38 #include <gtest/gtest.h>
51 const S radius = 0.05;
52 const S length = 4 * radius;
55 auto cylinder = std::make_shared<Cylinder<S>>(radius, length);
72 fcl::collide(&half_space_co, &cylinder_co, request, result);
73 vector<Contact<S>> contacts;
76 EXPECT_EQ(
static_cast<int>(contacts.size()), 1);
77 EXPECT_NEAR(contacts[0].penetration_depth, 0.051, kTolerance);
81 Vector3d::UnitX()).matrix();
88 fcl::collide(&half_space_co, &cylinder_co, request, result);
91 EXPECT_EQ(
static_cast<int>(contacts.size()), 1);
92 EXPECT_NEAR(contacts[0].penetration_depth, 0.051, kTolerance);
95 GTEST_TEST(FCL_GEOMETRIC_SHAPES, collision_cylinder_half_space_libccd)
100 GTEST_TEST(FCL_GEOMETRIC_SHAPES, collision_cylinder_half_space_indep)
105 int main(
int argc,
char* argv[])
107 ::testing::InitGoogleTest(&argc, argv);
108 return RUN_ALL_TESTS();