Skip to content
GitLab
Commit 1c5c0b9a authored by Jeongseok Lee's avatar Jeongseok Lee
Browse files

Fix normal tests for box-box collisions

parent e4386184
Hide whitespace changes
Inline Side-by-side
test/test_fcl_geometric_shapes.cpp
View file @ 1c5c0b9a
......@@ -437,7 +437,7 @@ BOOST_AUTO_TEST_CASE(shapeIntersection_boxbox)
tf1 = transform;
tf2 = transform;
// TODO: Need convention for normal when the centers of two objects are at same position. The current result is (1, 0, 0).
normal.setValue(1, 0, 0);
normal = transform.getRotation() * Vec3f(1, 0, 0);
testShapeInersection(s1, tf1, s2, tf2, GST_LIBCCD, true, NULL, NULL, &normal);
tf1 = Transform3f();
......@@ -451,12 +451,12 @@ BOOST_AUTO_TEST_CASE(shapeIntersection_boxbox)
tf1 = Transform3f();
tf2 = Transform3f(q);
normal = Transform3f(q).getRotation() * Vec3f(1, 0, 0);
normal.setValue(1, 0, 0);
testShapeInersection(s1, tf1, s2, tf2, GST_LIBCCD, true, NULL, NULL, &normal);
tf1 = transform;
tf2 = transform * Transform3f(q);
normal = Transform3f(q).getRotation() * Vec3f(1, 0, 0);
normal = transform.getRotation() * Vec3f(1, 0, 0);
testShapeInersection(s1, tf1, s2, tf2, GST_LIBCCD, true, NULL, NULL, &normal);
FCL_UINT32 numTests = 1e+2;
......@@ -491,9 +491,8 @@ BOOST_AUTO_TEST_CASE(shapeIntersection_spherebox)
tf1 = transform;
tf2 = transform;
// TODO: Need convention for normal when the centers of two objects are at same position. The current result is (-0.9985590945508502, 0.02998909000838618, -0.04450156368325561).
normal.setValue(-0.9985590945508502, 0.02998909000838618, -0.04450156368325561);
testShapeInersection(s1, tf1, s2, tf2, GST_LIBCCD, true, NULL, NULL, &normal);
// TODO: Need convention for normal when the centers of two objects are at same position.
testShapeInersection(s1, tf1, s2, tf2, GST_LIBCCD, true, NULL, NULL, NULL);
tf1 = Transform3f();
tf2 = Transform3f(Vec3f(22.5, 0, 0));
......@@ -2809,7 +2808,7 @@ BOOST_AUTO_TEST_CASE(shapeIntersectionGJK_boxbox)
tf1 = transform;
tf2 = transform;
// TODO: Need convention for normal when the centers of two objects are at same position. The current result is (1, 0, 0).
normal.setValue(1, 0, 0);
normal = transform.getRotation() * Vec3f(1, 0, 0);
testShapeInersection(s1, tf1, s2, tf2, GST_INDEP, true, NULL, NULL, &normal);
tf1 = Transform3f();
......@@ -2823,12 +2822,12 @@ BOOST_AUTO_TEST_CASE(shapeIntersectionGJK_boxbox)
tf1 = Transform3f();
tf2 = Transform3f(q);
normal = Transform3f(q).getRotation() * Vec3f(1, 0, 0);
normal.setValue(1, 0, 0);
testShapeInersection(s1, tf1, s2, tf2, GST_INDEP, true, NULL, NULL, &normal);
tf1 = transform;
tf2 = transform * Transform3f(q);
normal = Transform3f(q).getRotation() * Vec3f(1, 0, 0);
normal = transform.getRotation() * Vec3f(1, 0, 0);
testShapeInersection(s1, tf1, s2, tf2, GST_INDEP, true, NULL, NULL, &normal);
}
......@@ -3160,7 +3159,7 @@ BOOST_AUTO_TEST_CASE(shapeIntersectionGJK_halfspacetriangle)
t[0].setValue(20, 0, 0);
t[1].setValue(0, -20, 0);
t[2].setValue(0, 20, 0);
res = solver1.shapeTriangleIntersect(hs, Transform3f(), t[0], t[1], t[2], Transform3f(), NULL, NULL, NULL);
res = solver2.shapeTriangleIntersect(hs, Transform3f(), t[0], t[1], t[2], Transform3f(), NULL, NULL, NULL);
BOOST_CHECK(res);
res = solver2.shapeTriangleIntersect(hs, transform, t[0], t[1], t[2], transform, NULL, NULL, NULL);
......@@ -3201,7 +3200,7 @@ BOOST_AUTO_TEST_CASE(shapeIntersectionGJK_planetriangle)
t[0].setValue(20, 0, 0);
t[1].setValue(-0.1, -20, 0);
t[2].setValue(-0.1, 20, 0);
res = solver1.shapeTriangleIntersect(hs, Transform3f(), t[0], t[1], t[2], Transform3f(), NULL, NULL, NULL);
res = solver2.shapeTriangleIntersect(hs, Transform3f(), t[0], t[1], t[2], Transform3f(), NULL, NULL, NULL);
BOOST_CHECK(res);
res = solver2.shapeTriangleIntersect(hs, transform, t[0], t[1], t[2], transform, NULL, NULL, NULL);
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment