From 3c4f6037b90069327ab43d998f6732dd93f5ebd0 Mon Sep 17 00:00:00 2001
From: jpan <jpan@253336fb-580f-4252-a368-f3cef5a2a82b>
Date: Sun, 4 Sep 2011 20:08:25 +0000
Subject: [PATCH] git-svn-id: https://kforge.ros.org/fcl/fcl_ros@21
253336fb-580f-4252-a368-f3cef5a2a82b
---
trunk/fcl/src/collision.cpp | 7 ++++++-
trunk/fcl/test/test_core_broad_phase.cpp | 1 +
2 files changed, 7 insertions(+), 1 deletion(-)
diff --git a/trunk/fcl/src/collision.cpp b/trunk/fcl/src/collision.cpp
index 54ee44ba..fc129af2 100644
--- a/trunk/fcl/src/collision.cpp
+++ b/trunk/fcl/src/collision.cpp
@@ -43,7 +43,6 @@
namespace fcl
{
-
static CollisionFunctionMatrix CollisionFunctionLookTable;
int collide(const CollisionObject* o1, const CollisionObject* o2,
@@ -62,6 +61,12 @@ int collide(const CollisionObject* o1, const CollisionObject* o2,
const OBJECT_TYPE object_type2 = o2->getObjectType();
const NODE_TYPE node_type2 = o2->getNodeType();
+ if(!CollisionFunctionLookTable.collision_matrix[node_type1][node_type2])
+ {
+ std::cerr << "Warning: collision function between node type " << node_type1 << " and node type " << node_type2 << " is not supported"<< std::endl;
+ return 0;
+ }
+
if(object_type1 == OT_GEOM && object_type2 == OT_GEOM)
{
diff --git a/trunk/fcl/test/test_core_broad_phase.cpp b/trunk/fcl/test/test_core_broad_phase.cpp
index 64b585aa..5a6f91af 100644
--- a/trunk/fcl/test/test_core_broad_phase.cpp
+++ b/trunk/fcl/test/test_core_broad_phase.cpp
@@ -126,6 +126,7 @@ TEST(test_core, broad_phase_collision)
ASSERT_TRUE(query_res1 == query_res4);
}
+
for(unsigned int i = 0; i < env.size(); ++i)
delete env[i];
for(unsigned int i = 0; i < query.size(); ++i)
--
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