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Regarding issue #17: ccdGJKPenetration does not calculate exact contact location on a large box. #30

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Regarding issue #17: ccdGJKPenetration does not calculate exact contact location on a large box. #30

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32 changes: 32 additions & 0 deletions src/testsuites/boxbox.c
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Original file line number Diff line number Diff line change
Expand Up @@ -464,3 +464,35 @@ TEST(boxboxPenetration)
recPen(depth, &dir, &pos, stdout, "Pen 8");
//TOSVT();
}

TEST(boxboxPenetration2)
{

ccd_t ccd;
CCD_BOX(box1);
CCD_BOX(box2);
int res;
ccd_real_t depth;
ccd_vec3_t dir, pos;

fprintf(stderr, "\n\n\n---- boxboxPenetration ----\n\n\n");

box1.x = 20;
box1.y = 0.1;
box1.z = 20;
box2.x = 0.2;
box2.y = 0.15;
box2.z = 0.2;

CCD_INIT(&ccd);
ccd.support1 = ccdSupport;
ccd.support2 = ccdSupport;

ccdVec3Set(&box2.pos, 0, 0.1, 0.);
res = ccdGJKPenetration(&box1, &box2, &ccd, &depth, &dir, &pos);
assertTrue(res == 0);
recPen(depth, &dir, &pos, stdout, "Pen largeBox");
assertTrue(-0.2 < pos.v[0] && pos.v[0] <0.2);
//TOSVT();

}
2 changes: 2 additions & 0 deletions src/testsuites/boxbox.h
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@ TEST(boxboxRot);

TEST(boxboxSeparate);
TEST(boxboxPenetration);
TEST(boxboxPenetration2);

TEST_SUITE(TSBoxBox) {
TEST_ADD(boxboxSetUp),
Expand All @@ -24,6 +25,7 @@ TEST_SUITE(TSBoxBox) {
TEST_ADD(boxboxRot),
TEST_ADD(boxboxSeparate),
TEST_ADD(boxboxPenetration),
TEST_ADD(boxboxPenetration2),

TEST_ADD(boxboxTearDown),
TEST_SUITE_CLOSURE
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33 changes: 33 additions & 0 deletions src/testsuites/mpr_boxbox.c
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Original file line number Diff line number Diff line change
Expand Up @@ -500,3 +500,36 @@ TEST(mprBoxboxPenetration)
recPen(depth, &dir, &pos, stdout, "Pen 10");
//TOSVT();
}
TEST(mprBoxboxPenetration2)
{

ccd_t ccd;
CCD_BOX(box1);
CCD_BOX(box2);
int res;
ccd_real_t depth;
ccd_vec3_t dir, pos;

fprintf(stderr, "\n\n\n---- boxboxPenetration ----\n\n\n");

box1.x = 20;
box1.y = 0.1;
box1.z = 20;
box2.x = 0.2;
box2.y = 0.15;
box2.z = 0.2;

CCD_INIT(&ccd);
ccd.support1 = ccdSupport;
ccd.support2 = ccdSupport;
ccd.center1 = ccdObjCenter;
ccd.center2 = ccdObjCenter;

ccdVec3Set(&box2.pos, 0, 0.1, 0.);
res = ccdMPRPenetration(&box1, &box2, &ccd, &depth, &dir, &pos);
assertTrue(res == 0);
recPen(depth, &dir, &pos, stdout, "Pen largeBox mpr");
assertTrue(-0.2 < pos.v[0] && pos.v[0] <0.2);
//TOSVT();

}
3 changes: 2 additions & 1 deletion src/testsuites/mpr_boxbox.h
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,7 @@ TEST(mprBoxboxRot);

TEST(mprBoxboxSeparate);
TEST(mprBoxboxPenetration);
TEST(mprBoxboxPenetration2);

TEST_SUITE(TSMPRBoxBox) {
TEST_ADD(mprBoxboxAlignedX),
Expand All @@ -19,7 +20,7 @@ TEST_SUITE(TSMPRBoxBox) {
TEST_ADD(mprBoxboxRot),
TEST_ADD(mprBoxboxSeparate),
TEST_ADD(mprBoxboxPenetration),

TEST_ADD(mprBoxboxPenetration2),
TEST_SUITE_CLOSURE
};

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