From 68412e55fa424ebbc8d6bc69e3eb4caa7beb5a83 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Thu, 13 Jun 2019 11:22:52 +0200
Subject: [PATCH] Add a test loading Gerard Bauzil environment and checking
collision
- with a cylinder.
---
NEWS | 1 +
test/fcl_resources/staircases_koroibot_hr.dae | 1346 +++++++++++++++++
test/test_fcl_bvh_models.cpp | 34 +
3 files changed, 1381 insertions(+)
create mode 100644 test/fcl_resources/staircases_koroibot_hr.dae
diff --git a/NEWS b/NEWS
index 7d3c393d..8957e366 100644
--- a/NEWS
+++ b/NEWS
@@ -1,4 +1,5 @@
-*- outline -*-
+* Fix a bug in assimp loading procedure.
New in 1.1.0
* Fix uninitialized closest points in capsulePlaneIntersect.
* Refactor sphereTriangleIntersect.
diff --git a/test/fcl_resources/staircases_koroibot_hr.dae b/test/fcl_resources/staircases_koroibot_hr.dae
new file mode 100644
index 00000000..44aa6a7e
--- /dev/null
+++ b/test/fcl_resources/staircases_koroibot_hr.dae
@@ -0,0 +1,1346 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.76.0 commit date:2015-11-03, commit time:10:56, hash:f337fea</authoring_tool>
+ </contributor>
+ <created>2015-12-22T11:49:14</created>
+ <modified>2015-12-22T11:49:14</modified>
+ <unit name="meter" meter="1"/>
+ <up_axis>Z_UP</up_axis>
+ </asset>
+ <library_cameras>
+ <camera id="Camera-camera" name="Camera">
+ <optics>
+ <technique_common>
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+ <aspect_ratio>1.777778</aspect_ratio>
+ <znear sid="znear">0.1</znear>
+ <zfar sid="zfar">100</zfar>
+ </perspective>
+ </technique_common>
+ </optics>
+ <extra>
+ <technique profile="blender">
+ <YF_dofdist>0</YF_dofdist>
+ <shiftx>0</shiftx>
+ <shifty>0</shifty>
+ </technique>
+ </extra>
+ </camera>
+ </library_cameras>
+ <library_lights>
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+ <point>
+ <color sid="color">1 1 1</color>
+ <constant_attenuation>1</constant_attenuation>
+ <linear_attenuation>0</linear_attenuation>
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+ </technique_common>
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+ <area_sizey>0.1</area_sizey>
+ <area_sizez>1</area_sizez>
+ <atm_distance_factor>1</atm_distance_factor>
+ <atm_extinction_factor>1</atm_extinction_factor>
+ <atm_turbidity>2</atm_turbidity>
+ <att1>0</att1>
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+ <node id="node_014" name="node_014" type="NODE">
+ <matrix sid="transform">1 0 0 0.46 0 1 0 1.2 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick2-mesh" name="node_014">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_015" name="node_015" type="NODE">
+ <matrix sid="transform">1 0 0 0.46 0 1 0 0.39 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick2-mesh" name="node_015">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_016" name="node_016" type="NODE">
+ <matrix sid="transform">1 0 0 0.3 0 1 0 0.39 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick2-mesh" name="node_016">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_017" name="node_017" type="NODE">
+ <matrix sid="transform">1 0 0 0.6 0 1 0 1.2 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick12-mesh" name="node_017">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_018" name="node_018" type="NODE">
+ <matrix sid="transform">1 0 0 0.76 0 1 0 1.2 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick12-mesh" name="node_018">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_019" name="node_019" type="NODE">
+ <matrix sid="transform">1 0 0 0.76 0 1 0 0.39 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick12-mesh" name="node_019">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_020" name="node_020" type="NODE">
+ <matrix sid="transform">1 0 0 0.6 0 1 0 0.39 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick12-mesh" name="node_020">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_021" name="node_021" type="NODE">
+ <matrix sid="transform">1 0 0 0.9 0 1 0 1.2 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick22-mesh" name="node_021">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_022" name="node_022" type="NODE">
+ <matrix sid="transform">1 0 0 1.06 0 1 0 1.2 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick22-mesh" name="node_022">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_023" name="node_023" type="NODE">
+ <matrix sid="transform">1 0 0 1.06 0 1 0 0.39 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick22-mesh" name="node_023">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_024" name="node_024" type="NODE">
+ <matrix sid="transform">1 0 0 0.9 0 1 0 0.39 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick22-mesh" name="node_024">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_025" name="node_025" type="NODE">
+ <matrix sid="transform">1 0 0 1.2 0 1 0 1.2 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick32-mesh" name="node_025">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_026" name="node_026" type="NODE">
+ <matrix sid="transform">1 0 0 1.36 0 1 0 1.2 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick32-mesh" name="node_026">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_027" name="node_027" type="NODE">
+ <matrix sid="transform">1 0 0 1.36 0 1 0 0.39 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick32-mesh" name="node_027">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_028" name="node_028" type="NODE">
+ <matrix sid="transform">1 0 0 1.2 0 1 0 0.39 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick32-mesh" name="node_028">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_029" name="node_029" type="NODE">
+ <matrix sid="transform">1 0 0 1.5 0 1 0 1.2 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick42-mesh" name="node_029">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_030" name="node_030" type="NODE">
+ <matrix sid="transform">1 0 0 1.66 0 1 0 1.2 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick42-mesh" name="node_030">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_031" name="node_031" type="NODE">
+ <matrix sid="transform">1 0 0 1.66 0 1 0 0.39 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick42-mesh" name="node_031">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_032" name="node_032" type="NODE">
+ <matrix sid="transform">1 0 0 1.5 0 1 0 0.39 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick42-mesh" name="node_032">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_033" name="node_033" type="NODE">
+ <matrix sid="transform">1 0 0 2.62 0 1 0 1.61 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick52-mesh" name="node_033">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_034" name="node_034" type="NODE">
+ <matrix sid="transform">1 0 0 2.62 0 1 0 -0.21 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick52-mesh" name="node_034">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_035" name="node_035" type="NODE">
+ <matrix sid="transform">1 0 0 1.8 0 1 0 -0.21 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick52-mesh" name="node_035">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_036" name="node_036" type="NODE">
+ <matrix sid="transform">1 0 0 1.8 0 1 0 1.61 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick52-mesh" name="node_036">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_037" name="node_037" type="NODE">
+ <matrix sid="transform">1 0 0 1.7 0 1 0 0.08 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick52-mesh" name="node_037">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_038" name="node_038" type="NODE">
+ <matrix sid="transform">1 0 0 0.84 0 1 0 0.08 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick52-mesh" name="node_038">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_039" name="node_039" type="NODE">
+ <matrix sid="transform">1 0 0 0.84 0 1 0 0.24 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick52-mesh" name="node_039">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_040" name="node_040" type="NODE">
+ <matrix sid="transform">1 0 0 1.7 0 1 0 0.24 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick52-mesh" name="node_040">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_041" name="node_041" type="NODE">
+ <matrix sid="transform">1 0 0 0.7 0 1 0 0.08 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick52-mesh" name="node_041">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_042" name="node_042" type="NODE">
+ <matrix sid="transform">1 0 0 -0.16 0 1 0 0.08 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick52-mesh" name="node_042">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_043" name="node_043" type="NODE">
+ <matrix sid="transform">1 0 0 -0.16 0 1 0 0.24 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick52-mesh" name="node_043">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_044" name="node_044" type="NODE">
+ <matrix sid="transform">1 0 0 0.7 0 1 0 0.24 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick52-mesh" name="node_044">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_045" name="node_045" type="NODE">
+ <matrix sid="transform">1 0 0 -0.3 0 1 0 0.08 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick52-mesh" name="node_045">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_046" name="node_046" type="NODE">
+ <matrix sid="transform">1 0 0 -1.2 0 1 0 0.08 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick52-mesh" name="node_046">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_047" name="node_047" type="NODE">
+ <matrix sid="transform">1 0 0 -1.2 0 1 0 0.24 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick52-mesh" name="node_047">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_048" name="node_048" type="NODE">
+ <matrix sid="transform">1 0 0 -0.3 0 1 0 0.24 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick52-mesh" name="node_048">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_049" name="node_049" type="NODE">
+ <matrix sid="transform">1 0 0 -1.34 0 1 0 0.6 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick52-mesh" name="node_049">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_050" name="node_050" type="NODE">
+ <matrix sid="transform">1 0 0 -1.34 0 1 0 -0.24 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick52-mesh" name="node_050">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_051" name="node_051" type="NODE">
+ <matrix sid="transform">1 0 0 -2.18 0 1 0 -0.24 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick52-mesh" name="node_051">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_052" name="node_052" type="NODE">
+ <matrix sid="transform">1 0 0 -2.18 0 1 0 0.6 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick52-mesh" name="node_052">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_053" name="node_053" type="NODE">
+ <matrix sid="transform">1 0 0 -1.34 0 1 0 0.75 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick37-mesh" name="node_053">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_054" name="node_054" type="NODE">
+ <matrix sid="transform">1 0 0 -2.18 0 1 0 0.75 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick37-mesh" name="node_054">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_055" name="node_055" type="NODE">
+ <matrix sid="transform">1 0 0 -1.34 0 1 0 0.96 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick37-mesh" name="node_055">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_056" name="node_056" type="NODE">
+ <matrix sid="transform">1 0 0 -2.18 0 1 0 0.96 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick37-mesh" name="node_056">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_057" name="node_057" type="NODE">
+ <matrix sid="transform">1 0 0 -1.34 0 1 0 1.05 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick22-mesh" name="node_057">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_058" name="node_058" type="NODE">
+ <matrix sid="transform">1 0 0 -2.18 0 1 0 1.05 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick22-mesh" name="node_058">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_059" name="node_059" type="NODE">
+ <matrix sid="transform">1 0 0 -1.34 0 1 0 1.26 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick22-mesh" name="node_059">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_060" name="node_060" type="NODE">
+ <matrix sid="transform">1 0 0 -2.18 0 1 0 1.26 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick22-mesh" name="node_060">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_061" name="node_061" type="NODE">
+ <matrix sid="transform">1 0 0 -1.34 0 1 0 1.36 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick7-mesh" name="node_061">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_062" name="node_062" type="NODE">
+ <matrix sid="transform">1 0 0 -2.18 0 1 0 1.36 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick7-mesh" name="node_062">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_063" name="node_063" type="NODE">
+ <matrix sid="transform">1 0 0 -1.34 0 1 0 1.55 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick7-mesh" name="node_063">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="node_064" name="node_064" type="NODE">
+ <matrix sid="transform">1 0 0 -2.18 0 1 0 1.55 0 0 1 0 0 0 0 1</matrix>
+ <instance_geometry url="#Long-stick7-mesh" name="node_064">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material-gray-material" target="#Material-gray-material"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="Cylinder" name="Cylinder" type="NODE">
+ <matrix sid="transform">0.0075 0 0 -2.27 0 0.0075 0 1.57 0 0 0.415 0.43 0 0 0 1</matrix>
+ <instance_geometry url="#Cylinder_001-mesh" name="Cylinder"/>
+ </node>
+ <node id="Cylinder_001" name="Cylinder_001" type="NODE">
+ <matrix sid="transform">0.0075 0 0 -2.27 0 0.0075 0 0.75 0 0 0.4825 0.769 0 0 0 1</matrix>
+ <instance_geometry url="#Cylinder_002-mesh" name="Cylinder_001"/>
+ </node>
+ <node id="Cylinder_002" name="Cylinder_002" type="NODE">
+ <matrix sid="transform">0.0075 0 0 -2.27 0 0.003358189 -0.4068403 1.16 0 0.00670616 0.2037301 0.6939636 0 0 0 1</matrix>
+ <instance_geometry url="#Cylinder_003-mesh" name="Cylinder_002"/>
+ </node>
+ <node id="Cylinder_003" name="Cylinder_003" type="NODE">
+ <matrix sid="transform">0.0075 0 0 -2.27 0 0.003358189 -0.4113111 1.16234 0 0.00670616 0.2059689 1.039 0 0 0 1</matrix>
+ <instance_geometry url="#Cylinder_000-mesh" name="Cylinder_003"/>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/test/test_fcl_bvh_models.cpp b/test/test_fcl_bvh_models.cpp
index bd424e8b..82c01286 100644
--- a/test/test_fcl_bvh_models.cpp
+++ b/test/test_fcl_bvh_models.cpp
@@ -43,6 +43,7 @@
#include "fcl_resources/config.h"
+#include <hpp/fcl/collision.h>
#include "hpp/fcl/BVH/BVH_model.h"
#include "hpp/fcl/BVH/BVH_utility.h"
#include "hpp/fcl/math/transform.h"
@@ -295,6 +296,31 @@ void testLoadPolyhedron ()
BOOST_CHECK_EQUAL (geom, geom2);
}
+template<class BoundingVolume>
+void testLoadGerardBauzil ()
+{
+ boost::filesystem::path path(TEST_RESOURCES_DIR);
+ std::string env = (path / "staircases_koroibot_hr.dae").string();
+
+ typedef BVHModel<BoundingVolume> Polyhedron_t;
+ typedef boost::shared_ptr <Polyhedron_t> PolyhedronPtr_t;
+ PolyhedronPtr_t P1 (new Polyhedron_t), P2;
+
+ Vec3f scale;
+ scale.setConstant (1);
+ loadPolyhedronFromResource (env, scale, P1);
+ CollisionGeometryPtr_t cylinder (new Cylinder(.27, .27));
+ Transform3f pos (Vec3f (-1.33, 1.36, .14));
+ CollisionObject obj (cylinder, pos);
+ CollisionObject stairs (P1);
+
+ CollisionRequest request;
+ CollisionResult result;
+
+ collide (&stairs, &obj, request, result);
+ BOOST_CHECK (result.isCollision ());
+}
+
BOOST_AUTO_TEST_CASE(load_polyhedron)
{
testLoadPolyhedron<AABB>();
@@ -306,3 +332,11 @@ BOOST_AUTO_TEST_CASE(load_polyhedron)
testLoadPolyhedron<KDOP<18> >();
testLoadPolyhedron<KDOP<24> >();
}
+
+BOOST_AUTO_TEST_CASE (gerard_bauzil)
+{
+ testLoadGerardBauzil<OBB>();
+ testLoadGerardBauzil<RSS>();
+ testLoadGerardBauzil<kIOS>();
+ testLoadGerardBauzil<OBBRSS>();
+}
--
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