[Test] Update to API change of shapeIntersect

test/collision.cpp

@@ -104,8 +104,9 @@ BOOST_AUTO_TEST_CASE(OBB_Box_test)
 
     GJKSolver solver;
 
+    FCL_REAL distance;
     bool overlap_obb = obb1.overlap(obb2);
-    bool overlap_box = solver.shapeIntersect(box1, box1_tf, box2, box2_tf, NULL, NULL, NULL);
+    bool overlap_box = solver.shapeIntersect(box1, box1_tf, box2, box2_tf, distance, false, NULL, NULL);
     
     BOOST_CHECK(overlap_obb == overlap_box);
   }
@@ -138,13 +139,14 @@ BOOST_AUTO_TEST_CASE(OBB_shape_test)
     FCL_REAL len = (aabb1.max_[0] - aabb1.min_[0]) * 0.5;
     OBB obb2;
     GJKSolver solver;
+    FCL_REAL distance;
  
     {  
       Sphere sphere(len);
       computeBV(sphere, transforms[i], obb2);
  
       bool overlap_obb = obb1.overlap(obb2);
-      bool overlap_sphere = solver.shapeIntersect(box1, box1_tf, sphere, transforms[i], NULL, NULL, NULL);
+      bool overlap_sphere = solver.shapeIntersect(box1, box1_tf, sphere, transforms[i], distance, false, NULL, NULL);
       BOOST_CHECK(overlap_obb >= overlap_sphere);
     }
 
@@ -153,7 +155,7 @@ BOOST_AUTO_TEST_CASE(OBB_shape_test)
       computeBV(capsule, transforms[i], obb2);
       
       bool overlap_obb = obb1.overlap(obb2);
-      bool overlap_capsule = solver.shapeIntersect(box1, box1_tf, capsule, transforms[i], NULL, NULL, NULL);
+      bool overlap_capsule = solver.shapeIntersect(box1, box1_tf, capsule, transforms[i], distance, false, NULL, NULL);
       BOOST_CHECK(overlap_obb >= overlap_capsule);
     }
 
@@ -162,7 +164,7 @@ BOOST_AUTO_TEST_CASE(OBB_shape_test)
       computeBV(cone, transforms[i], obb2);
       
       bool overlap_obb = obb1.overlap(obb2);
-      bool overlap_cone = solver.shapeIntersect(box1, box1_tf, cone, transforms[i], NULL, NULL, NULL);
+      bool overlap_cone = solver.shapeIntersect(box1, box1_tf, cone, transforms[i], distance, false, NULL, NULL);
       BOOST_CHECK(overlap_obb >= overlap_cone);
     }
 
@@ -171,7 +173,7 @@ BOOST_AUTO_TEST_CASE(OBB_shape_test)
       computeBV(cylinder, transforms[i], obb2);
       
       bool overlap_obb = obb1.overlap(obb2);
-      bool overlap_cylinder = solver.shapeIntersect(box1, box1_tf, cylinder, transforms[i], NULL, NULL, NULL);
+      bool overlap_cylinder = solver.shapeIntersect(box1, box1_tf, cylinder, transforms[i], distance, false, NULL, NULL);
       BOOST_CHECK(overlap_obb >= overlap_cylinder);
     }
   }

test/general_test.cpp

@@ -14,7 +14,7 @@ int main(int argc, char** argv)
   boost::shared_ptr<Box> box1(new Box(1,1,1));
   GJKSolver_libccd solver;
   Vec3f contact_points;
-  FCL_REAL penetration_depth;
+  FCL_REAL distance;
   Vec3f normal;
 
   Transform3f tf0, tf1;
@@ -23,12 +23,10 @@ int main(int argc, char** argv)
   tf0.setQuatRotation(Quaternion3f(.6, .8, 0, 0));
   tf1.setIdentity();
 
-
-
-  bool res = solver.shapeIntersect(*box0, tf0, *box1, tf1, &contact_points, &penetration_depth, &normal);
+  bool res = solver.shapeIntersect(*box0, tf0, *box1, tf1, distance, true, &contact_points, &normal);
 
   cout << "contact points: " << contact_points << endl;
-  cout << "pen depth: " << penetration_depth << endl;
+  cout << "signed distance: " << distance << endl;
   cout << "normal: " << normal << endl;
   cout << "result: " << res << endl;
   

test/sphere_capsule.cpp

@@ -61,7 +61,8 @@ BOOST_AUTO_TEST_CASE(Sphere_Capsule_Intersect_test_separated_z)
 	Capsule capsule (50, 200.);
 	Transform3f capsule_transform (Vec3f (0., 0., 200));
 
-	BOOST_CHECK (!solver.shapeIntersect(sphere1, sphere1_transform, capsule, capsule_transform, NULL, NULL, NULL));
+        FCL_REAL distance;
+	BOOST_CHECK (!solver.shapeIntersect(sphere1, sphere1_transform, capsule, capsule_transform, distance, false, NULL, NULL));
 }
 
 BOOST_AUTO_TEST_CASE(Sphere_Capsule_Intersect_test_separated_z_negative)
@@ -75,7 +76,8 @@ BOOST_AUTO_TEST_CASE(Sphere_Capsule_Intersect_test_separated_z_negative)
 	Capsule capsule (50, 200.);
 	Transform3f capsule_transform (Vec3f (0., 0., -200));
 
-	BOOST_CHECK (!solver.shapeIntersect(sphere1, sphere1_transform, capsule, capsule_transform, NULL, NULL, NULL));
+        FCL_REAL distance;
+	BOOST_CHECK (!solver.shapeIntersect(sphere1, sphere1_transform, capsule, capsule_transform, distance, false, NULL, NULL));
 }
 
 BOOST_AUTO_TEST_CASE(Sphere_Capsule_Intersect_test_separated_x)
@@ -89,7 +91,8 @@ BOOST_AUTO_TEST_CASE(Sphere_Capsule_Intersect_test_separated_x)
 	Capsule capsule (50, 200.);
 	Transform3f capsule_transform (Vec3f (150., 0., 0.));
 
-	BOOST_CHECK (!solver.shapeIntersect(sphere1, sphere1_transform, capsule, capsule_transform, NULL, NULL, NULL));
+        FCL_REAL distance;
+	BOOST_CHECK (!solver.shapeIntersect(sphere1, sphere1_transform, capsule, capsule_transform, distance, false, NULL, NULL));
 }
 
 BOOST_AUTO_TEST_CASE(Sphere_Capsule_Intersect_test_separated_capsule_rotated)
@@ -106,7 +109,8 @@ BOOST_AUTO_TEST_CASE(Sphere_Capsule_Intersect_test_separated_capsule_rotated)
         setEulerZYX(rotation, M_PI * 0.5, 0., 0.);
 	Transform3f capsule_transform (rotation, Vec3f (150., 0., 0.));
 
-	BOOST_CHECK (!solver.shapeIntersect(sphere1, sphere1_transform, capsule, capsule_transform, NULL, NULL, NULL));
+        FCL_REAL distance;
+	BOOST_CHECK (!solver.shapeIntersect(sphere1, sphere1_transform, capsule, capsule_transform, distance, false, NULL, NULL));
 }
 
 BOOST_AUTO_TEST_CASE(Sphere_Capsule_Intersect_test_penetration_z)