test_collision_core.cpp File Reference

#include "collision_checking/collision.h"
#include "collision_checking/proximity.h"
#include "collision_checking/continuous_collision.h"
#include "collision_checking/conservative_advancement.h"
#include "collision_checking/collision_geom.h"
#include <limits>
#include <cstdio>
#include <LinearMath/btVector3.h>
#include <LinearMath/btTransform.h>

Include dependency graph for test_collision_core.cpp:

Go to the source code of this file.

Classes
struct	CollisionPairComp
Functions
template<typename BV >
bool	collide_front_Test (const btTransform &T, const btTransform &T2, 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=true, bool verbose=true)
template<typename BV >
bool	collide_Test (const btTransform &T, 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_Test2 (const btTransform &T, 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	continuous_collide_CA_Test (const btTransform &T, const btTransform &T2, 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=true, bool verbose=true)
template<typename BV >
bool	continuous_collide_Test (const btTransform &T, const btTransform &T2, 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=true, bool verbose=true)
bool	distance_PQP (const btTransform &T, const std::vector< Vec3f > &vertices1, const std::vector< Triangle > &triangles1, const std::vector< Vec3f > &vertices2, const std::vector< Triangle > &triangles2, bool verbose=true)
bool	distance_PQP2 (const btTransform &T, const std::vector< Vec3f > &vertices1, const std::vector< Triangle > &triangles1, const std::vector< Vec3f > &vertices2, const std::vector< Triangle > &triangles2, bool verbose=true)
bool	distance_Test (const btTransform &T, 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	distanceQueue_Test (const btTransform &T, 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)
void	generateRandomTransform (BVH_REAL extents[6], std::vector< btTransform > &transforms, std::vector< btTransform > &transforms2, BVH_REAL delta_trans[3], BVH_REAL delta_rot, int n)
void	generateRandomTransform_ccd (BVH_REAL extents[6], std::vector< btTransform > &transforms, std::vector< btTransform > &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)
void	loadOBJFile (const char *filename, std::vector< Vec3f > &points, std::vector< Triangle > &triangles)
int	main (int argc, char **argv)
BVH_REAL	rand_interval (BVH_REAL rmin, BVH_REAL rmax)
void	sortCollisionPair (BVHCollisionPair *pairs, int n)
Variables
static const int	num_max_contacts = 10000

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Function Documentation

template<typename BV >

bool collide_front_Test	(	const btTransform &	T,
		const btTransform &	T2,
		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 = true,
		bool	verbose = true
	)			[inline]

Definition at line 1095 of file test_collision_core.cpp.

template<typename BV >

bool collide_Test	(	const btTransform &	T,
		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
	)			[inline]

Definition at line 690 of file test_collision_core.cpp.

bool collide_Test2	(	const btTransform &	T,
		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
	)

Definition at line 761 of file test_collision_core.cpp.

bool continuous_collide_CA_Test	(	const btTransform &	T,
		const btTransform &	T2,
		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 = true,
		bool	verbose = true
	)

Definition at line 1257 of file test_collision_core.cpp.

template<typename BV >

bool continuous_collide_Test	(	const btTransform &	T,
		const btTransform &	T2,
		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 = true,
		bool	verbose = true
	)			[inline]

Definition at line 1180 of file test_collision_core.cpp.

bool distance_PQP	(	const btTransform &	T,
		const std::vector< Vec3f > &	vertices1,
		const std::vector< Triangle > &	triangles1,
		const std::vector< Vec3f > &	vertices2,
		const std::vector< Triangle > &	triangles2,
		bool	verbose = true
	)

bool distance_PQP2	(	const btTransform &	T,
		const std::vector< Vec3f > &	vertices1,
		const std::vector< Triangle > &	triangles1,
		const std::vector< Vec3f > &	vertices2,
		const std::vector< Triangle > &	triangles2,
		bool	verbose = true
	)

bool distance_Test	(	const btTransform &	T,
		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
	)

Definition at line 835 of file test_collision_core.cpp.

bool distanceQueue_Test	(	const btTransform &	T,
		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
	)

Definition at line 882 of file test_collision_core.cpp.

void generateRandomTransform	(	BVH_REAL	extents[6],
		std::vector< btTransform > &	transforms,
		std::vector< btTransform > &	transforms2,
		BVH_REAL	delta_trans[3],
		BVH_REAL	delta_rot,
		int	n
	)

Definition at line 418 of file test_collision_core.cpp.

void generateRandomTransform_ccd	(	BVH_REAL	extents[6],
		std::vector< btTransform > &	transforms,
		std::vector< btTransform > &	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
	)

Definition at line 456 of file test_collision_core.cpp.

void loadOBJFile	(	const char *	filename,
		std::vector< Vec3f > &	points,
		std::vector< Triangle > &	triangles
	)

Definition at line 318 of file test_collision_core.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 100 of file test_collision_core.cpp.

BVH_REAL rand_interval	(	BVH_REAL	rmin,
		BVH_REAL	rmax
	)

Definition at line 412 of file test_collision_core.cpp.

void sortCollisionPair	(	BVHCollisionPair *	pairs,
		int	n
	)

Definition at line 1340 of file test_collision_core.cpp.

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Variable Documentation

const int num_max_contacts = 10000 [static]

Definition at line 98 of file test_collision_core.cpp.