test_fcl_capsule_box_2.cpp

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#include <gtest/gtest.h>

#include <cmath>
#include "fcl/geometry/shape/box.h"
#include "fcl/geometry/shape/capsule.h"
#include "fcl/narrowphase/distance.h"
#include "fcl/narrowphase/collision.h"
#include "fcl/narrowphase/collision_object.h"

template <typename S>
void test_distance_capsule_box(fcl::GJKSolverType solver_type, S solver_tolerance, S test_tolerance)
{
  using CollisionGeometryPtr_t = std::shared_ptr<fcl::CollisionGeometry<S>>;

  // Capsule<S> of radius 2 and of height 4
  CollisionGeometryPtr_t capsuleGeometry (new fcl::Capsule<S> (2., 4.));
  // Box<S> of size 1 by 2 by 4
  CollisionGeometryPtr_t boxGeometry (new fcl::Box<S> (1., 2., 4.));

  // Enable computation of nearest points
  fcl::DistanceRequest<S> distanceRequest (true);
  fcl::DistanceResult<S> distanceResult;

  distanceRequest.gjk_solver_type = solver_type;
  distanceRequest.distance_tolerance = solver_tolerance;

  // Rotate capsule around y axis by pi/2 and move it behind box
  fcl::Transform3<S> tf1 = fcl::Translation3<S>(fcl::Vector3<S>(-10., 0.8, 1.5))
      *fcl::Quaternion<S>(sqrt(2)/2, 0, sqrt(2)/2, 0);
  fcl::Transform3<S> tf2 = fcl::Transform3<S>::Identity();
  fcl::CollisionObject<S> capsule (capsuleGeometry, tf1);
  fcl::CollisionObject<S> box (boxGeometry, tf2);

  // test distance
  distanceResult.clear ();
  fcl::distance (&capsule, &box, distanceRequest, distanceResult);
  fcl::Vector3<S> o1 = distanceResult.nearest_points [0];
  fcl::Vector3<S> o2 = distanceResult.nearest_points [1];

  EXPECT_NEAR (distanceResult.min_distance, 5.5, test_tolerance);
  EXPECT_NEAR (o1 [0], -6.0, test_tolerance);
  EXPECT_NEAR (o1 [1],  0.8, test_tolerance);
  EXPECT_NEAR (o1 [2],  1.5, test_tolerance);
  EXPECT_NEAR (o2 [0], -0.5, test_tolerance);
  EXPECT_NEAR (o2 [1],  0.8, test_tolerance);
  EXPECT_NEAR (o2 [2],  1.5, test_tolerance);
}

GTEST_TEST(FCL_GEOMETRIC_SHAPES, distance_capsule_box_ccd)
{
  test_distance_capsule_box<double>(fcl::GJKSolverType::GST_LIBCCD, 1e-7, 1e-4);
}

GTEST_TEST(FCL_GEOMETRIC_SHAPES, distance_capsule_box_indep)
{
  test_distance_capsule_box<double>(fcl::GJKSolverType::GST_INDEP, 1e-9, 1e-4);
}

//==============================================================================
int main(int argc, char* argv[])
{
  ::testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}