diff --git a/include/fcl/math/transform.h b/include/fcl/math/transform.h
index d66ea8310d918b990cb12b8ad09413c53187c012..9e45f8b15e09970d7fd5dce25c5172f679423e87 100644
--- a/include/fcl/math/transform.h
+++ b/include/fcl/math/transform.h
@@ -375,10 +375,14 @@ public:
/// @brief inverse the transform
Transform3f inverse(const Transform3f& tf);
-/// @brief compute the relative transform between two transforms: tf2 = tf * tf1
+/// @brief compute the relative transform between two transforms: tf2 = tf1 * tf (relative to the local coordinate system in tf1)
void relativeTransform(const Transform3f& tf1, const Transform3f& tf2,
Transform3f& tf);
+/// @brief compute the relative transform between two transforms: tf2 = tf * tf1 (relative to the global coordinate system)
+void relativeTransform2(const Transform3f& tf1, const Transform3f& tf2,
+ Transform3f& tf);
+
}
diff --git a/src/math/transform.cpp b/src/math/transform.cpp
index 7670db042cbf8697e3efdc529bcb4eda9bab6169..9afc0e7e56f4e3211aa87db31aea6c4389a6d5c8 100644
--- a/src/math/transform.cpp
+++ b/src/math/transform.cpp
@@ -428,6 +428,14 @@ void relativeTransform(const Transform3f& tf1, const Transform3f& tf2,
tf = Transform3f(q1_inv * tf2.getQuatRotation(), q1_inv.transform(tf2.getTranslation() - tf1.getTranslation()));
}
+void relativeTransform2(const Transform3f& tf1, const Transform3f& tf2,
+ Transform3f& tf)
+{
+ const Quaternion3f& q1inv = fcl::conj(tf1.getQuatRotation());
+ const Quaternion3f& q2_q1inv = tf2.getQuatRotation() * q1inv;
+ tf = Transform3f(q2_q1inv, tf2.getTranslation() - q2_q1inv.transform(tf1.getTranslation()));
+}
+
}
diff --git a/src/penetration_depth.cpp b/src/penetration_depth.cpp
index 6859e3d33d340fca6795113decfd7b69d9510ae8..cf1fd599cbe27bc6796d41bac97454860b925d0d 100644
--- a/src/penetration_depth.cpp
+++ b/src/penetration_depth.cpp
@@ -396,9 +396,9 @@ FCL_REAL penetrationDepth(const CollisionGeometry* o1, const Transform3f& tf1,
knn_solver->add(request.contact_vectors);
Transform3f tf;
- relativeTransform(tf1, tf2, tf);
+ relativeTransform2(tf1, tf2, tf);
- result.resolved_tf = knn_solver->nearest(tf) * tf1;
+ result.resolved_tf = tf1 * knn_solver->nearest(tf);
result.pd_value = request.distance_func(result.resolved_tf, tf2);
result.pd_value = std::sqrt(result.pd_value);
diff --git a/test/fcl_resources/config.h b/test/fcl_resources/config.h
new file mode 100644
index 0000000000000000000000000000000000000000..f4cc495f1232d42baf57d2e4865c34c1912d95e8
--- /dev/null
+++ b/test/fcl_resources/config.h
@@ -0,0 +1,41 @@
+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+* Copyright (c) 2010, Rice University.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions
+* are met:
+*
+* * Redistributions of source code must retain the above copyright
+* notice, this list of conditions and the following disclaimer.
+* * Redistributions in binary form must reproduce the above
+* copyright notice, this list of conditions and the following
+* disclaimer in the documentation and/or other materials provided
+* with the distribution.
+* * Neither the name of the Rice University nor the names of its
+* contributors may be used to endorse or promote products derived
+* from this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+
+/* Author: Mark Moll */
+
+#ifndef FCL_TEST_RESOURCES_CONFIG_
+#define FCL_TEST_RESOURCES_CONFIG_
+
+#define TEST_RESOURCES_DIR "/home/jia/Workspace/fcl/test/fcl_resources"
+#endif
diff --git a/test/fcl_resources/newdata/Model_1_Scenario_3.xml b/test/fcl_resources/newdata/Model_1_Scenario_3.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3dd5ca969e2d232bbc62a6dbfff3414d4b790523
--- /dev/null
+++ b/test/fcl_resources/newdata/Model_1_Scenario_3.xml
@@ -0,0 +1,7570 @@
+<MODEL>
+ <OBJECT id="1">
+ <GRID id="1" x="-2.62149" y="-0.00020" z="-8.61031"/>
+ <GRID id="2" x="-4.94103" y="-0.00020" z="-7.52283"/>
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diff --git a/test/fcl_resources/newdata/Model_1_Scenario_3.xmlmodel.txt b/test/fcl_resources/newdata/Model_1_Scenario_3.xmlmodel.txt
new file mode 100644
index 0000000000000000000000000000000000000000..59b188c46e47b012d9a5f34f89b30111d8bc1dd5
--- /dev/null
+++ b/test/fcl_resources/newdata/Model_1_Scenario_3.xmlmodel.txt
@@ -0,0 +1,3525 @@
+svm_type c_svc
+kernel_type rbf
+gamma 0.166667
+nr_class 2
+total_sv 3516
+rho -10.0764
+label -1 1
+nr_sv 1764 1752
+SV
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diff --git a/test/fcl_resources/newdata/Model_2_Scenario_3.xml b/test/fcl_resources/newdata/Model_2_Scenario_3.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ce61d06a7be87954fbdbb53ab923912292b9767c
--- /dev/null
+++ b/test/fcl_resources/newdata/Model_2_Scenario_3.xml
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diff --git a/test/fcl_resources/newdata/Model_2_Scenario_3.xmlmodel.txt b/test/fcl_resources/newdata/Model_2_Scenario_3.xmlmodel.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e36c4d209546ee50c10885535dfd3506a7693cb4
--- /dev/null
+++ b/test/fcl_resources/newdata/Model_2_Scenario_3.xmlmodel.txt
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diff --git a/test/fcl_resources/newdata/Model_3_Scenario_3.xml b/test/fcl_resources/newdata/Model_3_Scenario_3.xml
new file mode 100644
index 0000000000000000000000000000000000000000..cadc87d5af48371c63b4826ccdbac164872bbb8b
--- /dev/null
+++ b/test/fcl_resources/newdata/Model_3_Scenario_3.xml
@@ -0,0 +1,107215 @@
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