From 75e0980e19d14cb1120d0bd16ae8224106ea4d81 Mon Sep 17 00:00:00 2001
From: Jeongseok Lee <jslee02@gmail.com>
Date: Wed, 15 Apr 2015 01:38:34 -0400
Subject: [PATCH] Add (GJK) halfspace-triangle and plane-triangle tests
---
test/test_fcl_geometric_shapes.cpp | 82 ++++++++++++++++++++++++++++++
1 file changed, 82 insertions(+)
diff --git a/test/test_fcl_geometric_shapes.cpp b/test/test_fcl_geometric_shapes.cpp
index 7fbbd4e9..e12ca957 100644
--- a/test/test_fcl_geometric_shapes.cpp
+++ b/test/test_fcl_geometric_shapes.cpp
@@ -3082,6 +3082,88 @@ BOOST_AUTO_TEST_CASE(shapeIntersectionGJK_spheretriangle)
BOOST_CHECK(normal.equal(transform.getRotation() * Vec3f(1, 0, 0), 1e-9));
}
+BOOST_AUTO_TEST_CASE(shapeIntersectionGJK_halfspacetriangle)
+{
+ Halfspace hs(Vec3f(1, 0, 0), 0);
+ Vec3f t[3];
+ t[0].setValue(20, 0, 0);
+ t[1].setValue(-20, 0, 0);
+ t[2].setValue(0, 20, 0);
+
+ Transform3f transform;
+ generateRandomTransform(extents, transform);
+
+ // Vec3f point;
+ // FCL_REAL depth;
+ Vec3f normal;
+ bool res;
+
+ res = solver2.shapeTriangleIntersect(hs, Transform3f(), t[0], t[1], t[2], Transform3f(), NULL, NULL, NULL);
+ BOOST_CHECK(res);
+
+ res = solver2.shapeTriangleIntersect(hs, transform, t[0], t[1], t[2], transform, NULL, NULL, NULL);
+ BOOST_CHECK(res);
+
+
+ t[0].setValue(20, 0, 0);
+ t[1].setValue(0, -20, 0);
+ t[2].setValue(0, 20, 0);
+ res = solver1.shapeTriangleIntersect(hs, Transform3f(), t[0], t[1], t[2], Transform3f(), NULL, NULL, NULL);
+ BOOST_CHECK(res);
+
+ res = solver2.shapeTriangleIntersect(hs, transform, t[0], t[1], t[2], transform, NULL, NULL, NULL);
+ BOOST_CHECK(res);
+
+ res = solver2.shapeTriangleIntersect(hs, Transform3f(), t[0], t[1], t[2], Transform3f(), NULL, NULL, &normal);
+ BOOST_CHECK(res);
+ BOOST_CHECK(normal.equal(Vec3f(1, 0, 0), 1e-9));
+
+ res = solver2.shapeTriangleIntersect(hs, transform, t[0], t[1], t[2], transform, NULL, NULL, &normal);
+ BOOST_CHECK(res);
+ BOOST_CHECK(normal.equal(transform.getRotation() * Vec3f(1, 0, 0), 1e-9));
+}
+
+BOOST_AUTO_TEST_CASE(shapeIntersectionGJK_planetriangle)
+{
+ Plane hs(Vec3f(1, 0, 0), 0);
+ Vec3f t[3];
+ t[0].setValue(20, 0, 0);
+ t[1].setValue(-20, 0, 0);
+ t[2].setValue(0, 20, 0);
+
+ Transform3f transform;
+ generateRandomTransform(extents, transform);
+
+ // Vec3f point;
+ // FCL_REAL depth;
+ Vec3f normal;
+ bool res;
+
+ res = solver1.shapeTriangleIntersect(hs, Transform3f(), t[0], t[1], t[2], Transform3f(), NULL, NULL, NULL);
+ BOOST_CHECK(res);
+
+ res = solver1.shapeTriangleIntersect(hs, transform, t[0], t[1], t[2], transform, NULL, NULL, NULL);
+ BOOST_CHECK(res);
+
+
+ t[0].setValue(20, 0, 0);
+ t[1].setValue(-0.1, -20, 0);
+ t[2].setValue(-0.1, 20, 0);
+ res = solver1.shapeTriangleIntersect(hs, Transform3f(), t[0], t[1], t[2], Transform3f(), NULL, NULL, NULL);
+ BOOST_CHECK(res);
+
+ res = solver2.shapeTriangleIntersect(hs, transform, t[0], t[1], t[2], transform, NULL, NULL, NULL);
+ BOOST_CHECK(res);
+
+ res = solver2.shapeTriangleIntersect(hs, Transform3f(), t[0], t[1], t[2], Transform3f(), NULL, NULL, &normal);
+ BOOST_CHECK(res);
+ BOOST_CHECK(normal.equal(Vec3f(1, 0, 0), 1e-9));
+
+ res = solver2.shapeTriangleIntersect(hs, transform, t[0], t[1], t[2], transform, NULL, NULL, &normal);
+ BOOST_CHECK(res);
+ BOOST_CHECK(normal.equal(transform.getRotation() * Vec3f(1, 0, 0), 1e-9));
+}
+
--
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