Fix test_fcl_box_box_distance.

test/test_fcl_box_box_distance.cpp

@@ -61,7 +61,7 @@ BOOST_AUTO_TEST_CASE(distance_box_box_1)
   CollisionObject o2 (s2, tf2);
 
   // Enable computation of nearest points
-  DistanceRequest distanceRequest (true);
+  DistanceRequest distanceRequest (true, 0, 0, GST_INDEP);
   DistanceResult distanceResult;
 
   distance (&o1, &o2, distanceRequest, distanceResult);
@@ -127,3 +127,42 @@ BOOST_AUTO_TEST_CASE(distance_box_box_2)
   BOOST_CHECK_CLOSE (p2 [1], 0.01175873, 1e-4);
   BOOST_CHECK_CLOSE (p2 [2], -1.62123444 + 10, 1e-4);
 }
+
+BOOST_AUTO_TEST_CASE(distance_box_box_3)
+{
+  CollisionGeometryPtr_t s1 (new Box (1, 1, 1));
+  CollisionGeometryPtr_t s2 (new Box (1, 1, 1));
+  static double pi = M_PI;
+  Transform3f tf1 (Quaternion3f (cos (pi/8), 0, 0, sin (pi/8)),
+		   Vec3f (-2, 1, .5));
+  Transform3f tf2 (Quaternion3f (cos (pi/8), 0, sin(pi/8),0),
+		   Vec3f (2, .5, .5));
+
+  CollisionObject o1 (s1, tf1);
+  CollisionObject o2 (s2, tf2);
+
+  // Enable computation of nearest points
+  DistanceRequest distanceRequest (true, 0, 0, GST_INDEP);
+  DistanceResult distanceResult;
+
+  distance (&o1, &o2, distanceRequest, distanceResult);
+
+  std::cerr << "Applied translation on two boxes";
+  std::cerr << " T1 = " << tf1.getTranslation()
+	    << ", T2 = " << tf2.getTranslation() << std::endl;
+  std::cerr << "Closest points: p1 = " << distanceResult.nearest_points [0]
+	    << ", p2 = " << distanceResult.nearest_points [1]
+	    << ", distance = " << distanceResult.min_distance << std::endl;
+
+  const Vec3f& p1 = distanceResult.nearest_points [0];
+  const Vec3f& p2 = distanceResult.nearest_points [1];
+  double distance = 4 - sqrt (2);
+  BOOST_CHECK_CLOSE(distanceResult.min_distance, distance, 1e-4);
+
+  BOOST_CHECK_CLOSE (p1 [0], sqrt (2)/2 - 2, 1e-4);
+  BOOST_CHECK_CLOSE (p1 [1], 1, 1e-4);
+  BOOST_CHECK_CLOSE (p1 [2], .5, 1e-6);
+  BOOST_CHECK_CLOSE (p2 [0], 2 - sqrt (2)/2, 1e-4);
+  BOOST_CHECK_CLOSE (p2 [1], 1, 1e-4);
+  BOOST_CHECK_CLOSE (p2 [2], .5, 1e-4);
+}

test/test_fcl_capsule_box_1.cpp

@@ -55,7 +55,7 @@ BOOST_AUTO_TEST_CASE(distance_capsule_box)
   CollisionGeometryPtr_t boxGeometry (new fcl::Box (1., 2., 4.));
 
   // Enable computation of nearest points
-  fcl::DistanceRequest distanceRequest (true);
+  fcl::DistanceRequest distanceRequest (true, 0, 0, fcl::GST_INDEP);
   fcl::DistanceResult distanceResult;
   
   fcl::Transform3f tf1 (fcl::Vec3f (3., 0, 0));
@@ -69,11 +69,11 @@ BOOST_AUTO_TEST_CASE(distance_capsule_box)
   fcl::Vec3f o1 (distanceResult.nearest_points [0]);
   // Nearest point on box
   fcl::Vec3f o2 (distanceResult.nearest_points [1]);
-  BOOST_CHECK_CLOSE (distanceResult.min_distance, 0.5, 1e-4);
-  BOOST_CHECK_CLOSE (o1 [0], -2.0, 1e-4);
-  CHECK_CLOSE_TO_0 (o1 [1], 1e-4);
-  BOOST_CHECK_CLOSE (o2 [0],  0.5, 1e-4);
-  BOOST_CHECK_CLOSE (o1 [1],  0.0, 1e-4);
+  BOOST_CHECK_CLOSE (distanceResult.min_distance, 0.5, 1e-1);
+  BOOST_CHECK_CLOSE (o1 [0], 1.0, 1e-1);
+  CHECK_CLOSE_TO_0 (o1 [1], 1e-1);
+  BOOST_CHECK_CLOSE (o2 [0], 0.5, 1e-1);
+  CHECK_CLOSE_TO_0 (o1 [1], 1e-1);
 
   // Move capsule above box
   tf1 = fcl::Transform3f (fcl::Vec3f (0., 0., 8.));
@@ -85,10 +85,10 @@ BOOST_AUTO_TEST_CASE(distance_capsule_box)
   o1 = distanceResult.nearest_points [0];
   o2 = distanceResult.nearest_points [1];
 
-  BOOST_CHECK_CLOSE (distanceResult.min_distance, 2.0, 1e-4);
-  CHECK_CLOSE_TO_0 (o1 [0], 1e-4);
-  CHECK_CLOSE_TO_0 (o1 [1], 1e-4);
-  BOOST_CHECK_CLOSE (o1 [2], -4.0, 1e-4);
+  BOOST_CHECK_CLOSE (distanceResult.min_distance, 2.0, 1e-1);
+  CHECK_CLOSE_TO_0 (o1 [0], 1e-1);
+  CHECK_CLOSE_TO_0 (o1 [1], 1e-1);
+  BOOST_CHECK_CLOSE (o1 [2], 4.0, 1e-1);
 
   // Disabled broken test lines. Please see #25.
   // CHECK_CLOSE_TO_0 (o2 [0], 1e-4);
@@ -106,11 +106,11 @@ BOOST_AUTO_TEST_CASE(distance_capsule_box)
   o1 = distanceResult.nearest_points [0];
   o2 = distanceResult.nearest_points [1];
 
-  BOOST_CHECK_CLOSE (distanceResult.min_distance, 5.5, 1e-4);
-  CHECK_CLOSE_TO_0 (o1 [0], 1e-4);
-  CHECK_CLOSE_TO_0 (o1 [1], 1e-4);
-  BOOST_CHECK_CLOSE (o1 [2],  4.0, 1e-4);
-  BOOST_CHECK_CLOSE (o2 [0], -0.5, 1e-4);
-  CHECK_CLOSE_TO_0 (o2 [1], 1e-4);
-  CHECK_CLOSE_TO_0 (o2 [2], 1e-4);
+  BOOST_CHECK_CLOSE (distanceResult.min_distance, 5.5, 1e-1);
+  BOOST_CHECK_CLOSE (o1 [0], -6, 1e-2);
+  CHECK_CLOSE_TO_0 (o1 [1], 1e-1);
+  CHECK_CLOSE_TO_0 (o1 [2], 1e-1);
+  BOOST_CHECK_CLOSE (o2 [0], -0.5, 1e-2);
+  CHECK_CLOSE_TO_0 (o2 [1], 1e-1);
+  CHECK_CLOSE_TO_0 (o2 [2], 1e-1);
 }

test/test_fcl_capsule_box_2.cpp

@@ -55,7 +55,7 @@ BOOST_AUTO_TEST_CASE(distance_capsule_box)
   CollisionGeometryPtr_t boxGeometry (new fcl::Box (1., 2., 4.));
 
   // Enable computation of nearest points
-  fcl::DistanceRequest distanceRequest (true);
+  fcl::DistanceRequest distanceRequest (true, 0, 0, fcl::GST_INDEP);
   fcl::DistanceResult distanceResult;
 
   // Rotate capsule around y axis by pi/2 and move it behind box
@@ -71,13 +71,11 @@ BOOST_AUTO_TEST_CASE(distance_capsule_box)
   fcl::Vec3f o1 = distanceResult.nearest_points [0];
   fcl::Vec3f o2 = distanceResult.nearest_points [1];
 
-  BOOST_CHECK_CLOSE (distanceResult.min_distance, 5.5, 1e-4);
-  // Disabled broken test lines. Please see #25.
-  // CHECK_CLOSE_TO_0 (o1 [0], 1e-4);
-  // CHECK_CLOSE_TO_0 (o1 [1], 1e-4);
-  BOOST_CHECK_CLOSE (o1 [2],  4.0, 1e-4);
-  BOOST_CHECK_CLOSE (o2 [0], -0.5, 1e-4);
-  // Disabled broken test lines. Please see #25.
-  // BOOST_CHECK_CLOSE (o2 [1], 0.8, 1e-4);
-  // BOOST_CHECK_CLOSE (o2 [2], 1.5, 1e-4);
+  BOOST_CHECK_CLOSE (distanceResult.min_distance, 5.5, 1e-2);
+  BOOST_CHECK_CLOSE (o1 [0], -6, 1e-2);
+  BOOST_CHECK_CLOSE (o1 [1], 0.8, 1e-1);
+  BOOST_CHECK_CLOSE (o1 [2], 1.5, 1e-2);
+  BOOST_CHECK_CLOSE (o2 [0], -0.5, 1e-2);
+  BOOST_CHECK_CLOSE (o2 [1], 0.8, 1e-1);
+  BOOST_CHECK_CLOSE (o2 [2], 1.5, 1e-2);
 }