test_fcl_bvh_models.cpp

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#include <gtest/gtest.h>
 
#include "fcl/config.h"
#include "fcl/geometry/bvh/BVH_model.h"
#include "test_fcl_utility.h"
#include <iostream>
 
using namespace fcl;
 
template<typename BV>
void testBVHModelPointCloud()
{
  using S = typename BV::S;
 
  std::shared_ptr<BVHModel<BV> > model(new BVHModel<BV>);
 
  Box<S> box;
  auto a = box.side[0];
  auto b = box.side[1];
  auto c = box.side[2];
  std::vector<Vector3<S>> points(8);
  points[0] << 0.5 * a, -0.5 * b, 0.5 * c;
  points[1] << 0.5 * a, 0.5 * b, 0.5 * c;
  points[2] << -0.5 * a, 0.5 * b, 0.5 * c;
  points[3] << -0.5 * a, -0.5 * b, 0.5 * c;
  points[4] << 0.5 * a, -0.5 * b, -0.5 * c;
  points[5] << 0.5 * a, 0.5 * b, -0.5 * c;
  points[6] << -0.5 * a, 0.5 * b, -0.5 * c;
  points[7] << -0.5 * a, -0.5 * b, -0.5 * c;
 
  int result;
 
  result = model->beginModel();
  EXPECT_EQ(result, BVH_OK);
 
  for (std::size_t i = 0; i < points.size(); ++i)
  {
    result = model->addVertex(points[i]);
    EXPECT_EQ(result, BVH_OK);
  }
 
  result = model->endModel();
  EXPECT_EQ(result, BVH_OK);
 
  model->computeLocalAABB();
 
  EXPECT_EQ(model->num_vertices, 8);
  EXPECT_EQ(model->num_tris, 0);
  EXPECT_EQ(model->build_state, BVH_BUILD_STATE_PROCESSED);
}
 
template<typename BV>
void testBVHModelTriangles()
{
  using S = typename BV::S;
 
  std::shared_ptr<BVHModel<BV> > model(new BVHModel<BV>);
  Box<S> box;
 
  auto a = box.side[0];
  auto b = box.side[1];
  auto c = box.side[2];
  std::vector<Vector3<S>> points(8);
  std::vector<Triangle> tri_indices(12);
  points[0] << 0.5 * a, -0.5 * b, 0.5 * c;
  points[1] << 0.5 * a, 0.5 * b, 0.5 * c;
  points[2] << -0.5 * a, 0.5 * b, 0.5 * c;
  points[3] << -0.5 * a, -0.5 * b, 0.5 * c;
  points[4] << 0.5 * a, -0.5 * b, -0.5 * c;
  points[5] << 0.5 * a, 0.5 * b, -0.5 * c;
  points[6] << -0.5 * a, 0.5 * b, -0.5 * c;
  points[7] << -0.5 * a, -0.5 * b, -0.5 * c;
 
  tri_indices[0].set(0, 4, 1);
  tri_indices[1].set(1, 4, 5);
  tri_indices[2].set(2, 6, 3);
  tri_indices[3].set(3, 6, 7);
  tri_indices[4].set(3, 0, 2);
  tri_indices[5].set(2, 0, 1);
  tri_indices[6].set(6, 5, 7);
  tri_indices[7].set(7, 5, 4);
  tri_indices[8].set(1, 5, 2);
  tri_indices[9].set(2, 5, 6);
  tri_indices[10].set(3, 7, 0);
  tri_indices[11].set(0, 7, 4);
 
  int result;
 
  result = model->beginModel();
  EXPECT_EQ(result, BVH_OK);
 
  for (std::size_t i = 0; i < tri_indices.size(); ++i)
  {
    result = model->addTriangle(points[tri_indices[i][0]], points[tri_indices[i][1]], points[tri_indices[i][2]]);
    EXPECT_EQ(result, BVH_OK);
  }
 
  result = model->endModel();
  EXPECT_EQ(result, BVH_OK);
 
  model->computeLocalAABB();
 
  EXPECT_EQ(model->num_vertices, 12 * 3);
  EXPECT_EQ(model->num_tris, 12);
  EXPECT_EQ(model->build_state, BVH_BUILD_STATE_PROCESSED);
}
 
template<typename BV>
void testBVHModelSubModel()
{
  using S = typename BV::S;
 
  std::shared_ptr<BVHModel<BV> > model(new BVHModel<BV>);
  Box<S> box;
 
  auto a = box.side[0];
  auto b = box.side[1];
  auto c = box.side[2];
  std::vector<Vector3<S>> points(8);
  std::vector<Triangle> tri_indices(12);
  points[0] << 0.5 * a, -0.5 * b, 0.5 * c;
  points[1] << 0.5 * a, 0.5 * b, 0.5 * c;
  points[2] << -0.5 * a, 0.5 * b, 0.5 * c;
  points[3] << -0.5 * a, -0.5 * b, 0.5 * c;
  points[4] << 0.5 * a, -0.5 * b, -0.5 * c;
  points[5] << 0.5 * a, 0.5 * b, -0.5 * c;
  points[6] << -0.5 * a, 0.5 * b, -0.5 * c;
  points[7] << -0.5 * a, -0.5 * b, -0.5 * c;
 
  tri_indices[0].set(0, 4, 1);
  tri_indices[1].set(1, 4, 5);
  tri_indices[2].set(2, 6, 3);
  tri_indices[3].set(3, 6, 7);
  tri_indices[4].set(3, 0, 2);
  tri_indices[5].set(2, 0, 1);
  tri_indices[6].set(6, 5, 7);
  tri_indices[7].set(7, 5, 4);
  tri_indices[8].set(1, 5, 2);
  tri_indices[9].set(2, 5, 6);
  tri_indices[10].set(3, 7, 0);
  tri_indices[11].set(0, 7, 4);
 
  int result;
 
  result = model->beginModel();
  EXPECT_EQ(result, BVH_OK);
 
  result = model->addSubModel(points, tri_indices);
  EXPECT_EQ(result, BVH_OK);
 
  result = model->endModel();
  EXPECT_EQ(result, BVH_OK);
 
  model->computeLocalAABB();
 
  EXPECT_EQ(model->num_vertices, 8);
  EXPECT_EQ(model->num_tris, 12);
  EXPECT_EQ(model->build_state, BVH_BUILD_STATE_PROCESSED);
}
 
template<typename BV>
void testBVHModel()
{
  testBVHModelTriangles<BV>();
  testBVHModelPointCloud<BV>();
  testBVHModelSubModel<BV>();
}
 
GTEST_TEST(FCL_BVH_MODELS, building_bvh_models)
{
//  testBVHModel<AABB<float>>();
//  testBVHModel<OBB<float>>();
//  testBVHModel<RSS<float>>();
//  testBVHModel<kIOS<float>>();
//  testBVHModel<OBBRSS<float>>();
//  testBVHModel<KDOP<float, 16> >();
//  testBVHModel<KDOP<float, 18> >();
//  testBVHModel<KDOP<float, 24> >();
 
  testBVHModel<AABB<double>>();
  testBVHModel<OBB<double>>();
  testBVHModel<RSS<double>>();
  testBVHModel<kIOS<double>>();
  testBVHModel<OBBRSS<double>>();
  testBVHModel<KDOP<double, 16> >();
  testBVHModel<KDOP<double, 18> >();
  testBVHModel<KDOP<double, 24> >();
}
 
//==============================================================================
int main(int argc, char* argv[])
{
  ::testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}