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Resolves the error in EPA when the query point is colinear with an edge #417

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merged 5 commits into from
Sep 12, 2019
Merged

Resolves the error in EPA when the query point is colinear with an edge #417

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f723bd4
try to reproduce box-box vertex colinear bug.
hongkai-dai Sep 6, 2019
13a0081
Add the tests that would fail.
hongkai-dai Sep 7, 2019
d6a287b
If the edge is colinear with the query point, then both faces should …
hongkai-dai Sep 7, 2019
dace285
Address Sean's comments.
hongkai-dai Sep 11, 2019
fc19887
Address Sherm's comments.
hongkai-dai Sep 12, 2019
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20 changes: 8 additions & 12 deletions include/fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd-inl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -1160,7 +1160,6 @@ static bool ComputeVisiblePatchRecursiveSanityCheck(
return true;
}
#endif

/**
* This function contains the implementation detail of ComputeVisiblePatch()
* function. It should not be called by any function other than
Expand All @@ -1187,18 +1186,15 @@ static void ComputeVisiblePatchRecursive(
if (!isOutsidePolytopeFace(&polytope, g, &query_point)) {
// Cannot see the neighbouring face from the new vertex.

// TODO(hongkai.dai@tri.global): when the new vertex is colinear with a
// border edge, we should remove the degenerate triangle. We could remove
// the middle vertex on that line from the polytope, and then reconnect
// the polytope.
if (triangle_area_is_zero(query_point, f.edge[edge_index]->vertex[0]->v.v,
f.edge[edge_index]->vertex[1]->v.v)) {
FCL_THROW_FAILED_AT_THIS_CONFIGURATION(
"The new vertex is colinear with an existing edge. The added "
"triangle would be degenerate.");
// If the query point is colinear with the edge, then both neighbouring
// faces of this edge (namely face f and g) should be visible. This edge
// is an internal edge. Othewise, this edge is a border edge.
if (!triangle_area_is_zero(query_point,
f.edge[edge_index]->vertex[0]->v.v,
f.edge[edge_index]->vertex[1]->v.v)) {
border_edges->insert(f.edge[edge_index]);
return;
}
border_edges->insert(f.edge[edge_index]);
return;
}
visible_faces->insert(g);
internal_edges->insert(f.edge[edge_index]);
Expand Down
34 changes: 34 additions & 0 deletions test/narrowphase/detail/convexity_based_algorithm/test_gjk_libccd-inl_epa.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -690,6 +690,40 @@ GTEST_TEST(FCL_GJK_EPA, ComputeVisiblePatch_2FacesVisible) {
{0, 1}, {0});
}

void CheckComputeVisiblePatchColinearNewVertex(EquilateralTetrahedron& tet,
double rho) {
// A new vertex is colinear with an edge e[0] of the tetrahedron. The border
// edges should be e[1], e[4], e[5]. The visible faces should be f[0], f[1],
// f[3], and the internal edges should be e[0], e[2], e[3].
ccd_vec3_t query_point;
for (int i = 0; i < 3; ++i) {
query_point.v[i] = (1 + rho) * tet.v(0).v.v.v[i] - rho * tet.v(1).v.v.v[i];
}
std::unordered_set<ccd_pt_edge_t*> border_edges;
std::unordered_set<ccd_pt_face_t*> visible_faces;
std::unordered_set<ccd_pt_edge_t*> internal_edges;
libccd_extension::ComputeVisiblePatch(tet.polytope(), tet.f(3), query_point,
&border_edges, &visible_faces,
&internal_edges);

EXPECT_EQ(border_edges.size(), 3u);
EXPECT_EQ(border_edges, std::unordered_set<ccd_pt_edge_t*>(
{&(tet.e(1)), &(tet.e(4)), &(tet.e(5))}));
EXPECT_EQ(visible_faces.size(), 3u);
EXPECT_EQ(visible_faces, std::unordered_set<ccd_pt_face_t*>(
{&(tet.f(0)), &(tet.f(1)), &(tet.f(3))}));
EXPECT_EQ(internal_edges.size(), 3u);
EXPECT_EQ(internal_edges, std::unordered_set<ccd_pt_edge_t*>(
{&(tet.e(0)), &(tet.e(2)), &(tet.e(3))}));
}

GTEST_TEST(FCL_GJK_EPA, ComputeVisiblePatchColinearNewVertex) {
EquilateralTetrahedron tet1(-0.05, -0.13, 0.12);
CheckComputeVisiblePatchColinearNewVertex(tet1, 1.9);
EquilateralTetrahedron tet2(0.1, 0.2, 0.3);
CheckComputeVisiblePatchColinearNewVertex(tet2, 0.3);
}

// Tests that the sanity check causes `ComputeVisiblePatch()` to throw in
// debug builds.
GTEST_TEST(FCL_GJK_EPA, ComputeVisiblePatchSanityCheck) {
Expand Down
40 changes: 29 additions & 11 deletions test/test_fcl_signed_distance.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -316,7 +316,7 @@ void test_distance_box_box_helper(const Vector3<S>& box1_size,
request.enable_signed_distance = true;
fcl::DistanceResult<S> result;

ASSERT_NO_THROW(fcl::distance(&box1, &box2, request, result));
fcl::distance(&box1, &box2, request, result);
EXPECT_NEAR(abs(result.min_distance),
(result.nearest_points[0] - result.nearest_points[1]).norm(),
request.distance_tolerance);
Expand Down Expand Up @@ -379,30 +379,47 @@ void test_distance_box_box2() {
test_distance_box_box_helper(box1_size, X_WB1, box2_size, X_WB2);
}

template <typename S>
void test_distance_box_box3() {
const Vector3<S> box1_size(0.49, 0.05, 0.21);
Transform3<S> X_WB1 = Transform3<S>::Identity();
// clang-format off
X_WB1.matrix() << 4.8966386501092529215e-12, -1,0,-0.43999999999999994671,
1, 4.8966386501092529215e-12,0,-0.61499999999858001587,
0,0,1,0.35499999999999998224,
0,0,0,1;
// clang-format on
const Vector3<S> box2_size(0.035, 0.12, 0.03);
Transform3<S> X_WB2 = Transform3<S>::Identity();
// clang-format off
X_WB2.matrix() << 0.83512153565236335595, -0.55006546945762568868, -9.4542360608233572896e-16, -0.40653441507331000704,
0.55006546945762568868, 0.83512153565236313391, 1.1787444236552387666e-15, -0.69166166923735727945,
1.2902271444330665572e-16, -1.4878153530113264589e-15, 1, 0.43057093858718892276,
0, 0, 0, 1;
// clang-format on
test_distance_box_box_helper(box1_size, X_WB1, box2_size, X_WB2);

}

//==============================================================================

GTEST_TEST(FCL_NEGATIVE_DISTANCE, sphere_sphere_ccd)
{
GTEST_TEST(FCL_NEGATIVE_DISTANCE, sphere_sphere_ccd) {
test_distance_spheresphere<double>(GST_LIBCCD);
}

GTEST_TEST(FCL_NEGATIVE_DISTANCE, sphere_sphere_indep)
{
GTEST_TEST(FCL_NEGATIVE_DISTANCE, sphere_sphere_indep) {
test_distance_spheresphere<double>(GST_INDEP);
}

GTEST_TEST(FCL_NEGATIVE_DISTANCE, sphere_capsule_ccd)
{
GTEST_TEST(FCL_NEGATIVE_DISTANCE, sphere_capsule_ccd) {
test_distance_spherecapsule<double>(GST_LIBCCD);
}

GTEST_TEST(FCL_NEGATIVE_DISTANCE, sphere_capsule_indep)
{
GTEST_TEST(FCL_NEGATIVE_DISTANCE, sphere_capsule_indep) {
test_distance_spherecapsule<double>(GST_INDEP);
}

GTEST_TEST(FCL_SIGNED_DISTANCE, cylinder_sphere1_ccd)
{
GTEST_TEST(FCL_SIGNED_DISTANCE, cylinder_sphere1_ccd) {
test_distance_cylinder_sphere1<double>();
}

Expand All @@ -413,6 +430,7 @@ GTEST_TEST(FCL_SIGNED_DISTANCE, cylinder_box_ccd) {
GTEST_TEST(FCL_SIGNED_DISTANCE, box_box1_ccd) {
test_distance_box_box1<double>();
test_distance_box_box2<double>();
test_distance_box_box3<double>();
}

//==============================================================================
Expand Down