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Add unit tests for Box-Plane and Box-Halfspace collisions #525

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Add unit tests for Box-Plane and Box-Halfspace collisions #525

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33af1ce
Add unit tests for Box-Plane and Box-Halfspace collisions
Kotochleb Jan 29, 2024
ad8a377
Add @brief for the eulerToMatrix
Kotochleb Jan 29, 2024
6da4052
[test] box-plane/halfspace: rename misleading variable
lmontaut Jan 30, 2024
e3e75e1
[core/Contact] More documentation for `pos` field in Contact
lmontaut Jan 30, 2024
17a95bf
[test/box_halfspace] Fix test
lmontaut Jan 30, 2024
e67fd0b
[test/box_halfspace] Use `using` to make test more readable
lmontaut Jan 30, 2024
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5 changes: 4 additions & 1 deletion include/hpp/fcl/collision_data.h
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Expand Up @@ -95,7 +95,10 @@ struct HPP_FCL_DLLAPI Contact {
/// TODO (louis): rename `nearest_points` to `witness_points`.
std::array<Vec3f, 2> nearest_points;

/// @brief contact position, in world space
/// @brief contact position, in world space.
/// The position is the middle point of the segment [p1, p2] where
/// p1 and p1 are the nearest points (i.e. neareast_points[0] and
/// nearest_points[1] respectively). Thus we always have pos = (p1 + p2)/2.
Vec3f pos;

/// @brief penetration depth
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2 changes: 2 additions & 0 deletions test/CMakeLists.txt
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Expand Up @@ -41,6 +41,8 @@ SET_TESTS_PROPERTIES(frontlist PROPERTIES TIMEOUT 7200)
add_fcl_test(capsule_capsule capsule_capsule.cpp)
add_fcl_test(box_box_distance box_box_distance.cpp)
add_fcl_test(box_box_collision box_box_collision.cpp)
add_fcl_test(box_plane box_plane.cpp)
add_fcl_test(box_halfspace box_halfspace.cpp)
add_fcl_test(simple simple.cpp)
add_fcl_test(capsule_box_1 capsule_box_1.cpp)
add_fcl_test(capsule_box_2 capsule_box_2.cpp)
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