From b2984ef17e37ba0254d08f047e4c3ff86757e83e Mon Sep 17 00:00:00 2001
From: Jeongseok Lee <jslee02@gmail.com>
Date: Wed, 15 Apr 2015 01:36:19 -0400
Subject: [PATCH] Add (GJK) sphere-capsule test
---
test/test_fcl_geometric_shapes.cpp | 46 ++++++++++++++++++++++++++++++
1 file changed, 46 insertions(+)
diff --git a/test/test_fcl_geometric_shapes.cpp b/test/test_fcl_geometric_shapes.cpp
index 5b99e53d..f6b34d17 100644
--- a/test/test_fcl_geometric_shapes.cpp
+++ b/test/test_fcl_geometric_shapes.cpp
@@ -2827,6 +2827,52 @@ BOOST_AUTO_TEST_CASE(shapeIntersectionGJK_spherebox)
// testShapeInersection(s1, tf1, s2, tf2, GST_INDEP, true, NULL, NULL, &normal);
}
+BOOST_AUTO_TEST_CASE(shapeIntersectionGJK_spherecapsule)
+{
+ Sphere s1(20);
+ Capsule s2(5, 10);
+
+ Transform3f tf1;
+ Transform3f tf2;
+
+ Transform3f transform;
+ generateRandomTransform(extents, transform);
+
+ // Vec3f point;
+ // FCL_REAL depth;
+ Vec3f normal;
+
+ tf1 = Transform3f();
+ tf2 = Transform3f();
+ // TODO: Need convention for normal when the centers of two objects are at same position.
+ testShapeInersection(s1, tf1, s2, tf2, GST_INDEP, true, NULL, NULL, NULL);
+
+ tf1 = transform;
+ tf2 = transform;
+ // TODO: Need convention for normal when the centers of two objects are at same position.
+ testShapeInersection(s1, tf1, s2, tf2, GST_INDEP, true, NULL, NULL, NULL);
+
+ tf1 = Transform3f();
+ tf2 = Transform3f(Vec3f(24.9, 0, 0));
+ normal.setValue(1, 0, 0);
+ testShapeInersection(s1, tf1, s2, tf2, GST_INDEP, true, NULL, NULL, &normal);
+
+ tf1 = transform;
+ tf2 = transform * Transform3f(Vec3f(24.9, 0, 0));
+ normal = transform.getRotation() * Vec3f(1, 0, 0);
+ testShapeInersection(s1, tf1, s2, tf2, GST_INDEP, true, NULL, NULL, &normal);
+
+ tf1 = Transform3f();
+ tf2 = Transform3f(Vec3f(25, 0, 0));
+ normal.setValue(1, 0, 0);
+ testShapeInersection(s1, tf1, s2, tf2, GST_INDEP, true, NULL, NULL, &normal);
+
+ tf1 = transform;
+ tf2 = transform * Transform3f(Vec3f(25.1, 0, 0));
+ normal = transform.getRotation() * Vec3f(1, 0, 0);
+ testShapeInersection(s1, tf1, s2, tf2, GST_INDEP, false);
+}
+
BOOST_AUTO_TEST_CASE(shapeIntersectionGJK_cylindercylinder)
{
Cylinder s1(5, 10);
--
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