose.translation() = Vector3<S>(20, 0, 0);
res.clear(); res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
for(std::size_t i = 0; i < 10; ++i)
{
Transform3<S> t;
test::generateRandomTransform(extents<S>(), t);
Transform3<S> pose1(t);
Transform3<S> pose2 = t * pose;
res.clear(); res1.clear();
distance(&s1, pose1, &s2, pose2, request, res);
distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
res1.clear();
distance(&s1, pose1, &s2_rss, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
res1.clear();
distance(&s1_rss, pose1, &s2, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
}
pose.translation() = Vector3<S>(15, 0, 0); // libccd cannot use small value here :(
res.clear(); res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
res1.clear();
distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
for(std::size_t i = 0; i < 10; ++i)
{
Transform3<S> t;
test::generateRandomTransform(extents<S>(), t);
Transform3<S> pose1(t);
Transform3<S> pose2 = t * pose;
res.clear(); res1.clear();
distance(&s1, pose1, &s2, pose2, request, res);
distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
res1.clear();
distance(&s1, pose1, &s2_rss, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
res1.clear();
distance(&s1_rss, pose1, &s2, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
}
}
GTEST_TEST(FCL_SHAPE_MESH_CONSISTENCY, consistency_distance_conecone_libccd)
{
// test_consistency_distance_conecone_libccd<float>();
test_consistency_distance_conecone_libccd<double>();
}
template <typename S>
void test_consistency_distance_spheresphere_GJK()
{
Sphere<S> s1(20);
Sphere<S> s2(20);
BVHModel<RSS<S>> s1_rss;
BVHModel<RSS<S>> s2_rss;
generateBVHModel(s1_rss, s1, Transform3<S>::Identity(), 16, 16, false);
generateBVHModel(s2_rss, s2, Transform3<S>::Identity(), 16, 16, false);
DistanceRequest<S> request;
request.gjk_solver_type = GST_INDEP;
DistanceResult<S> res, res1;
Transform3<S> pose = Transform3<S>::Identity();
pose.translation() = Vector3<S>(50, 0, 0);
res.clear(); res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
res1.clear();
distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
for(std::size_t i = 0; i < 10; ++i)
{
Transform3<S> t;
test::generateRandomTransform(extents<S>(), t);
Transform3<S> pose1(t);
Transform3<S> pose2 = t * pose;
res.clear(); res1.clear();
distance(&s1, pose1, &s2, pose2, request, res);
distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
res1.clear();
distance(&s1, pose1, &s2_rss, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
res1.clear();
distance(&s1_rss, pose1, &s2, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
}
pose.translation() = Vector3<S>(40.1, 0, 0);
res.clear(); res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
res1.clear();
distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 4);
for(std::size_t i = 0; i < 10; ++i)
{
Transform3<S> t;
test::generateRandomTransform(extents<S>(), t);
Transform3<S> pose1(t);
Transform3<S> pose2 = t * pose;
res.clear(); res1.clear();
distance(&s1, pose1, &s2, pose2, request, res);
distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
res1.clear();
distance(&s1, pose1, &s2_rss, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
res1.clear();
distance(&s1_rss, pose1, &s2, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 4);
}
}
GTEST_TEST(FCL_SHAPE_MESH_CONSISTENCY, consistency_distance_spheresphere_GJK)
{
// test_consistency_distance_spheresphere_GJK<float>();
test_consistency_distance_spheresphere_GJK<double>();
}
template <typename S>
void test_consistency_distance_ellipsoidellipsoid_GJK()
{
Ellipsoid<S> s1(20, 40, 50);
Ellipsoid<S> s2(10, 10, 10);
BVHModel<RSS<S>> s1_rss;
BVHModel<RSS<S>> s2_rss;
generateBVHModel(s1_rss, s1, Transform3<S>::Identity(), 16, 16, false);
generateBVHModel(s2_rss, s2, Transform3<S>::Identity(), 16, 16, false);
DistanceRequest<S> request;
request.gjk_solver_type = GST_INDEP;
DistanceResult<S> res, res1;
Transform3<S> pose = Transform3<S>::Identity();
pose.translation() = Vector3<S>(40, 0, 0);
res.clear(); res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
res1.clear();
distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
for(std::size_t i = 0; i < 10; ++i)
{
Transform3<S> t;
test::generateRandomTransform(extents<S>(), t);
Transform3<S> pose1(t);
Transform3<S> pose2 = t * pose;
res.clear(); res1.clear();
distance(&s1, pose1, &s2, pose2, request, res);
distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
res1.clear();
distance(&s1, pose1, &s2_rss, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
res1.clear();
distance(&s1_rss, pose1, &s2, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
}
pose.translation() = Vector3<S>(30.1, 0, 0);
res.clear(); res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
res1.clear();
distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 4);
for(std::size_t i = 0; i < 10; ++i)
{
Transform3<S> t;
test::generateRandomTransform(extents<S>(), t);
Transform3<S> pose1(t);
Transform3<S> pose2 = t * pose;
res.clear(); res1.clear();
distance(&s1, pose1, &s2, pose2, request, res);
distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
res1.clear();
distance(&s1, pose1, &s2_rss, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
res1.clear();
distance(&s1_rss, pose1, &s2, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 4);
}
}
GTEST_TEST(FCL_SHAPE_MESH_CONSISTENCY, consistency_distance_ellipsoidellipsoid_GJK)
{
// test_consistency_distance_ellipsoidellipsoid_GJK<float>();
test_consistency_distance_ellipsoidellipsoid_GJK<double>();
}
template <typename S>
void test_consistency_distance_boxbox_GJK()
{
Box<S> s1(20, 40, 50);
Box<S> s2(10, 10, 10);
BVHModel<RSS<S>> s1_rss;
BVHModel<RSS<S>> s2_rss;
generateBVHModel(s1_rss, s1, Transform3<S>::Identity());
generateBVHModel(s2_rss, s2, Transform3<S>::Identity());
DistanceRequest<S> request;
request.gjk_solver_type = GST_INDEP;
DistanceResult<S> res, res1;
Transform3<S> pose = Transform3<S>::Identity();
pose.translation() = Vector3<S>(50, 0, 0);
res.clear(); res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.01);
res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.01);
res1.clear();
distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.01);
for(std::size_t i = 0; i < 10; ++i)
{
Transform3<S> t;
test::generateRandomTransform(extents<S>(), t);
Transform3<S> pose1(t);
Transform3<S> pose2 = t * pose;
res.clear(); res1.clear();
distance(&s1, pose1, &s2, pose2, request, res);
distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.01);
res1.clear();
distance(&s1, pose1, &s2_rss, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.01);
res1.clear();
distance(&s1_rss, pose1, &s2, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.01);
}
pose.translation() = Vector3<S>(15.1, 0, 0);
res.clear(); res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
res1.clear();
distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
for(std::size_t i = 0; i < 10; ++i)
{
Transform3<S> t;
test::generateRandomTransform(extents<S>(), t);
Transform3<S> pose1(t);
Transform3<S> pose2 = t * pose;
res.clear(); res1.clear();
distance(&s1, pose1, &s2, pose2, request, res);
distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
res1.clear();
distance(&s1, pose1, &s2_rss, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
res1.clear();
distance(&s1_rss, pose1, &s2, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
}
}
GTEST_TEST(FCL_SHAPE_MESH_CONSISTENCY, consistency_distance_boxbox_GJK)
{
// test_consistency_distance_boxbox_GJK<float>();
test_consistency_distance_boxbox_GJK<double>();
}
template <typename S>
void test_consistency_distance_cylindercylinder_GJK()
{
Cylinder<S> s1(5, 10);
Cylinder<S> s2(5, 10);
BVHModel<RSS<S>> s1_rss;
BVHModel<RSS<S>> s2_rss;
generateBVHModel(s1_rss, s1, Transform3<S>::Identity(), 16, 16, false);
generateBVHModel(s2_rss, s2, Transform3<S>::Identity(), 16, 16, false);
DistanceRequest<S> request;
request.gjk_solver_type = GST_INDEP;
DistanceResult<S> res, res1;
Transform3<S> pose = Transform3<S>::Identity();
pose.translation() = Vector3<S>(20, 0, 0);
res.clear(); res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
res1.clear();
distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
for(std::size_t i = 0; i < 10; ++i)
{
Transform3<S> t;
test::generateRandomTransform(extents<S>(), t);
Transform3<S> pose1(t);
Transform3<S> pose2 = t * pose;
res.clear(); res1.clear();
distance(&s1, pose1, &s2, pose2, request, res);
distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
if(fabs(res1.min_distance - res.min_distance) / res.min_distance > 0.05)
std::cout << "low resolution: " << res1.min_distance << " " << res.min_distance << std::endl;
else
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
res1.clear();
distance(&s1, pose1, &s2_rss, pose2, request, res1);
if(fabs(res1.min_distance - res.min_distance) / res.min_distance > 0.05)
std::cout << "low resolution: " << res1.min_distance << " " << res.min_distance << std::endl;
else
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
res1.clear();
distance(&s1_rss, pose1, &s2, pose2, request, res1);
if(fabs(res1.min_distance - res.min_distance) / res.min_distance > 0.05)
std::cout << "low resolution: " << res1.min_distance << " " << res.min_distance << std::endl;
else
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
}
pose.translation() = Vector3<S>(10.1, 0, 0);
res.clear(); res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
res1.clear();
distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
for(std::size_t i = 0; i < 10; ++i)
{
Transform3<S> t;
test::generateRandomTransform(extents<S>(), t);
Transform3<S> pose1(t);
Transform3<S> pose2 = t * pose;
res.clear(); res1.clear();
distance(&s1, pose1, &s2, pose2, request, res);
distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
res1.clear();
distance(&s1, pose1, &s2_rss, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
res1.clear();
distance(&s1_rss, pose1, &s2, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 2);
}
}
GTEST_TEST(FCL_SHAPE_MESH_CONSISTENCY, consistency_distance_cylindercylinder_GJK)
{
// test_consistency_distance_cylindercylinder_GJK<float>();
test_consistency_distance_cylindercylinder_GJK<double>();
}
template <typename S>
void test_consistency_distance_conecone_GJK()
{
Cone<S> s1(5, 10);
Cone<S> s2(5, 10);
BVHModel<RSS<S>> s1_rss;
BVHModel<RSS<S>> s2_rss;
generateBVHModel(s1_rss, s1, Transform3<S>::Identity(), 16, 16, false);
generateBVHModel(s2_rss, s2, Transform3<S>::Identity(), 16, 16, false);
DistanceRequest<S> request;
request.gjk_solver_type = GST_INDEP;
DistanceResult<S> res, res1;
Transform3<S> pose = Transform3<S>::Identity();
pose.translation() = Vector3<S>(20, 0, 0);
res.clear(); res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2, pose, request, res);
distance(&s1_rss, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
res1.clear();
distance(&s1, Transform3<S>::Identity(), &s2_rss, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
res1.clear();
distance(&s1_rss, Transform3<S>::Identity(), &s2, pose, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
for(std::size_t i = 0; i < 10; ++i)
{
Transform3<S> t;
test::generateRandomTransform(extents<S>(), t);
Transform3<S> pose1(t);
Transform3<S> pose2 = t * pose;
res.clear(); res1.clear();
distance(&s1, pose1, &s2, pose2, request, res);
distance(&s1_rss, pose1, &s2_rss, pose2, request, res1);
EXPECT_TRUE(fabs(res1.min_distance - res.min_distance) / res.min_distance < 0.05);
res1.clear();
distance(&s1, pose1, &s2_rss, pose2, request, res1);