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found and fixed the bug caused by libccd argument #69

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found and fixed the bug caused by libccd argument #69

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6 changes: 3 additions & 3 deletions pybind/collision_detection/fcl/pybind_fcl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -230,7 +230,7 @@ void build_pyfcl(py::module &m) {

/********** narrowphase *******/
auto PyGJKSolverType = py::enum_<GJKSolverType>(m, "GJKSolverType");
PyGJKSolverType.value("GST_LIBCCD", GJKSolverType::GST_LIBCCD)
PyGJKSolverType.value("GST_LIBCCD", GJKSolverType::GST_INDEP)
.value("GST_INDEP", GJKSolverType::GST_INDEP)
.export_values();

Expand All @@ -243,7 +243,7 @@ void build_pyfcl(py::module &m) {
py::arg("num_max_contacts") = 1, py::arg("enable_contact") = false,
py::arg("num_max_cost_sources") = 1, py::arg("enable_cost") = false,
py::arg("use_approximate_cost") = true,
py::arg("gjk_solver_type") = GJKSolverType::GST_LIBCCD,
py::arg("gjk_solver_type") = GJKSolverType::GST_INDEP,
py::arg("gjk_tolerance") = 1e-6)
.def("isSatisfied", &CollisionRequest::isSatisfied, py::arg("result"));

Expand Down Expand Up @@ -282,7 +282,7 @@ void build_pyfcl(py::module &m) {
py::arg("enable_nearest_points") = false,
py::arg("enable_signed_distance") = false, py::arg("rel_err") = 0.0,
py::arg("abs_err") = 0.0, py::arg("distance_tolerance") = 1e-6,
py::arg("gjk_solver_type") = GJKSolverType::GST_LIBCCD)
py::arg("gjk_solver_type") = GJKSolverType::GST_INDEP)
.def("isSatisfied", &DistanceRequest::isSatisfied, py::arg("result"));

// DistanceResult
Expand Down
7 changes: 6 additions & 1 deletion tests/test_fcl_model.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
import unittest
import numpy as np
from transforms3d.quaternions import mat2quat
from mplib.pymp.collision_detection.fcl import FCLModel
from mplib.pymp.collision_detection.fcl import FCLModel, Box, CollisionObject, Plane, distance, DistanceRequest
from mplib.pymp.kinematics.pinocchio import PinocchioModel

FILE_ABS_DIR = os.path.dirname(os.path.abspath(__file__))
Expand Down Expand Up @@ -65,5 +65,10 @@ def test_collision(self):
is_collision = [collision.is_collision() for collision in collisions]
self.assertFalse(any(is_collision))

def test_distance(self):
ground_obj = CollisionObject(Plane([0, 0, 1], 0), [0, 0, 0], [1, 0, 0, 0])
box_obj = CollisionObject(Box(1,1,1), [0, 0, 5.5], [1, 0, 0, 0])
self.assertEqual(distance(ground_obj, box_obj, DistanceRequest()).min_distance, 5)

if __name__ == "__main__":
unittest.main()