Merge pull request #33 from florent-lamiraux/master

Fix bug in capsule support function

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);

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)

test/test_fcl_capsule_box_1.cpp

+/*
+ * 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);
+}

test/test_fcl_capsule_box.cpp → 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);
 }