diff --git a/src/narrowphase/gjk_libccd.cpp b/src/narrowphase/gjk_libccd.cpp
index 0d76b060fb4a7c7dcbc8a792b54987d269454dba..145e3a5b168d61e074957b4a32431ea45a1c754a 100644
--- a/src/narrowphase/gjk_libccd.cpp
+++ b/src/narrowphase/gjk_libccd.cpp
@@ -579,11 +579,12 @@ static void supportCap(const void* obj, const ccd_vec3_t* dir_, ccd_vec3_t* v)
ccdVec3Set(&pos2, CCD_ZERO, CCD_ZERO, -o->height);
ccdVec3Copy(v, &dir);
+ ccdVec3Normalize (v);
ccdVec3Scale(v, o->radius);
ccdVec3Add(&pos1, v);
ccdVec3Add(&pos2, v);
- if(ccdVec3Dot(&dir, &pos1) > ccdVec3Dot(&dir, &pos2))
+ if(ccdVec3Z (&dir) > 0)
ccdVec3Copy(v, &pos1);
else
ccdVec3Copy(v, &pos2);
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index b35636cc2c91e1a8a69cbe501f09ea29bf6a0a2c..f684fcd61ec46d3e7bd860f7127b1b53360decd1 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -30,7 +30,8 @@ add_fcl_test(test_fcl_math test_fcl_math.cpp test_fcl_utility.cpp)
add_fcl_test(test_fcl_sphere_capsule test_fcl_sphere_capsule.cpp)
add_fcl_test(test_fcl_capsule_capsule test_fcl_capsule_capsule.cpp)
add_fcl_test(test_fcl_simple test_fcl_simple.cpp)
-add_fcl_test(test_fcl_capsule_box test_fcl_capsule_box.cpp)
+add_fcl_test(test_fcl_capsule_box_1 test_fcl_capsule_box_1.cpp)
+add_fcl_test(test_fcl_capsule_box_2 test_fcl_capsule_box_2.cpp)
#add_fcl_test(test_fcl_global_penetration test_fcl_global_penetration.cpp libsvm/svm.cpp test_fcl_utility.cpp)
if (FCL_HAVE_OCTOMAP)
diff --git a/test/test_fcl_capsule_box_1.cpp b/test/test_fcl_capsule_box_1.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..839185b1772b35fa7df68edc1330c57d7ae91773
--- /dev/null
+++ b/test/test_fcl_capsule_box_1.cpp
@@ -0,0 +1,115 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2014, CNRS-LAAS
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above
+ * copyright notice, this list of conditions and the following
+ * disclaimer in the documentation and/or other materials provided
+ * with the distribution.
+ * * Neither the name of CNRS-LAAS nor the names of its
+ * contributors may be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/** \author Florent Lamiraux */
+
+
+#define BOOST_TEST_MODULE "FCL_GEOMETRIC_SHAPES"
+#define CHECK_CLOSE_TO_0(x, eps) BOOST_CHECK_CLOSE ((x + 1.0), (1.0), (eps))
+#include <boost/test/unit_test.hpp>
+
+#include <cmath>
+#include <fcl/distance.h>
+#include <fcl/math/transform.h>
+#include <fcl/collision.h>
+#include <fcl/collision_object.h>
+#include <fcl/shape/geometric_shapes.h>
+
+BOOST_AUTO_TEST_CASE(distance_capsule_box)
+{
+ typedef boost::shared_ptr <fcl::CollisionGeometry> CollisionGeometryPtr_t;
+ // Capsule of radius 2 and of height 4
+ CollisionGeometryPtr_t capsuleGeometry (new fcl::Capsule (2., 4.));
+ // Box of size 1 by 2 by 4
+ CollisionGeometryPtr_t boxGeometry (new fcl::Box (1., 2., 4.));
+
+ // Enable computation of nearest points
+ fcl::DistanceRequest distanceRequest (true);
+ fcl::DistanceResult distanceResult;
+
+ fcl::Transform3f tf1 (fcl::Vec3f (3., 0, 0));
+ fcl::Transform3f tf2;
+ fcl::CollisionObject capsule (capsuleGeometry, tf1);
+ fcl::CollisionObject box (boxGeometry, tf2);
+
+ // test distance
+ fcl::distance (&capsule, &box, distanceRequest, distanceResult);
+ // Nearest point on capsule
+ fcl::Vec3f o1 (distanceResult.nearest_points [0]);
+ // Nearest point on box
+ fcl::Vec3f o2 (distanceResult.nearest_points [1]);
+ BOOST_CHECK_CLOSE (distanceResult.min_distance, 0.5, 1e-4);
+ BOOST_CHECK_CLOSE (o1 [0], -2.0, 1e-4);
+ CHECK_CLOSE_TO_0 (o1 [1], 1e-4);
+ BOOST_CHECK_CLOSE (o2 [0], 0.5, 1e-4);
+ BOOST_CHECK_CLOSE (o1 [1], 0.0, 1e-4);
+
+ // Move capsule above box
+ tf1 = fcl::Transform3f (fcl::Vec3f (0., 0., 8.));
+ capsule.setTransform (tf1);
+
+ // test distance
+ distanceResult.clear ();
+ fcl::distance (&capsule, &box, distanceRequest, distanceResult);
+ o1 = distanceResult.nearest_points [0];
+ o2 = distanceResult.nearest_points [1];
+
+ BOOST_CHECK_CLOSE (distanceResult.min_distance, 2.0, 1e-4);
+ CHECK_CLOSE_TO_0 (o1 [0], 1e-4);
+ CHECK_CLOSE_TO_0 (o1 [1], 1e-4);
+ BOOST_CHECK_CLOSE (o1 [2], -4.0, 1e-4);
+
+ CHECK_CLOSE_TO_0 (o2 [0], 1e-4);
+ CHECK_CLOSE_TO_0 (o2 [1], 1e-4);
+ BOOST_CHECK_CLOSE (o2 [2], 2.0, 1e-4);
+
+ // Rotate capsule around y axis by pi/2 and move it behind box
+ tf1.setTranslation (fcl::Vec3f (-10., 0., 0.));
+ tf1.setQuatRotation (fcl::Quaternion3f (sqrt(2)/2, 0, sqrt(2)/2, 0));
+ capsule.setTransform (tf1);
+
+ // test distance
+ distanceResult.clear ();
+ fcl::distance (&capsule, &box, distanceRequest, distanceResult);
+ o1 = distanceResult.nearest_points [0];
+ o2 = distanceResult.nearest_points [1];
+
+ BOOST_CHECK_CLOSE (distanceResult.min_distance, 5.5, 1e-4);
+ CHECK_CLOSE_TO_0 (o1 [0], 1e-4);
+ CHECK_CLOSE_TO_0 (o1 [1], 1e-4);
+ BOOST_CHECK_CLOSE (o1 [2], 4.0, 1e-4);
+ BOOST_CHECK_CLOSE (o2 [0], -0.5, 1e-4);
+ CHECK_CLOSE_TO_0 (o2 [1], 1e-4);
+ CHECK_CLOSE_TO_0 (o2 [2], 1e-4);
+}
diff --git a/test/test_fcl_capsule_box.cpp b/test/test_fcl_capsule_box_2.cpp
similarity index 78%
rename from test/test_fcl_capsule_box.cpp
rename to test/test_fcl_capsule_box_2.cpp
index 40c215e4862fe96ca7ab3bb6e486241fbb1b8ad9..9ee11922f2d421f4f8abed349ae9214f9a004886 100644
--- a/test/test_fcl_capsule_box.cpp
+++ b/test/test_fcl_capsule_box_2.cpp
@@ -36,8 +36,10 @@
#define BOOST_TEST_MODULE "FCL_GEOMETRIC_SHAPES"
+#define CHECK_CLOSE_TO_0(x, eps) BOOST_CHECK_CLOSE ((x + 1.0), (1.0), (eps))
#include <boost/test/unit_test.hpp>
+#include <cmath>
#include <fcl/distance.h>
#include <fcl/math/transform.h>
#include <fcl/collision.h>
@@ -55,20 +57,25 @@ BOOST_AUTO_TEST_CASE(distance_capsule_box)
// Enable computation of nearest points
fcl::DistanceRequest distanceRequest (true);
fcl::DistanceResult distanceResult;
-
- fcl::Transform3f tf1 (fcl::Vec3f (3., 0, 0));
+
+ // Rotate capsule around y axis by pi/2 and move it behind box
+ fcl::Transform3f tf1 (fcl::Quaternion3f (sqrt(2)/2, 0, sqrt(2)/2, 0),
+ fcl::Vec3f (-10., 0.8, 1.5));
fcl::Transform3f tf2;
fcl::CollisionObject capsule (capsuleGeometry, tf1);
fcl::CollisionObject box (boxGeometry, tf2);
+ // test distance
+ distanceResult.clear ();
fcl::distance (&capsule, &box, distanceRequest, distanceResult);
- // Nearest point on capsule
- const fcl::Vec3f& o1 (distanceResult.nearest_points [0]);
- // Nearest point on box
- const fcl::Vec3f& o2 (distanceResult.nearest_points [1]);
- BOOST_CHECK_CLOSE (distanceResult.min_distance, 0.5, 1e-4);
- BOOST_CHECK_CLOSE (o1 [0], -2, 1e-4);
- BOOST_CHECK_CLOSE (o1 [1], 0, 1e-4);
- BOOST_CHECK_CLOSE (o2 [0], .5, 1e-4);
- BOOST_CHECK_CLOSE (o1 [1], 0, 1e-4);
+ fcl::Vec3f o1 = distanceResult.nearest_points [0];
+ fcl::Vec3f o2 = distanceResult.nearest_points [1];
+
+ BOOST_CHECK_CLOSE (distanceResult.min_distance, 5.5, 1e-4);
+ CHECK_CLOSE_TO_0 (o1 [0], 1e-4);
+ CHECK_CLOSE_TO_0 (o1 [1], 1e-4);
+ BOOST_CHECK_CLOSE (o1 [2], 4.0, 1e-4);
+ BOOST_CHECK_CLOSE (o2 [0], -0.5, 1e-4);
+ BOOST_CHECK_CLOSE (o2 [1], 0.8, 1e-4);
+ BOOST_CHECK_CLOSE (o2 [2], 1.5, 1e-4);
}