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

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Feb 7, 2019
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Correct ill-formed test - to be compatible with libccd 2.0 and 2.1 #371

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37 changes: 27 additions & 10 deletions test/test_fcl_distance.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -316,14 +316,11 @@ void NearestPointFromDegenerateSimplex() {
// line segment. As a result, nearest points were populated with NaN values.
// See https://github.com/flexible-collision-library/fcl/issues/293 for
// more discussion.
// This test is only relevant if box-box distance is computed via GJK. If
// a custom test is created, this may no longer be relevant.
// TODO(SeanCurtis-TRI): Provide some mechanism where we can assert what the
// solving algorithm is (i.e., default convex vs. custom).
// This test is only relevant if box-box distance is computed via GJK. We
// intentionally short-circuit the mechanism for dispatching custom methods
// to guarantee GJK is evaluated on these two boxes.
DistanceResult<S> result;
DistanceRequest<S> request;
request.enable_nearest_points = true;
request.gjk_solver_type = GJKSolverType::GST_LIBCCD;

// These values were extracted from a real-world scenario that produced NaNs.
std::shared_ptr<CollisionGeometry<S>> box_geometry_1(
Expand All @@ -335,15 +332,35 @@ void NearestPointFromDegenerateSimplex() {
Eigen::Vector3d(1.625000, 0.000000, 0.500000));
CollisionObject<S> box_object_2(
box_geometry_2,
Eigen::Quaterniond(0.672811, 0.340674, 0.155066, 0.638138).matrix(),
Eigen::Quaterniond(0.672811, 0.340674, 0.155066, 0.638138)
.normalized()
.matrix(),
Eigen::Vector3d(0.192074, -0.277870, 0.273546));

EXPECT_NO_THROW(fcl::distance(&box_object_1, &box_object_2, request, result));
// Direct invocation.
// NOTE: This code is basically lifted from ShapeDistanceLibccdImpl::run() in
// gjk_solver_libbd-inl.h.
Box<S>* box1 = static_cast<Box<S>*>(box_geometry_1.get());
Box<S>* box2 = static_cast<Box<S>*>(box_geometry_2.get());
detail::GJKSolver_libccd<S> solver;
void* o1 = detail::GJKInitializer<S, Box<S>>::createGJKObject(
*box1, box_object_1.getTransform());
void* o2 = detail::GJKInitializer<S, Box<S>>::createGJKObject(
*box2, box_object_2.getTransform());
detail::GJKDistance(
o1, detail::GJKInitializer<S, Box<S>>::getSupportFunction(), o2,
detail::GJKInitializer<S, Box<S>>::getSupportFunction(),
solver.max_distance_iterations, request.distance_tolerance,
&result.min_distance, &result.nearest_points[0],
&result.nearest_points[1]);

detail::GJKInitializer<S, Box<S>>::deleteGJKObject(o1);
detail::GJKInitializer<S, Box<S>>::deleteGJKObject(o2);

// These hard-coded values have been previously computed and visually
// inspected and considered to be the ground truth for this very specific
// test configuration.
S expected_dist{0.053516322172152138};
S expected_dist{0.053516162824549};
// The "nearest" points (N1 and N2) measured and expressed in box 1's and
// box 2's frames (B1 and B2, respectively).
const Vector3<S> expected_p_B1N1{-1.375, -0.098881502700918666,
Expand All @@ -360,7 +377,7 @@ void NearestPointFromDegenerateSimplex() {
EXPECT_TRUE(CompareMatrices(result.nearest_points[1], expected_p_WN2,
DELTA<S>(), MatrixCompareType::absolute));
EXPECT_NEAR(expected_dist, result.min_distance,
constants<ccd_real_t>::eps_34());
constants<ccd_real_t>::eps_78());
}

GTEST_TEST(FCL_DISTANCE, NearestPointFromDegenerateSimplex) {
Expand Down