test_fcl_utility.h

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#ifndef TEST_FCL_UTILITY_H
#define TEST_FCL_UTILITY_H

#include "fcl/math/transform.h"
#include "fcl/collision_data.h"
#include "fcl/collision_object.h"

#ifdef _WIN32
#define NOMINMAX  // required to avoid compilation errors with Visual Studio 2010
#include <windows.h>
#else
#include <sys/time.h>
#endif


namespace fcl
{

class Timer
{
public:
  Timer();
  ~Timer();

  void start();                               
  void stop();                                
  double getElapsedTime();                    
  double getElapsedTimeInSec();               
  double getElapsedTimeInMilliSec();          
  double getElapsedTimeInMicroSec();          

private:
  double startTimeInMicroSec;                 
  double endTimeInMicroSec;                   
  int stopped;                                
#ifdef _WIN32
  LARGE_INTEGER frequency;                    
  LARGE_INTEGER startCount;
  LARGE_INTEGER endCount;
#else
  timeval startCount;
  timeval endCount;
#endif
};


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

void generateRandomTransform(FCL_REAL extents[6], Transform3f& transform);

void generateRandomTransforms(FCL_REAL extents[6], std::vector<Transform3f>& transforms, std::size_t n);

void generateRandomTransforms(FCL_REAL extents[6], FCL_REAL delta_trans[3], FCL_REAL delta_rot, std::vector<Transform3f>& transforms, std::vector<Transform3f>& transforms2, std::size_t n);

void generateRandomTransforms_ccd(FCL_REAL extents[6], std::vector<Transform3f>& transforms, std::vector<Transform3f>& transforms2, FCL_REAL delta_trans[3], FCL_REAL delta_rot, std::size_t n,
                                 const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
                                 const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2);


struct DistanceRes
{
  double distance;
  Vec3f p1;
  Vec3f p2;
};

struct CollisionData
{
  CollisionData()
  {
    done = false;
  }

  CollisionRequest request;

  CollisionResult result;

  bool done;
};


struct DistanceData
{
  DistanceData()
  {
    done = false;
  }

  DistanceRequest request;

  DistanceResult result;

  bool done;

};



bool defaultCollisionFunction(CollisionObject* o1, CollisionObject* o2, void* cdata);

bool defaultDistanceFunction(CollisionObject* o1, CollisionObject* o2, void* cdata, FCL_REAL& dist);


}

#endif