Cylinder half space bug fix

include/fcl/narrowphase/detail/primitive_shape_algorithm/halfspace-inl.h

@@ -371,7 +371,7 @@ bool cylinderHalfspaceIntersect(const Cylinder<S>& s1, const Transform3<S>& tf1,
  Vector3<S> dir_z = R.col(2);
  S cosa = dir_z.dot(new_s2.n);
 
- if(cosa < halfspaceIntersectTolerance<S>())
+ if(std::abs(cosa) < halfspaceIntersectTolerance<S>())
  {
  S signed_dist = new_s2.signedDistance(T);
  S depth = s1.radius - signed_dist;
@@ -391,7 +391,7 @@ bool cylinderHalfspaceIntersect(const Cylinder<S>& s1, const Transform3<S>& tf1,
  else
  {
  Vector3<S> C = dir_z * cosa - new_s2.n;
- if(std::abs(cosa + 1) < halfspaceIntersectTolerance<S>() || std::abs(cosa - 1) < halfspaceIntersectTolerance<S>())
+ if(std::abs(cosa) - 1 < halfspaceIntersectTolerance<S>())
  C = Vector3<S>(0, 0, 0);
  else
  {

test/CMakeLists.txt

@@ -45,6 +45,7 @@ set(tests
  test_fcl_capsule_box_1.cpp
  test_fcl_capsule_box_2.cpp
  test_fcl_capsule_capsule.cpp
+ test_fcl_cylinder_half_space.cpp
  test_fcl_collision.cpp
  test_fcl_distance.cpp
  test_fcl_frontlist.cpp

test/test_fcl_cylinder_half_space.cpp

@@ -0,0 +1,108 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2018, Toyota Research Institute
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above
+ * copyright notice, this list of conditions and the following
+ * disclaimer in the documentation and/or other materials provided
+ * with the distribution.
+ * * Neither the name of Open Source Robotics Foundation nor the names of its
+ * contributors may be used to endorse or promote products derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/** \author Alejandro Castro */
+
+#include <iostream>
+
+#include "fcl/fcl.h"
+
+#include "gtest/gtest.h"
+
+using namespace std;
+using namespace fcl;
+
+template <typename S>
+void test_collision_cylinder_half_space(fcl::GJKSolverType solver_type)
+{
+ // Numerical precision expected in the results.
+ const double kTolerance = 20 * std::numeric_limits<double>::epsilon();
+
+ const S radius = 0.05;
+ const S length = 4 * radius;
+
+ auto half_space = std::make_shared<Halfspace<S>>(Vector3<S>::UnitZ(), 0.0);
+ auto cylinder = std::make_shared<Cylinder<S>>(radius, length);
+
+ // Pose of cylinder frame C in the world frame W.
+ Transform3<S> X_WC(Translation3<S>(Vector3<S>(0.0, 0.0, 0.049)));
+
+ // Pose of half space frame H in the world frame W.
+ Transform3<S> X_WH = Transform3<S>::Identity();
+
+ CollisionObject<S> half_space_co(half_space, X_WH);
+ CollisionObject<S> cylinder_co(cylinder, X_WC);
+
+ fcl::CollisionResult<S> result;
+ static const int num_max_contacts = std::numeric_limits<int>::max();
+ static const bool enable_contact = true;
+ fcl::CollisionRequest<S> request(num_max_contacts, enable_contact);
+ request.gjk_solver_type = solver_type;
+
+ fcl::collide(&half_space_co, &cylinder_co, request, result);
+ vector<Contact<S>> contacts;
+ result.getContacts(contacts);
+
+ EXPECT_EQ(static_cast<int>(contacts.size()), 1);
+ EXPECT_NEAR(contacts[0].penetration_depth, 0.051, kTolerance);
+
+ // Now perform the same test but with the cylinder's z axis Cz pointing down.
+ X_WC.linear() = AngleAxis<S>(M_PI, Vector3d::UnitX()).matrix();
+ X_WC.translation() = Vector3<S>(0, 0, 0.049);
+ cylinder_co.setTransform(X_WC);
+
+ result.clear();
+ contacts.clear();
+
+ fcl::collide(&half_space_co, &cylinder_co, request, result);
+ result.getContacts(contacts);
+
+ EXPECT_EQ(static_cast<int>(contacts.size()), 1);
+ EXPECT_NEAR(contacts[0].penetration_depth, 0.051, kTolerance);
+}
+
+GTEST_TEST(FCL_GEOMETRIC_SHAPES, collision_cylinder_half_space_libccd)
+{
+ test_collision_cylinder_half_space<double>(fcl::GJKSolverType::GST_LIBCCD);
+}
+
+GTEST_TEST(FCL_GEOMETRIC_SHAPES, collision_cylinder_half_space_indep)
+{
+ test_collision_cylinder_half_space<double>(fcl::GJKSolverType::GST_INDEP);
+}
+
+int main(int argc, char* argv[])
+{
+ ::testing::InitGoogleTest(&argc, argv);
+ return RUN_ALL_TESTS();
+}