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Use cuboid_cuboid contact implementation. #318

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Use cuboid_cuboid contact implementation. #318

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22 changes: 22 additions & 0 deletions src/query/contact/contact_cuboid_cuboid.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -132,3 +132,25 @@ pub fn contact_cuboid_cuboid(

unreachable!()
}

#[cfg(test)]
mod test {
use crate::{
math::{Isometry, Vector},
query,
shape::{Cuboid, Shape},
};

#[test]
pub fn compare_with_support() {
let shape1 = Cuboid::new(Vector::repeat(1.0));
let shape2 = Cuboid::new(Vector::repeat(1.0));
let pos12 = Isometry::new(Vector::repeat(0.5), na::zero());
let s1 = shape1.as_support_map().unwrap();
let s2 = shape2.as_support_map().unwrap();
let result_support = query::details::contact_support_map_support_map(&pos12, s1, s2, 1.0);
let result_cuboid = query::details::contact_cuboid_cuboid(&pos12, &shape1, &shape2, 1.0);
dbg!(result_support);
dbg!(result_cuboid);
}
}