Add a test in test_fcl_box_box_distance.

test/test_fcl_box_box_distance.cpp

@@ -89,99 +89,41 @@ BOOST_AUTO_TEST_CASE(distance_box_box_1)
   BOOST_CHECK_CLOSE (p2 [2], 4, 1e-6);
 }
 
-#if 0
-BOOST_AUTO_TEST_CASE(distance_capsulecapsule_transformXY)
+BOOST_AUTO_TEST_CASE(distance_box_box_2)
 {
-  CollisionGeometryPtr_t s1 (new Capsule (5, 10));
-  CollisionGeometryPtr_t s2 (new Capsule (5, 10));
-
-  Transform3f tf1;
-  Transform3f tf2 (Vec3f(20, 20,0));
-
-  CollisionObject o1 (s1, tf1);
-  CollisionObject o2 (s2, tf2);
-
-  // Enable computation of nearest points
-  DistanceRequest distanceRequest (true);
-  DistanceResult distanceResult;
-
-  distance (&o1, &o2, distanceRequest, distanceResult);
-
-  std::cerr << "Applied translation on two capsules";
-  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;
-
-  FCL_REAL expected = sqrt(800) - 10;
-  BOOST_CHECK_CLOSE(distanceResult.min_distance, expected, 1e-6);
-}
-
-BOOST_AUTO_TEST_CASE(distance_capsulecapsule_transformZ)
-{
-  CollisionGeometryPtr_t s1 (new Capsule (5, 10));
-  CollisionGeometryPtr_t s2 (new Capsule (5, 10));
-
+  CollisionGeometryPtr_t s1 (new Box (6, 10, 2));
+  CollisionGeometryPtr_t s2 (new Box (2, 2, 2));
+  static double pi = M_PI;
   Transform3f tf1;
-  Transform3f tf2 (Vec3f(0,0,20.1));
+  Transform3f tf2 (Quaternion3f (cos (pi/8), sin(pi/8)/sqrt(3),
+				 sin(pi/8)/sqrt(3), sin(pi/8)/sqrt(3)),
+		   Vec3f(0, 0, 10));
 
   CollisionObject o1 (s1, tf1);
   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);
 
-  std::cerr << "Applied translation on two capsules";
+  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;
 
-  BOOST_CHECK_CLOSE(distanceResult.min_distance, 0.1, 1e-6);
-}
-
-
-BOOST_AUTO_TEST_CASE(distance_capsulecapsule_transformZ2)
-{
-  CollisionGeometryPtr_t s1 (new Capsule (5, 10));
-  CollisionGeometryPtr_t s2 (new Capsule (5, 10));
-
-  Transform3f tf1;
-  Transform3f tf2 (Quaternion3f (sqrt (2)/2, 0, sqrt (2)/2, 0),
-		   Vec3f(0,0,25.1));
-
-  CollisionObject o1 (s1, tf1);
-  CollisionObject o2 (s2, tf2);
-
-  // Enable computation of nearest points
-  DistanceRequest distanceRequest (true);
-  DistanceResult distanceResult;
-
-  distance (&o1, &o2, distanceRequest, distanceResult);
-
-  std::cerr << "Applied rotation and translation on two capsules" << std::endl;
-  std::cerr << "R1 = " << tf1.getRotation ()
-	    << ", T1 = " << tf1.getTranslation() << std::endl
-	    << "R2 = " << tf2.getRotation ()
-	    << ", 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 = -1.62123444 + 10 - 1;
+  BOOST_CHECK_CLOSE(distanceResult.min_distance, distance, 1e-4);
 
-  BOOST_CHECK_CLOSE(distanceResult.min_distance, 10.1, 1e-6);
-  CHECK_CLOSE_TO_0 (p1 [0], 1e-4);
-  CHECK_CLOSE_TO_0 (p1 [1], 1e-4);
-  BOOST_CHECK_CLOSE (p1 [2], 10, 1e-4);
-  CHECK_CLOSE_TO_0 (p2 [0], 1e-4);
-  CHECK_CLOSE_TO_0 (p2 [1], 1e-4);
-  BOOST_CHECK_CLOSE (p2 [2], 20.1, 1e-4);
+  BOOST_CHECK_CLOSE (p1 [0], 0.60947571, 1e-4);
+  BOOST_CHECK_CLOSE (p1 [1], 0.01175873, 1e-4);
+  BOOST_CHECK_CLOSE (p1 [2], 1, 1e-6);
+  BOOST_CHECK_CLOSE (p2 [0], 0.60947571, 1e-4);
+  BOOST_CHECK_CLOSE (p2 [1], 0.01175873, 1e-4);
+  BOOST_CHECK_CLOSE (p2 [2], -1.62123444 + 10, 1e-4);
 }
-#endif