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* Adjustment: Initial CMake reworking.
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Robert MacGregor
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5394 changed files with 2615532 additions and 8711 deletions
271
Engine/lib/bullet/test/collision/main.cpp
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271
Engine/lib/bullet/test/collision/main.cpp
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2014 Google Inc. http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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///Original author: Erwin Coumans, October 2014
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///Initial version of this low-level GJK/EPA/MPR convex-convex collision test
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///You can provide your own support function in combination with the template functions
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///See btComputeGjkEpaSphereSphereCollision below for an example
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///Todo: the test needs proper coverage and using a convex hull point cloud
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///Also the GJK, EPA and MPR should be improved, both quality and performance
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#include <gtest/gtest.h>
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#include "SphereSphereCollision.h"
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#include "BulletCollision/CollisionShapes/btSphereShape.h"
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#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
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#include "BulletCollision/NarrowPhaseCollision/btComputeGjkEpaPenetration.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkEpa3.h"
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#include "BulletCollision/NarrowPhaseCollision/btMprPenetration.h"
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btVector3 MyBulletShapeSupportFunc(const void* shapeAptr, const btVector3& dir, bool includeMargin)
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{
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btConvexShape* shape = (btConvexShape*) shapeAptr;
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if (includeMargin)
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{
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return shape->localGetSupportingVertex(dir);
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}
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return shape->localGetSupportingVertexWithoutMargin(dir);
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}
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btVector3 MyBulletShapeCenterFunc(const void* shapeAptr)
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{
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return btVector3(0,0,0);
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}
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enum SphereSphereTestMethod
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{
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SSTM_ANALYTIC,
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SSTM_GJKEPA,
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SSTM_GJKEPA_RADIUS_NOT_FULL_MARGIN,
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SSTM_GJKMPR
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};
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struct ConvexWrap
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{
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btConvexShape* m_convex;
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btTransform m_worldTrans;
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inline btScalar getMargin() const
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{
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return m_convex->getMargin();
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}
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inline btVector3 getObjectCenterInWorld() const
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{
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return m_worldTrans.getOrigin();
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}
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inline const btTransform& getWorldTransform() const
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{
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return m_worldTrans;
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}
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inline btVector3 getLocalSupportWithMargin(const btVector3& dir) const
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{
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return m_convex->localGetSupportingVertex(dir);
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}
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inline btVector3 getLocalSupportWithoutMargin(const btVector3& dir) const
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{
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return m_convex->localGetSupportingVertexWithoutMargin(dir);
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}
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};
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inline int btComputeGjkEpaSphereSphereCollision(const btSphereSphereCollisionDescription& input, btDistanceInfo* distInfo,SphereSphereTestMethod method)
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{
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///for spheres it is best to use a 'point' and set the margin to the radius (which is what btSphereShape does)
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btSphereShape singleSphereA(input.m_radiusA);
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btSphereShape singleSphereB(input.m_radiusB);
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btVector3 org(0,0,0);
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btScalar radA =input.m_radiusA;
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btScalar radB =input.m_radiusB;
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ConvexWrap a,b;
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a.m_worldTrans = input.m_sphereTransformA;
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b.m_worldTrans = input.m_sphereTransformB;;
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btMultiSphereShape multiSphereA(&org,&radA,1);
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btMultiSphereShape multiSphereB(&org,&radB,1);
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btGjkCollisionDescription colDesc;
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switch (method)
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{
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case SSTM_GJKEPA_RADIUS_NOT_FULL_MARGIN:
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{
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a.m_convex = &multiSphereA;
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b.m_convex = &multiSphereB;
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break;
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}
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default:
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{
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a.m_convex = &singleSphereA;
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b.m_convex = &singleSphereB;
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}
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};
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btVoronoiSimplexSolver simplexSolver;
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simplexSolver.reset();
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int res=-1;
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///todo(erwincoumans): improve convex-convex quality and performance
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///also compare with https://code.google.com/p/bullet/source/browse/branches/PhysicsEffects/src/base_level/collision/pfx_gjk_solver.cpp
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switch (method)
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{
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case SSTM_GJKEPA_RADIUS_NOT_FULL_MARGIN:
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case SSTM_GJKEPA:
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{
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res = btComputeGjkEpaPenetration(a,b,colDesc,simplexSolver, distInfo);
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break;
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}
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case SSTM_GJKMPR:
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{
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res = btComputeGjkDistance(a,b,colDesc,distInfo);
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if (res==0)
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{
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// printf("use GJK results in distance %f\n",distInfo->m_distance);
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return res;
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} else
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{
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btMprCollisionDescription mprDesc;
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res = btComputeMprPenetration(a,b,mprDesc, distInfo);
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// if (res==0)
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// {
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// printf("use MPR results in distance %f\n",distInfo->m_distance);
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// }
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}
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break;
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}
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default:
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{
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btAssert(0);
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}
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}
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return res;
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}
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void testSphereSphereDistance(SphereSphereTestMethod method, btScalar abs_error)
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{
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{
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btSphereSphereCollisionDescription ssd;
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ssd.m_sphereTransformA.setIdentity();
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ssd.m_sphereTransformB.setIdentity();
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ssd.m_radiusA = 0.f;
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ssd.m_radiusB = 0.f;
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btDistanceInfo distInfo;
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int result = btComputeSphereSphereCollision(ssd,&distInfo);
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ASSERT_EQ(0,result);
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ASSERT_EQ(btScalar(0), distInfo.m_distance);
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}
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for (int rb=1;rb<5;rb++)
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for (int z=-5;z<5;z++)
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{
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for (int j=1;j<5;j++)
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{
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for (int i=-5;i<5;i++)
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{
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if (i!=z)//skip co-centric spheres for now (todo(erwincoumans) fix this)
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{
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btSphereSphereCollisionDescription ssd;
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ssd.m_sphereTransformA.setIdentity();
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ssd.m_sphereTransformA.setOrigin(btVector3(0,btScalar(i),0));
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ssd.m_sphereTransformB.setIdentity();
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ssd.m_sphereTransformB.setOrigin(btVector3(0,btScalar(z),0));
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ssd.m_radiusA = btScalar(j);
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ssd.m_radiusB = btScalar(rb)*btScalar(0.1);
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btDistanceInfo distInfo;
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int result=-1;
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switch (method)
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{
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case SSTM_ANALYTIC:
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{
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result = btComputeSphereSphereCollision(ssd,&distInfo);
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break;
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}
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case SSTM_GJKMPR:
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case SSTM_GJKEPA:
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case SSTM_GJKEPA_RADIUS_NOT_FULL_MARGIN:
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{
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result = btComputeGjkEpaSphereSphereCollision(ssd,&distInfo, method);
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break;
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}
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default:
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{
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ASSERT_EQ(0,1);
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btAssert(0);
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break;
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}
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}
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// int result = btComputeSphereSphereCollision(ssd,&distInfo);
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#if 0
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printf("sphereA(pos=[%f,%f,%f],r=%f)-sphereB(pos=[%f,%f,%f],r=%f) Dist=%f,normalOnB[%f,%f,%f],pA=[%f,%f,%f],pB[%f,%f,%f]\n",
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ssd.m_sphereTransformA.getOrigin()[0],ssd.m_sphereTransformA.getOrigin()[1],ssd.m_sphereTransformA.getOrigin()[2],ssd.m_radiusA,
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ssd.m_sphereTransformB.getOrigin()[0],ssd.m_sphereTransformB.getOrigin()[1],ssd.m_sphereTransformB.getOrigin()[2],ssd.m_radiusB,
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distInfo.m_distance,distInfo.m_normalBtoA[0],distInfo.m_normalBtoA[1],distInfo.m_normalBtoA[2],
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distInfo.m_pointOnA[0],distInfo.m_pointOnA[1],distInfo.m_pointOnA[2],
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distInfo.m_pointOnB[0],distInfo.m_pointOnB[1],distInfo.m_pointOnB[2]);
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#endif
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ASSERT_EQ(0,result);
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ASSERT_NEAR(btFabs(btScalar(i-z))-btScalar(j)-ssd.m_radiusB, distInfo.m_distance, abs_error);
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btVector3 computedA = distInfo.m_pointOnB+distInfo.m_distance*distInfo.m_normalBtoA;
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ASSERT_NEAR(computedA.x(),distInfo.m_pointOnA.x(),abs_error);
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ASSERT_NEAR(computedA.y(),distInfo.m_pointOnA.y(),abs_error);
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ASSERT_NEAR(computedA.z(),distInfo.m_pointOnA.z(),abs_error);
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}
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}
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}
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}
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}
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TEST(BulletCollisionTest, GjkMPRSphereSphereDistance) {
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testSphereSphereDistance(SSTM_GJKMPR, 0.0001);
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}
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TEST(BulletCollisionTest, GjkEpaSphereSphereDistance) {
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testSphereSphereDistance(SSTM_GJKEPA, 0.00001);
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}
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TEST(BulletCollisionTest, GjkEpaSphereSphereRadiusNotFullMarginDistance) {
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testSphereSphereDistance(SSTM_GJKEPA_RADIUS_NOT_FULL_MARGIN, 0.1);
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}
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TEST(BulletCollisionTest, AnalyticSphereSphereDistance) {
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testSphereSphereDistance(SSTM_ANALYTIC, 0.00001);
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}
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int main(int argc, char **argv) {
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#if _MSC_VER
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_CrtSetDbgFlag ( _CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF );
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//void *testWhetherMemoryLeakDetectionWorks = malloc(1);
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#endif
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::testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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}
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