void test_distance_capsule_box(fcl::GJKSolverType solver_type, S solver_tolerance, S test_tolerance)
{
using CollisionGeometryPtr_t = std::shared_ptr<fcl::CollisionGeometry<S>>;
// Capsule<S> of radius 2 and of height 4
CollisionGeometryPtr_t capsuleGeometry (new fcl::Capsule<S> (2., 4.));
// Box<S> of size 1 by 2 by 4
CollisionGeometryPtr_t boxGeometry (new fcl::Box<S> (1., 2., 4.));
// Enable computation of nearest points
fcl::DistanceRequest<S> distanceRequest (true);
fcl::DistanceResult<S> distanceResult;
distanceRequest.gjk_solver_type = solver_type;
distanceRequest.distance_tolerance = solver_tolerance;
// Rotate capsule around y axis by pi/2 and move it behind box
fcl::Transform3<S> tf1 = fcl::Translation3<S>(fcl::Vector3<S>(-10., 0.8, 1.5))
*fcl::Quaternion<S>(sqrt(2)/2, 0, sqrt(2)/2, 0);
fcl::Transform3<S> tf2 = fcl::Transform3<S>::Identity();
fcl::CollisionObject<S> capsule (capsuleGeometry, tf1);
fcl::CollisionObject<S> box (boxGeometry, tf2);
// test distance
distanceResult.clear ();
fcl::distance (&capsule, &box, distanceRequest, distanceResult);
fcl::Vector3<S> o1 = distanceResult.nearest_points [0];
fcl::Vector3<S> o2 = distanceResult.nearest_points [1];
EXPECT_NEAR (distanceResult.min_distance, 5.5, test_tolerance);
EXPECT_NEAR (o1 [0], -6.0, test_tolerance);
EXPECT_NEAR (o1 [1], 0.8, test_tolerance);
EXPECT_NEAR (o1 [2], 1.5, test_tolerance);
EXPECT_NEAR (o2 [0], -0.5, test_tolerance);
EXPECT_NEAR (o2 [1], 0.8, test_tolerance);
EXPECT_NEAR (o2 [2], 1.5, test_tolerance);
}
void test_distance_capsule_box()
{
using CollisionGeometryPtr_t = std::shared_ptr<fcl::CollisionGeometry<S>>;
// Capsule of radius 2 and of height 4
CollisionGeometryPtr_t capsuleGeometry (new fcl::Capsule<S> (2., 4.));
// Box of size 1 by 2 by 4
CollisionGeometryPtr_t boxGeometry (new fcl::Box<S> (1., 2., 4.));
// Enable computation of nearest points
fcl::DistanceRequest<S> distanceRequest (true);
fcl::DistanceResult<S> distanceResult;
fcl::Transform3<S> tf1(fcl::Translation3<S>(fcl::Vector3<S> (3., 0, 0)));
fcl::Transform3<S> tf2 = fcl::Transform3<S>::Identity();
fcl::CollisionObject<S> capsule (capsuleGeometry, tf1);
fcl::CollisionObject<S> box (boxGeometry, tf2);
// test distance
fcl::distance (&capsule, &box, distanceRequest, distanceResult);
// Nearest point on capsule
fcl::Vector3<S> o1 (distanceResult.nearest_points [0]);
// Nearest point on box
fcl::Vector3<S> o2 (distanceResult.nearest_points [1]);
EXPECT_NEAR (distanceResult.min_distance, 0.5, 1e-4);
EXPECT_NEAR (o1 [0], -2.0, 1e-4);
EXPECT_NEAR (o1 [1], 0.0, 1e-4);
EXPECT_NEAR (o2 [0], 0.5, 1e-4);
EXPECT_NEAR (o1 [1], 0.0, 1e-4); // TODO(JS): maybe o2 rather than o1?
// Move capsule above box
tf1 = fcl::Translation3<S>(fcl::Vector3<S> (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];
EXPECT_NEAR (distanceResult.min_distance, 2.0, 1e-4);
EXPECT_NEAR (o1 [0], 0.0, 1e-4);
EXPECT_NEAR (o1 [1], 0.0, 1e-4);
EXPECT_NEAR (o1 [2], -4.0, 1e-4);
// Disabled broken test lines. Please see #25.
// CHECK_CLOSE_TO_0 (o2 [0], 1e-4);
EXPECT_NEAR (o2 [1], 0.0, 1e-4);
EXPECT_NEAR (o2 [2], 2.0, 1e-4);
// Rotate capsule around y axis by pi/2 and move it behind box
tf1.translation() = fcl::Vector3<S>(-10., 0., 0.);
tf1.linear() = fcl::Quaternion<S>(sqrt(2)/2, 0, sqrt(2)/2, 0).toRotationMatrix();
capsule.setTransform (tf1);
// test distance
distanceResult.clear ();
fcl::distance (&capsule, &box, distanceRequest, distanceResult);
o1 = distanceResult.nearest_points [0];
o2 = distanceResult.nearest_points [1];
EXPECT_NEAR (distanceResult.min_distance, 5.5, 1e-4);
EXPECT_NEAR (o1 [0], 0.0, 1e-4);
EXPECT_NEAR (o1 [1], 0.0, 1e-4);
EXPECT_NEAR (o1 [2], 4.0, 1e-4);
EXPECT_NEAR (o2 [0], -0.5, 1e-4);
EXPECT_NEAR (o2 [1], 0.0, 1e-4);
EXPECT_NEAR (o2 [2], 0.0, 1e-4);
}
