From a27a270d6373a147f40016529c827aaf22276a51 Mon Sep 17 00:00:00 2001
From: jpan <jpan@253336fb-580f-4252-a368-f3cef5a2a82b>
Date: Wed, 14 Sep 2011 05:02:49 +0000
Subject: [PATCH] add gtest for front list
git-svn-id: https://kforge.ros.org/fcl/fcl_ros@33 253336fb-580f-4252-a368-f3cef5a2a82b
---
trunk/fcl/CMakeLists.txt | 5 ++++-
trunk/fcl/src/collision.cpp | 1 +
trunk/fcl/src/collision_func_matrix.cpp | 9 ++++++---
trunk/fcl/test/test_core_collision.cpp | 2 --
4 files changed, 11 insertions(+), 6 deletions(-)
diff --git a/trunk/fcl/CMakeLists.txt b/trunk/fcl/CMakeLists.txt
index a84411af..385c74f7 100644
--- a/trunk/fcl/CMakeLists.txt
+++ b/trunk/fcl/CMakeLists.txt
@@ -50,4 +50,7 @@ rosbuild_add_gtest(test_core_collision_shape_mesh_consistency test/test_core_col
target_link_libraries(test_core_collision_shape_mesh_consistency fcl)
rosbuild_add_gtest(test_core_broad_phase test/test_core_broad_phase.cpp)
-target_link_libraries(test_core_broad_phase fcl)
\ No newline at end of file
+target_link_libraries(test_core_broad_phase fcl)
+
+rosbuild_add_gtest(test_core_front_list test/test_core_front_list.cpp)
+target_link_libraries(test_core_front_list fcl)
\ No newline at end of file
diff --git a/trunk/fcl/src/collision.cpp b/trunk/fcl/src/collision.cpp
index 6d942cb7..bedb7b30 100644
--- a/trunk/fcl/src/collision.cpp
+++ b/trunk/fcl/src/collision.cpp
@@ -74,6 +74,7 @@ int collide(const CollisionObject* o1, const CollisionObject* o2,
}
else if(object_type1 == OT_GEOM && object_type2 == OT_BVH)
{
+ //if(!CollisionFunctionLookTable.collision_matrix[node_type1][node_type2])
if(!CollisionFunctionLookTable.collision_matrix[node_type2][node_type1])
{
std::cerr << "Warning: collision function between node type " << node_type1 << " and node type " << node_type2 << " is not supported"<< std::endl;
diff --git a/trunk/fcl/src/collision_func_matrix.cpp b/trunk/fcl/src/collision_func_matrix.cpp
index b69fa79c..d202c904 100644
--- a/trunk/fcl/src/collision_func_matrix.cpp
+++ b/trunk/fcl/src/collision_func_matrix.cpp
@@ -950,7 +950,7 @@ int KDOP24PlaneCollide(const CollisionObject* o1, const CollisionObject* o2, int
MESHSHAPE_COMMON_CODE();
}
-
+// use MESH SHAPE
/*
int BoxAABBCollide(const CollisionObject* o1, const CollisionObject* o2, int num_max_contacts, bool exhaustive, bool enable_contact, std::vector<Contact>& contacts)
{
@@ -1325,6 +1325,7 @@ int PlaneKDOP24Collide(const CollisionObject* o1, const CollisionObject* o2, int
*/
+
int AABBAABBCollide(const CollisionObject* o1, const CollisionObject* o2, int num_max_contacts, bool exhaustive, bool enable_contact, std::vector<Contact>& contacts)
{
MeshCollisionTraversalNode<AABB> node;
@@ -1493,7 +1494,8 @@ CollisionFunctionMatrix::CollisionFunctionMatrix()
collision_matrix[BV_KDOP24][GEOM_CYLINDER] = KDOP24CylinderCollide;
collision_matrix[BV_KDOP24][GEOM_CONVEX] = KDOP24ConvexCollide;
collision_matrix[BV_KDOP24][GEOM_PLANE] = KDOP24PlaneCollide;
-/*
+
+ /*
collision_matrix[GEOM_BOX][BV_AABB] = BoxAABBCollide;
collision_matrix[GEOM_SPHERE][BV_AABB] = SphereAABBCollide;
collision_matrix[GEOM_CAPSULE][BV_AABB] = CapAABBCollide;
@@ -1541,7 +1543,8 @@ CollisionFunctionMatrix::CollisionFunctionMatrix()
collision_matrix[GEOM_CYLINDER][BV_KDOP24] = CylinderKDOP24Collide;
collision_matrix[GEOM_CONVEX][BV_KDOP24] = ConvexKDOP24Collide;
collision_matrix[GEOM_PLANE][BV_KDOP24] = PlaneKDOP24Collide;
-*/
+ */
+
collision_matrix[BV_AABB][BV_AABB] = AABBAABBCollide;
collision_matrix[BV_OBB][BV_OBB] = OBBOBBCollide;
collision_matrix[BV_RSS][BV_RSS] = RSSRSSCollide;
diff --git a/trunk/fcl/test/test_core_collision.cpp b/trunk/fcl/test/test_core_collision.cpp
index 764e1178..2bd4ea8b 100644
--- a/trunk/fcl/test/test_core_collision.cpp
+++ b/trunk/fcl/test/test_core_collision.cpp
@@ -89,8 +89,6 @@ TEST(collision_test, mesh_mesh)
std::vector<Transform> transforms; // t0
std::vector<Transform> transforms2; // t1
- std::vector<Transform> transforms_ccd; // t0
- std::vector<Transform> transforms_ccd2; // t1
BVH_REAL extents[] = {-3000, -3000, 0, 3000, 3000, 3000};
BVH_REAL delta_trans[] = {1, 1, 1};
int n = 10;
--
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