From 54e622c49ca7a550e660b3cf6a671055d4ed016d Mon Sep 17 00:00:00 2001
From: jpan <jpan@253336fb-580f-4252-a368-f3cef5a2a82b>
Date: Tue, 6 Dec 2011 20:14:20 +0000
Subject: [PATCH] refactor a bit more
git-svn-id: https://kforge.ros.org/fcl/fcl_ros@49 253336fb-580f-4252-a368-f3cef5a2a82b
---
.../fcl/geometric_shape_to_BVH_model.h | 42 +++++++++----------
trunk/fcl/include/fcl/geometric_shapes.h | 4 +-
trunk/fcl/include/fcl/motion.h | 2 +-
trunk/fcl/src/AABB.cpp | 4 +-
trunk/fcl/src/BVH_model.cpp | 4 +-
trunk/fcl/src/BVH_utility.cpp | 24 +++++------
trunk/fcl/src/RSS.cpp | 42 +++++++++----------
trunk/fcl/src/geometric_shapes_intersect.cpp | 4 +-
trunk/fcl/src/intersect.cpp | 2 +-
trunk/fcl/src/matrix_3f.cpp | 6 +--
.../test_core_conservative_advancement.cpp | 8 ++--
.../fcl/test/test_core_deformable_object.cpp | 8 ++--
trunk/fcl/test/test_core_geometric_shapes.cpp | 18 ++++----
trunk/fcl/test/test_core_utility.h | 4 +-
14 files changed, 85 insertions(+), 87 deletions(-)
diff --git a/trunk/fcl/include/fcl/geometric_shape_to_BVH_model.h b/trunk/fcl/include/fcl/geometric_shape_to_BVH_model.h
index c721baac..914708fe 100644
--- a/trunk/fcl/include/fcl/geometric_shape_to_BVH_model.h
+++ b/trunk/fcl/include/fcl/geometric_shape_to_BVH_model.h
@@ -55,27 +55,27 @@ void generateBVHModel(BVHModel<BV>& model, const Box& shape)
double c = shape.side[2];
std::vector<Vec3f> points(8);
std::vector<Triangle> tri_indices(12);
- points[0] = Vec3f(0.5 * a, -0.5 * b, 0.5 * c);
- points[1] = Vec3f(0.5 * a, 0.5 * b, 0.5 * c);
- points[2] = Vec3f(-0.5 * a, 0.5 * b, 0.5 * c);
- points[3] = Vec3f(-0.5 * a, -0.5 * b, 0.5 * c);
- points[4] = Vec3f(0.5 * a, -0.5 * b, -0.5 * c);
- points[5] = Vec3f(0.5 * a, 0.5 * b, -0.5 * c);
- points[6] = Vec3f(-0.5 * a, 0.5 * b, -0.5 * c);
- points[7] = Vec3f(-0.5 * a, -0.5 * b, -0.5 * c);
-
- tri_indices[0] = Triangle(0, 4, 1);
- tri_indices[1] = Triangle(1, 4, 5);
- tri_indices[2] = Triangle(2, 6, 3);
- tri_indices[3] = Triangle(3, 6, 7);
- tri_indices[4] = Triangle(3, 0, 2);
- tri_indices[5] = Triangle(2, 0, 1);
- tri_indices[6] = Triangle(6, 5, 7);
- tri_indices[7] = Triangle(7, 5, 4);
- tri_indices[8] = Triangle(1, 5, 2);
- tri_indices[9] = Triangle(2, 5, 6);
- tri_indices[10] = Triangle(3, 7, 0);
- tri_indices[11] = Triangle(0, 7, 4);
+ points[0].setValue(0.5 * a, -0.5 * b, 0.5 * c);
+ points[1].setValue(0.5 * a, 0.5 * b, 0.5 * c);
+ points[2].setValue(-0.5 * a, 0.5 * b, 0.5 * c);
+ points[3].setValue(-0.5 * a, -0.5 * b, 0.5 * c);
+ points[4].setValue(0.5 * a, -0.5 * b, -0.5 * c);
+ points[5].setValue(0.5 * a, 0.5 * b, -0.5 * c);
+ points[6].setValue(-0.5 * a, 0.5 * b, -0.5 * c);
+ points[7].setValue(-0.5 * a, -0.5 * b, -0.5 * c);
+
+ tri_indices[0].set(0, 4, 1);
+ tri_indices[1].set(1, 4, 5);
+ tri_indices[2].set(2, 6, 3);
+ tri_indices[3].set(3, 6, 7);
+ tri_indices[4].set(3, 0, 2);
+ tri_indices[5].set(2, 0, 1);
+ tri_indices[6].set(6, 5, 7);
+ tri_indices[7].set(7, 5, 4);
+ tri_indices[8].set(1, 5, 2);
+ tri_indices[9].set(2, 5, 6);
+ tri_indices[10].set(3, 7, 0);
+ tri_indices[11].set(0, 7, 4);
for(unsigned int i = 0; i < points.size(); ++i)
{
diff --git a/trunk/fcl/include/fcl/geometric_shapes.h b/trunk/fcl/include/fcl/geometric_shapes.h
index ac3c771a..dc9d6ead 100644
--- a/trunk/fcl/include/fcl/geometric_shapes.h
+++ b/trunk/fcl/include/fcl/geometric_shapes.h
@@ -290,10 +290,8 @@ public:
Plane(const Vec3f& n_, BVH_REAL d_) : ShapeBase(), n(n_), d(d_) { unitNormalTest(); }
/** \brief Construct a plane with normal direction and offset */
- Plane(BVH_REAL a, BVH_REAL b, BVH_REAL c, BVH_REAL d_)
+ Plane(BVH_REAL a, BVH_REAL b, BVH_REAL c, BVH_REAL d_) : n(a, b, c), d(d_)
{
- n = Vec3f(a, b, c);
- d = d_;
unitNormalTest();
}
diff --git a/trunk/fcl/include/fcl/motion.h b/trunk/fcl/include/fcl/motion.h
index 6c10a221..450799db 100644
--- a/trunk/fcl/include/fcl/motion.h
+++ b/trunk/fcl/include/fcl/motion.h
@@ -319,7 +319,7 @@ public:
ScrewMotion()
{
/** Default angular velocity is zero */
- axis = Vec3f(1, 0, 0);
+ axis.setValue(1, 0, 0);
angular_vel = 0;
/** Default reference point is local zero point */
diff --git a/trunk/fcl/src/AABB.cpp b/trunk/fcl/src/AABB.cpp
index 62ae193b..2cd8ebd2 100644
--- a/trunk/fcl/src/AABB.cpp
+++ b/trunk/fcl/src/AABB.cpp
@@ -45,8 +45,8 @@ namespace fcl
AABB::AABB()
{
BVH_REAL real_max = std::numeric_limits<BVH_REAL>::max();
- min_ = Vec3f(real_max, real_max, real_max);
- max_ = Vec3f(-real_max, -real_max, -real_max);
+ min_.setValue(real_max, real_max, real_max);
+ max_.setValue(-real_max, -real_max, -real_max);
}
BVH_REAL AABB::distance(const AABB& other, Vec3f* P, Vec3f* Q) const
diff --git a/trunk/fcl/src/BVH_model.cpp b/trunk/fcl/src/BVH_model.cpp
index ffe14778..acae3c66 100644
--- a/trunk/fcl/src/BVH_model.cpp
+++ b/trunk/fcl/src/BVH_model.cpp
@@ -234,7 +234,7 @@ int BVHModel<BV>::addTriangle(const Vec3f& p1, const Vec3f& p2, const Vec3f& p3)
num_tris_allocated *= 2;
}
- tri_indices[num_tris] = Triangle(offset, offset + 1, offset + 2);
+ tri_indices[num_tris].set(offset, offset + 1, offset + 2);
return BVH_OK;
}
@@ -329,7 +329,7 @@ int BVHModel<BV>::addSubModel(const std::vector<Vec3f>& ps, const std::vector<Tr
for(int i = 0; i < num_tris_to_add; ++i)
{
const Triangle& t = ts[i];
- tri_indices[num_tris] = Triangle(t[0] + offset, t[1] + offset, t[2] + offset);
+ tri_indices[num_tris].set(t[0] + offset, t[1] + offset, t[2] + offset);
num_tris++;
}
diff --git a/trunk/fcl/src/BVH_utility.cpp b/trunk/fcl/src/BVH_utility.cpp
index 81ae732a..e4872395 100644
--- a/trunk/fcl/src/BVH_utility.cpp
+++ b/trunk/fcl/src/BVH_utility.cpp
@@ -862,15 +862,15 @@ void getExtentAndCenter(Vec3f* ps, Vec3f* ps2, unsigned int* indices, int n, Vec
}
}
- Vec3f o = Vec3f((max_coord[0] + min_coord[0]) / 2,
- (max_coord[1] + min_coord[1]) / 2,
- (max_coord[2] + min_coord[2]) / 2);
+ Vec3f o((max_coord[0] + min_coord[0]) / 2,
+ (max_coord[1] + min_coord[1]) / 2,
+ (max_coord[2] + min_coord[2]) / 2);
center = axis[0] * o[0] + axis[1] * o[1] + axis[2] * o[2];
- extent = Vec3f((max_coord[0] - min_coord[0]) / 2,
- (max_coord[1] - min_coord[1]) / 2,
- (max_coord[2] - min_coord[2]) / 2);
+ extent.setValue((max_coord[0] - min_coord[0]) / 2,
+ (max_coord[1] - min_coord[1]) / 2,
+ (max_coord[2] - min_coord[2]) / 2);
}
@@ -931,15 +931,15 @@ void getExtentAndCenter(Vec3f* ps, Vec3f* ps2, Triangle* ts, unsigned int* indic
}
}
- Vec3f o = Vec3f((max_coord[0] + min_coord[0]) / 2,
- (max_coord[1] + min_coord[1]) / 2,
- (max_coord[2] + min_coord[2]) / 2);
+ Vec3f o((max_coord[0] + min_coord[0]) / 2,
+ (max_coord[1] + min_coord[1]) / 2,
+ (max_coord[2] + min_coord[2]) / 2);
center = axis[0] * o[0] + axis[1] * o[1] + axis[2] * o[2];
- extent = Vec3f((max_coord[0] - min_coord[0]) / 2,
- (max_coord[1] - min_coord[1]) / 2,
- (max_coord[2] - min_coord[2]) / 2);
+ extent.setValue((max_coord[0] - min_coord[0]) / 2,
+ (max_coord[1] - min_coord[1]) / 2,
+ (max_coord[2] - min_coord[2]) / 2);
}
diff --git a/trunk/fcl/src/RSS.cpp b/trunk/fcl/src/RSS.cpp
index 5c30c0c2..45178990 100644
--- a/trunk/fcl/src/RSS.cpp
+++ b/trunk/fcl/src/RSS.cpp
@@ -67,7 +67,7 @@ bool overlap(const Matrix3f& R0, const Vec3f& T0, const RSS& b1, const RSS& b2)
R0b2.transposeDotX(b1.axis[2]), R0b2.transposeDotY(b1.axis[2]), R0b2.transposeDotZ(b1.axis[2]));
Vec3f Ttemp = R0 * b2.Tr + T0 - b1.Tr;
- Vec3f T = Vec3f(Ttemp.dot(b1.axis[0]), Ttemp.dot(b1.axis[1]), Ttemp.dot(b1.axis[2]));
+ Vec3f T(Ttemp.dot(b1.axis[0]), Ttemp.dot(b1.axis[1]), Ttemp.dot(b1.axis[2]));
BVH_REAL dist = RSS::rectDistance(R, T, b1.l, b2.l);
if(dist <= (b1.r + b2.r)) return true;
@@ -349,7 +349,7 @@ BVH_REAL distance(const Matrix3f& R0, const Vec3f& T0, const RSS& b1, const RSS&
Vec3f Ttemp = R0 * b2.Tr + T0 - b1.Tr;
- Vec3f T = Vec3f(Ttemp.dot(b1.axis[0]), Ttemp.dot(b1.axis[1]), Ttemp.dot(b1.axis[2]));
+ Vec3f T(Ttemp.dot(b1.axis[0]), Ttemp.dot(b1.axis[1]), Ttemp.dot(b1.axis[2]));
BVH_REAL dist = RSS::rectDistance(R, T, b1.l, b2.l, P, Q);
dist -= (b1.r + b2.r);
@@ -451,7 +451,7 @@ BVH_REAL RSS::rectDistance(const Matrix3f& Rab, Vec3f const& Tab, const BVH_REAL
if(P && Q)
{
- *P = Vec3f(a[0], t, 0);
+ P->setValue(a[0], t, 0);
*Q = S + (*P);
}
@@ -480,7 +480,7 @@ BVH_REAL RSS::rectDistance(const Matrix3f& Rab, Vec3f const& Tab, const BVH_REAL
if(P && Q)
{
- *P = Vec3f(a[0], t, 0);
+ P->setValue(a[0], t, 0);
*Q = S + (*P);
}
@@ -508,7 +508,7 @@ BVH_REAL RSS::rectDistance(const Matrix3f& Rab, Vec3f const& Tab, const BVH_REAL
if(P && Q)
{
- *P = Vec3f(0, t, 0);
+ P->setValue(0, t, 0);
*Q = S + (*P);
}
@@ -536,7 +536,7 @@ BVH_REAL RSS::rectDistance(const Matrix3f& Rab, Vec3f const& Tab, const BVH_REAL
if(P && Q)
{
- *P = Vec3f(0, t, 0);
+ P->setValue(0, t, 0);
*Q = S + (*P);
}
@@ -604,7 +604,7 @@ BVH_REAL RSS::rectDistance(const Matrix3f& Rab, Vec3f const& Tab, const BVH_REAL
if(P && Q)
{
- *P = Vec3f(a[0], t, 0);
+ P->setValue(a[0], t, 0);
*Q = S + (*P);
}
@@ -632,7 +632,7 @@ BVH_REAL RSS::rectDistance(const Matrix3f& Rab, Vec3f const& Tab, const BVH_REAL
if(P && Q)
{
- *P = Vec3f(a[0], t, 0);
+ P->setValue(a[0], t, 0);
*Q = S + (*P);
}
@@ -661,7 +661,7 @@ BVH_REAL RSS::rectDistance(const Matrix3f& Rab, Vec3f const& Tab, const BVH_REAL
if(P && Q)
{
- *P = Vec3f(0, t, 0);
+ P->setValue(0, t, 0);
*Q = S + (*P);
}
@@ -690,7 +690,7 @@ BVH_REAL RSS::rectDistance(const Matrix3f& Rab, Vec3f const& Tab, const BVH_REAL
if(P&& Q)
{
- *P = Vec3f(0, t, 0);
+ P->setValue(0, t, 0);
*Q = S + (*P);
}
@@ -758,7 +758,7 @@ BVH_REAL RSS::rectDistance(const Matrix3f& Rab, Vec3f const& Tab, const BVH_REAL
if(P && Q)
{
- *P = Vec3f(t, a[1], 0);
+ P->setValue(t, a[1], 0);
*Q = S + (*P);
}
@@ -786,7 +786,7 @@ BVH_REAL RSS::rectDistance(const Matrix3f& Rab, Vec3f const& Tab, const BVH_REAL
if(P && Q)
{
- *P = Vec3f(t, a[1], 0);
+ P->setValue(t, a[1], 0);
*Q = S + (*P);
}
@@ -814,7 +814,7 @@ BVH_REAL RSS::rectDistance(const Matrix3f& Rab, Vec3f const& Tab, const BVH_REAL
if(P && Q)
{
- *P = Vec3f(t, 0, 0);
+ P->setValue(t, 0, 0);
*Q = S + (*P);
}
@@ -842,7 +842,7 @@ BVH_REAL RSS::rectDistance(const Matrix3f& Rab, Vec3f const& Tab, const BVH_REAL
if(P && Q)
{
- *P = Vec3f(t, 0, 0);
+ P->setValue(t, 0, 0);
*Q = S + (*P);
}
@@ -903,7 +903,7 @@ BVH_REAL RSS::rectDistance(const Matrix3f& Rab, Vec3f const& Tab, const BVH_REAL
if(P && Q)
{
- *P = Vec3f(t, a[1], 0);
+ P->setValue(t, a[1], 0);
*Q = S + (*P);
}
@@ -931,7 +931,7 @@ BVH_REAL RSS::rectDistance(const Matrix3f& Rab, Vec3f const& Tab, const BVH_REAL
if(P && Q)
{
- *P = Vec3f(t, a[1], 0);
+ P->setValue(t, a[1], 0);
*Q = S + (*P);
}
@@ -960,7 +960,7 @@ BVH_REAL RSS::rectDistance(const Matrix3f& Rab, Vec3f const& Tab, const BVH_REAL
if(P && Q)
{
- *P = Vec3f(t, 0, 0);
+ P->setValue(t, 0, 0);
*Q = S + (*P);
}
@@ -988,7 +988,7 @@ BVH_REAL RSS::rectDistance(const Matrix3f& Rab, Vec3f const& Tab, const BVH_REAL
if(P && Q)
{
- *P = Vec3f(t, 0, 0);
+ P->setValue(t, 0, 0);
*Q = S + (*P);
}
@@ -1029,14 +1029,14 @@ BVH_REAL RSS::rectDistance(const Matrix3f& Rab, Vec3f const& Tab, const BVH_REAL
if(sep1 >= sep2 && sep1 >= 0)
{
if(Tab[2] > 0)
- S = Vec3f(0, 0, sep1);
+ S.setValue(0, 0, sep1);
else
- S = Vec3f(0, 0, -sep1);
+ S.setValue(0, 0, -sep1);
if(P && Q)
{
*Q = S;
- *P = Vec3f(0, 0, 0);
+ P->setValue(0);
}
}
diff --git a/trunk/fcl/src/geometric_shapes_intersect.cpp b/trunk/fcl/src/geometric_shapes_intersect.cpp
index 5e808cb9..2c99d86a 100644
--- a/trunk/fcl/src/geometric_shapes_intersect.cpp
+++ b/trunk/fcl/src/geometric_shapes_intersect.cpp
@@ -388,9 +388,9 @@ bool GJKCollide(void* obj1, ccd_support_fn supp1, ccd_center_fn cen1,
res = ccdMPRPenetration(obj1, obj2, &ccd, &depth, &dir, &pos);
if(res == 0)
{
- *contact_points = Vec3f(ccdVec3X(&pos), ccdVec3Y(&pos), ccdVec3Z(&pos));
+ contact_points->setValue(ccdVec3X(&pos), ccdVec3Y(&pos), ccdVec3Z(&pos));
*penetration_depth = depth;
- *normal = Vec3f(-ccdVec3X(&dir), -ccdVec3Y(&dir), -ccdVec3Z(&dir));
+ normal->setValue(-ccdVec3X(&dir), -ccdVec3Y(&dir), -ccdVec3Z(&dir));
return true;
}
diff --git a/trunk/fcl/src/intersect.cpp b/trunk/fcl/src/intersect.cpp
index a58b6a9c..325c10cb 100644
--- a/trunk/fcl/src/intersect.cpp
+++ b/trunk/fcl/src/intersect.cpp
@@ -1292,7 +1292,7 @@ void Intersect::singleKernelGradient(KERNEL_PARM *kernel_parm, SVECTOR *a, SVECT
void Intersect::kernelGradient(KERNEL_PARM *kernel_parm, DOC *a, DOC *b, Vec3f& g)
{
- g = Vec3f(0, 0, 0);
+ g.setValue(0, 0, 0);
SVECTOR *fa, *fb;
Vec3f tmp;
diff --git a/trunk/fcl/src/matrix_3f.cpp b/trunk/fcl/src/matrix_3f.cpp
index 75f89001..d4130bbf 100644
--- a/trunk/fcl/src/matrix_3f.cpp
+++ b/trunk/fcl/src/matrix_3f.cpp
@@ -175,9 +175,9 @@ void matEigen(const Matrix3f& m, BVH_REAL dout[3], Vec3f vout[3])
sm += fabs(R[ip][iq]);
if(sm == 0.0)
{
- vout[0] = Vec3f(v[0][0], v[0][1], v[0][2]);
- vout[1] = Vec3f(v[1][0], v[1][1], v[1][2]);
- vout[2] = Vec3f(v[2][0], v[2][1], v[2][2]);
+ vout[0].setValue(v[0][0], v[0][1], v[0][2]);
+ vout[1].setValue(v[1][0], v[1][1], v[1][2]);
+ vout[2].setValue(v[2][0], v[2][1], v[2][2]);
dout[0] = d[0]; dout[1] = d[1]; dout[2] = d[2];
return;
}
diff --git a/trunk/fcl/test/test_core_conservative_advancement.cpp b/trunk/fcl/test/test_core_conservative_advancement.cpp
index b90d1a9f..91dba4a6 100644
--- a/trunk/fcl/test/test_core_conservative_advancement.cpp
+++ b/trunk/fcl/test/test_core_conservative_advancement.cpp
@@ -435,8 +435,8 @@ bool CA_spline_Test(const Transform& tf1, const Transform& tf2,
for(int i = 0; i < 4; ++i)
{
- Td_2[i] = Vec3f();
- Rd_2[i] = Vec3f(0, 0, 0);
+ Td_2[i].setValue(0);
+ Rd_2[i].setValue(0);
}
SplineMotion<RSS> motion1(Td_1[0], Td_1[1], Td_1[2], Td_1[3],
@@ -501,8 +501,8 @@ bool spline_interp_Test(const Transform& tf1, const Transform& tf2,
for(int i = 0; i < 4; ++i)
{
- Td_2[i] = Vec3f();
- Rd_2[i] = Vec3f(0, 0, 0);
+ Td_2[i].setValue(0);
+ Rd_2[i].setValue(0);
}
SplineMotion<RSS> motion1(Td_1[0], Td_1[1], Td_1[2], Td_1[3],
diff --git a/trunk/fcl/test/test_core_deformable_object.cpp b/trunk/fcl/test/test_core_deformable_object.cpp
index 1cf2bedd..a520fad1 100644
--- a/trunk/fcl/test/test_core_deformable_object.cpp
+++ b/trunk/fcl/test/test_core_deformable_object.cpp
@@ -335,15 +335,15 @@ bool loadPLYFile(const std::string& fileName, float scalarFactor, std::vector<Ve
for(int j = 0 ; j < mesh->mNumVertices; ++j)
{
- vert_list[v_index + j] = Vec3f(mesh->mVertices[j].x, mesh->mVertices[j].y, mesh->mVertices[j].z);
+ vert_list[v_index + j].setValue(mesh->mVertices[j].x, mesh->mVertices[j].y, mesh->mVertices[j].z);
}
for(int j = 0; j < mesh->mNumFaces; ++j)
{
- tri_list[t_index + j] = Triangle(mesh->mFaces[j].mIndices[0] + v_index,
- mesh->mFaces[j].mIndices[1] + v_index,
- mesh->mFaces[j].mIndices[2] + v_index);
+ tri_list[t_index + j].set(mesh->mFaces[j].mIndices[0] + v_index,
+ mesh->mFaces[j].mIndices[1] + v_index,
+ mesh->mFaces[j].mIndices[2] + v_index);
}
v_index += mesh->mNumVertices;
t_index += mesh->mNumFaces;
diff --git a/trunk/fcl/test/test_core_geometric_shapes.cpp b/trunk/fcl/test/test_core_geometric_shapes.cpp
index 9473498b..0c3eba3d 100644
--- a/trunk/fcl/test/test_core_geometric_shapes.cpp
+++ b/trunk/fcl/test/test_core_geometric_shapes.cpp
@@ -560,9 +560,9 @@ TEST(shapeIntersection, spheretriangle)
{
Sphere s(10);
Vec3f t[3];
- t[0] = Vec3f(20, 0, 0);
- t[1] = Vec3f(-20, 0, 0);
- t[2] = Vec3f(0, 20, 0);
+ t[0].setValue(20, 0, 0);
+ t[1].setValue(-20, 0, 0);
+ t[2].setValue(0, 20, 0);
Transform transform;
generateRandomTransform(extents, transform);
@@ -578,9 +578,9 @@ TEST(shapeIntersection, spheretriangle)
ASSERT_TRUE(res);
s.setTransform(identity.R, identity.T);
- t[0] = Vec3f(30, 0, 0);
- t[1] = Vec3f(10, -20, 0);
- t[2] = Vec3f(10, 20, 0);
+ t[0].setValue(30, 0, 0);
+ t[1].setValue(10, -20, 0);
+ t[2].setValue(10, 20, 0);
res = shapeTriangleIntersect(s, t[0], t[1], t[2]);
ASSERT_FALSE(res);
@@ -589,9 +589,9 @@ TEST(shapeIntersection, spheretriangle)
ASSERT_FALSE(res);
s.setTransform(identity.R, identity.T);
- t[0] = Vec3f(30, 0, 0);
- t[1] = Vec3f(9.9, -20, 0);
- t[2] = Vec3f(9.9, 20, 0);
+ t[0].setValue(30, 0, 0);
+ t[1].setValue(9.9, -20, 0);
+ t[2].setValue(9.9, 20, 0);
res = shapeTriangleIntersect(s, t[0], t[1], t[2]);
ASSERT_TRUE(res);
diff --git a/trunk/fcl/test/test_core_utility.h b/trunk/fcl/test/test_core_utility.h
index fda9b524..693b6f50 100644
--- a/trunk/fcl/test/test_core_utility.h
+++ b/trunk/fcl/test/test_core_utility.h
@@ -341,8 +341,8 @@ inline bool distance_PQP(const Transform& tf,
distance_result.distance = res.distance;
- distance_result.p1 = Vec3f(res.p1[0], res.p1[1], res.p1[2]);
- distance_result.p2 = Vec3f(res.p2[0], res.p2[1], res.p2[2]);
+ distance_result.p1.setValue(res.p1[0], res.p1[1], res.p1[2]);
+ distance_result.p2.setValue(res.p2[0], res.p2[1], res.p2[2]);
if(verbose)
--
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