Merge pull request #101 from jmirabel/refactoring

Bug fix in propagateBVHFrontListCollisionRecurse + unit-tests

src/BVH/BVH_model.cpp

@@ -422,7 +422,8 @@ int BVHModelBase::beginReplaceModel()
     return BVH_ERR_BUILD_EMPTY_PREVIOUS_FRAME;
   }
 
-  if(prev_vertices) delete [] prev_vertices; prev_vertices = NULL;
+  if(prev_vertices) delete [] prev_vertices;
+  prev_vertices = NULL;
 
   num_vertex_updated = 0;
 

src/traversal/traversal_recurse.cpp

@@ -382,7 +382,7 @@ void propagateBVHFrontListCollisionRecurse
         front_iter->valid = false;
         if(node->firstOverSecond(b1, b2)) {
           int c1 = node->getFirstLeftChild(b1);
-          int c2 = node->getFirstRightChild(b2);
+          int c2 = node->getFirstRightChild(b1);
 
           collisionRecurse(node, c1, b2, front_list, sqrDistLowerBound1);
           collisionRecurse(node, c2, b2, front_list, sqrDistLowerBound2);

test/frontlist.cpp

@@ -84,7 +84,11 @@ BOOST_AUTO_TEST_CASE(front_list)
   std::vector<Transform3f> transforms2; // t1
   FCL_REAL extents[] = {-3000, -3000, 0, 3000, 3000, 3000};
   FCL_REAL delta_trans[] = {1, 1, 1};
-  std::size_t n = 10;
+#ifdef NDEBUG
+  std::size_t n = 20;
+#else
+  std::size_t n = 5;
+#endif
   bool verbose = false;
 
   generateRandomTransforms(extents, delta_trans, 0.005 * 2 * 3.1415, transforms, transforms2, n);

test/utility.cpp

@@ -339,51 +339,6 @@ void generateRandomTransforms(FCL_REAL extents[6], FCL_REAL delta_trans[3], FCL_
   }
 }
 
-void generateRandomTransform_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>& /*riangles1*/,
-                                 const std::vector<Vec3f>& /*vertices2*/, const std::vector<Triangle>& /*riangles2*/)
-{
-  transforms.resize(n);
-  transforms2.resize(n);
-
-  for(std::size_t i = 0; i < n;)
-  {
-    FCL_REAL x = rand_interval(extents[0], extents[3]);
-    FCL_REAL y = rand_interval(extents[1], extents[4]);
-    FCL_REAL z = rand_interval(extents[2], extents[5]);
-
-    const FCL_REAL pi = 3.1415926;
-    FCL_REAL a = rand_interval(0, 2 * pi);
-    FCL_REAL b = rand_interval(0, 2 * pi);
-    FCL_REAL c = rand_interval(0, 2 * pi);
-
-
-    Matrix3f R;
-    eulerToMatrix(a, b, c, R);
-    Vec3f T(x, y, z);    
-    Transform3f tf(R, T);
-
-    std::vector<std::pair<int, int> > results;
-    {
-      transforms[i] = tf;
-
-      FCL_REAL deltax = rand_interval(-delta_trans[0], delta_trans[0]);
-      FCL_REAL deltay = rand_interval(-delta_trans[1], delta_trans[1]);
-      FCL_REAL deltaz = rand_interval(-delta_trans[2], delta_trans[2]);
-
-      FCL_REAL deltaa = rand_interval(-delta_rot, delta_rot);
-      FCL_REAL deltab = rand_interval(-delta_rot, delta_rot);
-      FCL_REAL deltac = rand_interval(-delta_rot, delta_rot);
-
-      Matrix3f R2;
-      eulerToMatrix(a + deltaa, b + deltab, c + deltac, R2);
-      Vec3f T2(x + deltax, y + deltay, z + deltaz);
-      transforms2[i].setTransform(R2, T2);
-      ++i;
-    }
-  }
-}
-
 bool defaultCollisionFunction(CollisionObject* o1, CollisionObject* o2, void* cdata_)
 {
   CollisionData* cdata = static_cast<CollisionData*>(cdata_);

test/utility.h

@@ -118,12 +118,6 @@ void generateRandomTransforms(FCL_REAL extents[6], std::vector<Transform3f>& tra
 /// @brief Generate n random transforms whose translations are constrained by extents. Also generate another transforms2 which have additional random translation & rotation to the transforms generated.
 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);
 
-/// @brief Generate n random tranforms and transform2 with addtional random translation/rotation. The transforms and transform2 are used as initial and goal configurations for the first mesh. The second mesh is in I. This is used for continuous collision detection checking.
-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);
-
-
 /// @ brief Structure for minimum distance between two meshes and the corresponding nearest point pair
 struct DistanceRes
 {

travis_custom/custom_before_install_osx.sh

+brew update
+
 # Add gepetto tap
 brew tap gepetto/homebrew-gepetto