Commit 5f69c168 authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

Bug fix in propagateBVHFrontListCollisionRecurse + unit-tests

parent d0f3fde5
...@@ -382,7 +382,7 @@ void propagateBVHFrontListCollisionRecurse ...@@ -382,7 +382,7 @@ void propagateBVHFrontListCollisionRecurse
front_iter->valid = false; front_iter->valid = false;
if(node->firstOverSecond(b1, b2)) { if(node->firstOverSecond(b1, b2)) {
int c1 = node->getFirstLeftChild(b1); int c1 = node->getFirstLeftChild(b1);
int c2 = node->getFirstRightChild(b2); int c2 = node->getFirstRightChild(b1);
collisionRecurse(node, c1, b2, front_list, sqrDistLowerBound1); collisionRecurse(node, c1, b2, front_list, sqrDistLowerBound1);
collisionRecurse(node, c2, b2, front_list, sqrDistLowerBound2); collisionRecurse(node, c2, b2, front_list, sqrDistLowerBound2);
......
...@@ -84,7 +84,11 @@ BOOST_AUTO_TEST_CASE(front_list) ...@@ -84,7 +84,11 @@ BOOST_AUTO_TEST_CASE(front_list)
std::vector<Transform3f> transforms2; // t1 std::vector<Transform3f> transforms2; // t1
FCL_REAL extents[] = {-3000, -3000, 0, 3000, 3000, 3000}; FCL_REAL extents[] = {-3000, -3000, 0, 3000, 3000, 3000};
FCL_REAL delta_trans[] = {1, 1, 1}; FCL_REAL delta_trans[] = {1, 1, 1};
std::size_t n = 10; #ifdef NDEBUG
std::size_t n = 20;
#else
std::size_t n = 5;
#endif
bool verbose = false; bool verbose = false;
generateRandomTransforms(extents, delta_trans, 0.005 * 2 * 3.1415, transforms, transforms2, n); generateRandomTransforms(extents, delta_trans, 0.005 * 2 * 3.1415, transforms, transforms2, n);
......
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