From 19b6467600066eca61dadefcfe7967f5b906a2bd Mon Sep 17 00:00:00 2001
From: Jeongseok Lee <jslee02@gmail.com>
Date: Wed, 15 Apr 2015 01:18:42 -0400
Subject: [PATCH] Update another tests: sphere-triangle

---
 test/test_fcl_geometric_shapes.cpp | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/test/test_fcl_geometric_shapes.cpp b/test/test_fcl_geometric_shapes.cpp
index 0abfc32d..ef349770 100644
--- a/test/test_fcl_geometric_shapes.cpp
+++ b/test/test_fcl_geometric_shapes.cpp
@@ -688,8 +688,8 @@ BOOST_AUTO_TEST_CASE(shapeIntersection_spheretriangle)
 
   Transform3f transform;
   generateRandomTransform(extents, transform);
-  Transform3f identity;
 
+  Vec3f normal;
   bool res;
 
   res = solver1.shapeTriangleIntersect(s, Transform3f(), t[0], t[1], t[2], NULL, NULL, NULL);
@@ -707,6 +707,14 @@ BOOST_AUTO_TEST_CASE(shapeIntersection_spheretriangle)
 
   res =  solver1.shapeTriangleIntersect(s, transform, t[0], t[1], t[2], transform, NULL, NULL, NULL);
   BOOST_CHECK(res);
+
+  res = solver1.shapeTriangleIntersect(s, Transform3f(), t[0], t[1], t[2], NULL, NULL, &normal);
+  BOOST_CHECK(res);
+  BOOST_CHECK(normal.equal(Vec3f(1, 0, 0), 1e-9));
+
+  res =  solver1.shapeTriangleIntersect(s, transform, t[0], t[1], t[2], transform, NULL, NULL, &normal);
+  BOOST_CHECK(res);
+  BOOST_CHECK(normal.equal(transform.getRotation() * Vec3f(1, 0, 0), 1e-9));
 }
 
 BOOST_AUTO_TEST_CASE(shapeIntersection_halfspacesphere)
-- 
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