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Correct ill-formed test - to be compatible with libccd 2.0 and 2.1 #371

Merged
merged 1 commit into from
Feb 7, 2019
Merged

Correct ill-formed test - to be compatible with libccd 2.0 and 2.1 #371

merged 1 commit into from
Feb 7, 2019

Commits on Feb 7, 2019

  1. Correct ill-formed test 

    The NearestPointFromDegenerateSimplex test was born of a specific
case, captured in the wild by a user. The test attempted to recreate
the circumstances of that failure. In its original formulation, the
test had two flaws:

  1. It relied on code paths for evaluating box-box distance via GJK.
     If a box-box distance primitive were introduced, the test would
     become meaningless.
  2. One of the box's poses is defined by an *unnormalized* quaternion.
     This issue was exposed when libccd updated its quaternion
     multiplication algorithm -- the final result was unduly impacted
     by the degree the quat wasn't normalized.

This commit addressed *both* of those issues.
    @SeanCurtis-TRI
    SeanCurtis-TRI committed Feb 7, 2019
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