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In DoSimplex4, check if O and A are on the same the same side of BCD #400

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In DoSimplex4, check if O and A are on the same the same side of BCD #400

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20 changes: 18 additions & 2 deletions include/fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd-inl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -523,19 +523,30 @@ static int doSimplex4(ccd_simplex_t *simplex, ccd_vec3_t *dir)
ccdVec3Cross(&ACD, &AC, &AD);
ccdVec3Cross(&ADB, &AD, &AB);

ccd_vec3_t BO;
ccdVec3Copy(&BO, &B->v);
ccdVec3Scale(&BO, -CCD_ONE);
ccd_vec3_t BC, BD;
ccdVec3Sub2(&BC, &C->v, &B->v);
ccdVec3Sub2(&BD, &D->v, &B->v);
ccd_vec3_t BCD;
ccdVec3Cross(&BCD, &BC, &BD);

// side (positive or negative) of B, C, D relative to planes ACD, ADB
// and ABC respectively
B_on_ACD = ccdSign(ccdVec3Dot(&ACD, &AB));
C_on_ADB = ccdSign(ccdVec3Dot(&ADB, &AC));
D_on_ABC = ccdSign(ccdVec3Dot(&ABC, &AD));
const int A_on_BCD = ccdSign(-ccdVec3Dot(&BCD, &AB));

// whether origin is on same side of ACD, ADB, ABC as B, C, D
// respectively
AB_O = ccdSign(ccdVec3Dot(&ACD, &AO)) == B_on_ACD;
AC_O = ccdSign(ccdVec3Dot(&ADB, &AO)) == C_on_ADB;
AD_O = ccdSign(ccdVec3Dot(&ABC, &AO)) == D_on_ABC;
const bool BA_O = ccdSign(ccdVec3Dot(&BCD, &BO)) == A_on_BCD;

if (AB_O && AC_O && AD_O){
if (AB_O && AC_O && AD_O && BA_O) {
// origin is in tetrahedron
return 1;

Expand All @@ -554,11 +565,16 @@ static int doSimplex4(ccd_simplex_t *simplex, ccd_vec3_t *dir)
ccdSimplexSet(simplex, 0, B);
ccdSimplexSet(simplex, 2, A);
ccdSimplexSetSize(simplex, 3);
}else{ // (!AD_O)
} else if (!AD_O) { // (!AD_O)
ccdSimplexSet(simplex, 0, C);
ccdSimplexSet(simplex, 1, B);
ccdSimplexSet(simplex, 2, A);
ccdSimplexSetSize(simplex, 3);
} else if (!BA_O) {
ccdSimplexSet(simplex, 0, C);
ccdSimplexSet(simplex, 1, D);
ccdSimplexSet(simplex, 2, B);
ccdSimplexSetSize(simplex, 4);
}

return doSimplex3(simplex, dir);
Expand Down
58 changes: 58 additions & 0 deletions test/test_fcl_signed_distance.cpp
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Expand Up @@ -379,6 +379,62 @@ void test_distance_box_box2() {
test_distance_box_box_helper(box1_size, X_WB1, box2_size, X_WB2);
}

// This is a *specific* case that has cropped up in the wild that reaches the
// unexpected `validateNearestFeatureOfPolytopeBeingEdge` error. This error was
// reported in https://github.com/flexible-collision-library/fcl/issues/399
template <typename S>
void test_distance_box_box3() {
const Vector3<S> box1_size(0.23768037557601928711, 0.15702305734157562256,
0.25);
Transform3<S> X_WB1 = Transform3<S>::Identity();
// clang-format off
X_WB1.matrix() << -0.099432387353076273628, 0.99504432079443971837, 0, 0.29526406526565551758,
-0.99504432079443971837, -0.099432387353076273628, 0, -0.013230856508016586304,
0, 0, 1, 0,
0, 0, 0, 1;
// clang-format on

const Vector3<S> box2_size(0.010000000000000000208, 0.78165709972381591797,
0.25);
Transform3<S> X_WB2 = Transform3<S>::Identity();
// clang-format off
X_WB2.matrix() << 0.99506598442099225554, 0.099215354901756730444, 0, 0.22759585694545214629,
-0.099215354901756730444, 0.99506598442099225554, 0, 0.14974093549228112421,
0, 0, 1, 0,
0, 0, 0, 1;
// clang-format on
test_distance_box_box_helper(box1_size, X_WB1, box2_size, X_WB2);
}

// This is a *specific* case that has cropped up in the wild that reaches the
// unexpected `validateNearestFeatureOfPolytopeBeingEdge` error. This error was
// reported in https://github.com/flexible-collision-library/fcl/issues/399
template <typename S>
void test_distance_box_box4() {
const Vector3<S> box1_size(0.23431687057018280029, 0.16946108639240264893,
0.25);

Transform3<S> X_WB1 = Transform3<S>::Identity();
// clang-format off
X_WB1.matrix() << 0.1612859416241739785, 0.98690771860108761349, 0, -0.20553381741046905518,
-0.98690771860108761349, 0.1612859416241739785, 0, 0.25915133953094482422,
0, 0, 1, 0,
0, 0, 0, 1;
// clang-format on

const Vector3<S> box2_size(0.010000000000000000208, 1.4315791130065917969,
0.25);
Transform3<S> X_WB2 = Transform3<S>::Identity();
// clang-format off
X_WB2.matrix() <<
-0.16128686395059221859, -0.98690756786893829577, 0, -0.38020379396316156262,
0.98690756786893829577, -0.16128686395059221859, 0, 0.10682664338807786042,
0, 0, 1, 0,
0, 0, 0, 1;
// clang-format on
test_distance_box_box_helper(box1_size, X_WB1, box2_size, X_WB2);
}

//==============================================================================

GTEST_TEST(FCL_NEGATIVE_DISTANCE, sphere_sphere_ccd)
Expand Down Expand Up @@ -413,6 +469,8 @@ GTEST_TEST(FCL_SIGNED_DISTANCE, cylinder_box_ccd) {
GTEST_TEST(FCL_SIGNED_DISTANCE, box_box1_ccd) {
test_distance_box_box1<double>();
test_distance_box_box2<double>();
test_distance_box_box3<double>();
test_distance_box_box4<double>();
}

//==============================================================================
Expand Down