#include <boost/test/included/unit_test.hpp>
#include "hpp/fcl/broadphase/broadphase_bruteforce.h"
#include "hpp/fcl/broadphase/broadphase_spatialhash.h"
#include "hpp/fcl/broadphase/broadphase_SaP.h"
#include "hpp/fcl/broadphase/broadphase_SSaP.h"
#include "hpp/fcl/broadphase/broadphase_interval_tree.h"
#include "hpp/fcl/broadphase/broadphase_dynamic_AABB_tree.h"
#include "hpp/fcl/broadphase/broadphase_dynamic_AABB_tree_array.h"
#include "hpp/fcl/broadphase/default_broadphase_callbacks.h"
#include "hpp/fcl/broadphase/detail/sparse_hash_table.h"
#include "hpp/fcl/broadphase/detail/spatial_hash.h"
#include "utility.h"
#include <boost/math/constants/constants.hpp>
#include <iostream>
#include <iomanip>

Include dependency graph for broadphase_collision_1.cpp:

Classes
struct	CollisionDataForUniquenessChecking

struct	CollisionFunctionForUniquenessChecking

Macros
#define	BOOST_TEST_MODULE BROADPHASE_COLLISION_1

Functions
	BOOST_AUTO_TEST_CASE (test_broad_phase_dont_duplicate_check)

	BOOST_AUTO_TEST_CASE (test_core_bf_broad_phase_update_collision)
	check the update, return 10 contacts More...

	BOOST_AUTO_TEST_CASE (test_core_bf_broad_phase_update_collision_binary)
	check the update, only return collision or not More...

	BOOST_AUTO_TEST_CASE (test_core_bf_broad_phase_update_collision_exhaustive)
	check the update, exhaustive More...

	BOOST_AUTO_TEST_CASE (test_core_mesh_bf_broad_phase_update_collision_mesh)
	check broad phase update, in mesh, return 10 contacts More...

	BOOST_AUTO_TEST_CASE (test_core_mesh_bf_broad_phase_update_collision_mesh_binary)
	check broad phase update, in mesh, only return collision or not More...

	BOOST_AUTO_TEST_CASE (test_core_mesh_bf_broad_phase_update_collision_mesh_exhaustive)
	check broad phase update, in mesh, exhaustive More...

void	broad_phase_duplicate_check_test (FCL_REAL env_scale, std::size_t env_size, bool verbose=false)
	make sure if broadphase algorithms doesn't check twice for the same collision object pair More...

void	broad_phase_update_collision_test (FCL_REAL env_scale, std::size_t env_size, std::size_t query_size, std::size_t num_max_contacts=1, bool exhaustive=false, bool use_mesh=false)
	test for broad phase update More...

Macro Definition Documentation

◆ BOOST_TEST_MODULE

#define BOOST_TEST_MODULE BROADPHASE_COLLISION_1

Author: Jia Pan

Definition at line 38 of file broadphase_collision_1.cpp.

Function Documentation

◆ BOOST_AUTO_TEST_CASE() [1/7]

BOOST_AUTO_TEST_CASE ( test_broad_phase_dont_duplicate_check )

make sure if broadphase algorithms doesn't check twice for the same collision object pair

Definition at line 98 of file broadphase_collision_1.cpp.

◆ BOOST_AUTO_TEST_CASE() [2/7]

BOOST_AUTO_TEST_CASE ( test_core_bf_broad_phase_update_collision )

check the update, return 10 contacts

Definition at line 118 of file broadphase_collision_1.cpp.

◆ BOOST_AUTO_TEST_CASE() [3/7]

BOOST_AUTO_TEST_CASE ( test_core_bf_broad_phase_update_collision_binary )

check the update, only return collision or not

Definition at line 107 of file broadphase_collision_1.cpp.

◆ BOOST_AUTO_TEST_CASE() [4/7]

BOOST_AUTO_TEST_CASE ( test_core_bf_broad_phase_update_collision_exhaustive )

check the update, exhaustive

Definition at line 129 of file broadphase_collision_1.cpp.

◆ BOOST_AUTO_TEST_CASE() [5/7]

BOOST_AUTO_TEST_CASE ( test_core_mesh_bf_broad_phase_update_collision_mesh )

check broad phase update, in mesh, return 10 contacts

Definition at line 152 of file broadphase_collision_1.cpp.

◆ BOOST_AUTO_TEST_CASE() [6/7]

BOOST_AUTO_TEST_CASE ( test_core_mesh_bf_broad_phase_update_collision_mesh_binary )

check broad phase update, in mesh, only return collision or not

Definition at line 140 of file broadphase_collision_1.cpp.

◆ BOOST_AUTO_TEST_CASE() [7/7]

BOOST_AUTO_TEST_CASE ( test_core_mesh_bf_broad_phase_update_collision_mesh_exhaustive )

check broad phase update, in mesh, exhaustive

Definition at line 163 of file broadphase_collision_1.cpp.

◆ broad_phase_duplicate_check_test()

void broad_phase_duplicate_check_test	(	FCL_REAL	env_scale,
		std::size_t	env_size,
		bool	verbose = `false`
	)

make sure if broadphase algorithms doesn't check twice for the same collision object pair

Definition at line 200 of file broadphase_collision_1.cpp.

◆ broad_phase_update_collision_test()

void broad_phase_update_collision_test	(	FCL_REAL	env_scale,
		std::size_t	env_size,
		std::size_t	query_size,
		std::size_t	num_max_contacts = `1`,
		bool	exhaustive = `false`,
		bool	use_mesh = `false`
	)

test for broad phase update

Definition at line 356 of file broadphase_collision_1.cpp.

Classes

Macros

Functions