Commit a9a65b29 authored by panjia1983's avatar panjia1983
Browse files

The commit 5c9aa3d4 fixed some bugs, change the test file accordingly

parent 6047de0b
......@@ -432,7 +432,7 @@ void SSaPCollisionManager::distance(void* cdata, DistanceCallBack callback) cons
if(size() == 0) return;
std::vector<CollisionObject*>::const_iterator it, it_end;
size_t axis = selectOptimalAxis(objs_x, objs_y, objs_z, it, it_end);
selectOptimalAxis(objs_x, objs_y, objs_z, it, it_end);
FCL_REAL min_dist = std::numeric_limits<FCL_REAL>::max();
for(; it != it_end; ++it)
......
......@@ -890,19 +890,19 @@ BOOST_AUTO_TEST_CASE(consistency_collision_spheresphere_libccd)
BOOST_CHECK_FALSE(res);
result.clear();
res = (collide(&s2_obb, pose_obb, &s1, Transform3f(), request, result) > 0);
BOOST_CHECK(res);
BOOST_CHECK_FALSE(res);
result.clear();
res = (collide(&s1, Transform3f(), &s2_aabb, pose_aabb, request, result) > 0);
BOOST_CHECK_FALSE(res);
result.clear();
res = (collide(&s1, Transform3f(), &s2_obb, pose_obb, request, result) > 0);
BOOST_CHECK(res);
BOOST_CHECK_FALSE(res);
result.clear();
res = (collide(&s2, pose, &s1_aabb, Transform3f(), request, result) > 0);
BOOST_CHECK_FALSE(res);
result.clear();
res = (collide(&s2, pose, &s1_obb, Transform3f(), request, result) > 0);
BOOST_CHECK(res);
BOOST_CHECK_FALSE(res);
result.clear();
res = (collide(&s1_aabb, Transform3f(), &s2, pose, request, result) > 0);
BOOST_CHECK_FALSE(res);
......@@ -987,19 +987,19 @@ BOOST_AUTO_TEST_CASE(consistency_collision_spheresphere_libccd)
BOOST_CHECK_FALSE(res);
result.clear();
res = (collide(&s2_obb, pose_obb, &s1, Transform3f(), request, result) > 0);
BOOST_CHECK(res);
BOOST_CHECK_FALSE(res);
result.clear();
res = (collide(&s1, Transform3f(), &s2_aabb, pose_aabb, request, result) > 0);
BOOST_CHECK_FALSE(res);
result.clear();
res = (collide(&s1, Transform3f(), &s2_obb, pose_obb, request, result) > 0);
BOOST_CHECK(res);
BOOST_CHECK_FALSE(res);
result.clear();
res = (collide(&s2, pose, &s1_aabb, Transform3f(), request, result) > 0);
BOOST_CHECK_FALSE(res);
result.clear();
res = (collide(&s2, pose, &s1_obb, Transform3f(), request, result) > 0);
BOOST_CHECK(res);
BOOST_CHECK_FALSE(res);
result.clear();
res = (collide(&s1_aabb, Transform3f(), &s2, pose, request, result) > 0);
BOOST_CHECK_FALSE(res);
......@@ -1590,19 +1590,19 @@ BOOST_AUTO_TEST_CASE(consistency_collision_spheresphere_GJK)
BOOST_CHECK_FALSE(res);
result.clear();
res = (collide(&s2_obb, pose_obb, &s1, Transform3f(), request, result) > 0);
BOOST_CHECK(res);
BOOST_CHECK_FALSE(res);
result.clear();
res = (collide(&s1, Transform3f(), &s2_aabb, pose_aabb, request, result) > 0);
BOOST_CHECK_FALSE(res);
result.clear();
res = (collide(&s1, Transform3f(), &s2_obb, pose_obb, request, result) > 0);
BOOST_CHECK(res);
BOOST_CHECK_FALSE(res);
result.clear();
res = (collide(&s2, pose, &s1_aabb, Transform3f(), request, result) > 0);
BOOST_CHECK_FALSE(res);
result.clear();
res = (collide(&s2, pose, &s1_obb, Transform3f(), request, result) > 0);
BOOST_CHECK(res);
BOOST_CHECK_FALSE(res);
result.clear();
res = (collide(&s1_aabb, Transform3f(), &s2, pose, request, result) > 0);
BOOST_CHECK_FALSE(res);
......@@ -1687,19 +1687,19 @@ BOOST_AUTO_TEST_CASE(consistency_collision_spheresphere_GJK)
BOOST_CHECK_FALSE(res);
result.clear();
res = (collide(&s2_obb, pose_obb, &s1, Transform3f(), request, result) > 0);
BOOST_CHECK(res);
BOOST_CHECK_FALSE(res);
result.clear();
res = (collide(&s1, Transform3f(), &s2_aabb, pose_aabb, request, result) > 0);
BOOST_CHECK_FALSE(res);
result.clear();
res = (collide(&s1, Transform3f(), &s2_obb, pose_obb, request, result) > 0);
BOOST_CHECK(res);
BOOST_CHECK_FALSE(res);
result.clear();
res = (collide(&s2, pose, &s1_aabb, Transform3f(), request, result) > 0);
BOOST_CHECK_FALSE(res);
result.clear();
res = (collide(&s2, pose, &s1_obb, Transform3f(), request, result) > 0);
BOOST_CHECK(res);
BOOST_CHECK_FALSE(res);
result.clear();
res = (collide(&s1_aabb, Transform3f(), &s2, pose, request, result) > 0);
BOOST_CHECK_FALSE(res);
......
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