core: fix operator= for ShapeBase

coal-library · Jul 5, 2022 · 2e627e6 · 2e627e6
1 parent 793b5ec
commit 2e627e6
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Showing 2 changed files with 13 additions and 1 deletion.
diff --git a/include/hpp/fcl/shape/geometric_shapes.h b/include/hpp/fcl/shape/geometric_shapes.h
@@ -55,7 +55,7 @@ class HPP_FCL_DLLAPI ShapeBase : public CollisionGeometry {
   /// \brief Copy constructor
   ShapeBase(const ShapeBase& other) : CollisionGeometry(other) {}
 
-  ShapeBase& operator=(const ShapeBase& /*other*/) { return *this; }
+  ShapeBase& operator=(const ShapeBase& other) = default;
 
   virtual ~ShapeBase(){};
 

diff --git a/test/bvh_models.cpp b/test/bvh_models.cpp
@@ -46,6 +46,7 @@
 #include <hpp/fcl/BVH/BVH_utility.h>
 #include <hpp/fcl/math/transform.h>
 #include <hpp/fcl/shape/geometric_shapes.h>
+#include <hpp/fcl/shape/geometric_shape_to_BVH_model.h>
 #include <hpp/fcl/mesh_loader/assimp.h>
 #include <hpp/fcl/mesh_loader/loader.h>
 #include "utility.h"
@@ -370,3 +371,14 @@ BOOST_AUTO_TEST_CASE(load_illformated_mesh) {
   MeshLoader loader;
   BOOST_CHECK_NO_THROW(loader.load(filename));
 }
+
+BOOST_AUTO_TEST_CASE(test_convex) {
+  Box* box_ptr = new hpp::fcl::Box(1, 1, 1);
+  CollisionGeometryPtr_t b1(box_ptr);
+  BVHModel<OBBRSS> box_bvh_model = BVHModel<OBBRSS>();
+  generateBVHModel(box_bvh_model, *box_ptr, Transform3f());
+  box_bvh_model.buildConvexRepresentation(false);
+
+  std::shared_ptr<ConvexBase> convex_copy(box_bvh_model.convex->clone());
+  BOOST_CHECK(*convex_copy.get() == *box_bvh_model.convex.get());
+}