Commit 20650ab1 authored by Martin Felis's avatar Martin Felis
Browse files

added sphereCapsuleIntersect()

parent 80a11c75
/*
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/** \author Martin Felis <martin.felis@iwr.uni-heidelberg.de> */
#define BOOST_TEST_MODULE "FCL_SPHERE_CAPSULE"
#include <boost/test/unit_test.hpp>
#include "fcl/collision.h"
#include "fcl/shape/geometric_shapes.h"
#include "fcl/narrowphase/narrowphase.h"
using namespace fcl;
BOOST_AUTO_TEST_CASE(Sphere_Capsule_test_separated_z)
{
GJKSolver_libccd solver;
Sphere sphere1 (50);
Transform3f sphere1_transform;
sphere1_transform.setTranslation (Vec3f (0., 0., -50));
Capsule capsule (50, 200.);
Transform3f capsule_transform (Vec3f (0., 0., 200));
BOOST_CHECK (!solver.shapeIntersect(sphere1, sphere1_transform, capsule, capsule_transform, NULL, NULL, NULL));
}
BOOST_AUTO_TEST_CASE(Sphere_Capsule_test_separated_z_negative)
{
GJKSolver_libccd solver;
Sphere sphere1 (50);
Transform3f sphere1_transform;
sphere1_transform.setTranslation (Vec3f (0., 0., 50));
Capsule capsule (50, 200.);
Transform3f capsule_transform (Vec3f (0., 0., -200));
BOOST_CHECK (!solver.shapeIntersect(sphere1, sphere1_transform, capsule, capsule_transform, NULL, NULL, NULL));
}
BOOST_AUTO_TEST_CASE(Sphere_Capsule_test_separated_x)
{
GJKSolver_libccd solver;
Sphere sphere1 (50);
Transform3f sphere1_transform;
sphere1_transform.setTranslation (Vec3f (0., 0., -50));
Capsule capsule (50, 200.);
Transform3f capsule_transform (Vec3f (150., 0., 0.));
BOOST_CHECK (!solver.shapeIntersect(sphere1, sphere1_transform, capsule, capsule_transform, NULL, NULL, NULL));
}
BOOST_AUTO_TEST_CASE(Sphere_Capsule_test_separated_capsule_rotated)
{
GJKSolver_libccd solver;
Sphere sphere1 (50);
Transform3f sphere1_transform;
sphere1_transform.setTranslation (Vec3f (0., 0., -50));
Capsule capsule (50, 200.);
Matrix3f rotation;
rotation.setEulerZYX (M_PI * 0.5, 0., 0.);
Transform3f capsule_transform (rotation, Vec3f (150., 0., 0.));
BOOST_CHECK (!solver.shapeIntersect(sphere1, sphere1_transform, capsule, capsule_transform, NULL, NULL, NULL));
}
BOOST_AUTO_TEST_CASE(Sphere_Capsule_test_penetration_z)
{
GJKSolver_libccd solver;
Sphere sphere1 (50);
Transform3f sphere1_transform;
sphere1_transform.setTranslation (Vec3f (0., 0., -50));
Capsule capsule (50, 200.);
Transform3f capsule_transform (Vec3f (0., 0., 125));
FCL_REAL penetration = 0.;
Vec3f contact_point;
Vec3f normal;
bool is_intersecting = solver.shapeIntersect(sphere1, sphere1_transform, capsule, capsule_transform, &contact_point, &penetration, &normal);
// std::cout << "contact _point = " << contact_point << std::endl;
BOOST_CHECK (is_intersecting);
BOOST_CHECK (penetration == 25.);
BOOST_CHECK (Vec3f (0., 0., 1.).equal(normal));
BOOST_CHECK (Vec3f (0., 0., 0.).equal(contact_point));
}
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