Commit 7de0d557 authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

Add a test between two triangles that make GJK fail.

  triangles are in collision but distance between them is slightly positive.
parent 9843a182
......@@ -104,6 +104,26 @@ BOOST_AUTO_TEST_CASE(distance_triangle_triangle_1)
-0.46249645019513175, 0.73064726592483387),
Vec3f (-12.824601270753471, -1.6840516940066426, 3.8914453043793844));
tf1 = tf;
} else if (i==1) {
P1_loc = Vec3f
(-0.8027043342590332 , -0.30276307463645935 , -0.4372950792312622);
P2_loc = Vec3f
(-0.8027043342590332 , 0.30276307463645935 ,-0.4372950792312622);
P3_loc = Vec3f
(0.8027043342590332 , 0.30276307463645935 ,-0.4372950792312622);
Q1_loc = Vec3f
(-0.224713996052742 , -0.7417119741439819 , 0.19999997317790985);
Q2_loc = Vec3f
(-0.5247139930725098 , -0.7417119741439819 , 0.19999997317790985);
Q3_loc = Vec3f
(-0.224713996052742 , -0.7417119741439819 , 0.09999997168779373);
Matrix3f R; Vec3f T;
R << 0.9657787025454787, 0.09400415350535746, 0.24173273843919627,
-0.06713698817647556, 0.9908494114820345, -0.11709000206805695,
-0.25052768814676646, 0.09685382227587608, 0.9632524147814993;
T << -0.13491177905469953, -1, 0.6000449621843792;
tf1.setRotation(R); tf1.setTranslation(T);
} else {
tf1 = Transform3f ();
}
......
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