public void testBoxCloseButNoCollisions()
{
ScsCollisionDetector collisionDetector = createCollisionDetector();
FloatingJoint cubeA = cube(collisionDetector, "A", 10, 0.5, 1.0, 1.5);
FloatingJoint cubeB = cube(collisionDetector, "B", 10, 0.75, 1.2, 1.7);
double a[] = new double[] { 0.5 + 0.75, 1.0 + 1.2, 1.5 + 1.7 };
double tau = 0.001;
for (int i = 0; i < 3; i++)
{
double Tx, Ty, Tz;
Tx = Ty = Tz = 0.0;
if (i == 0)
Tx = a[i] / 2.0 + tau;
if (i == 1)
Ty = a[i] / 2.0 + tau;
if (i == 2)
Tz = a[i] / 2.0 + tau;
cubeA.setPosition(Tx, Ty, Tz);
cubeB.setPosition(-Tx, -Ty, -Tz);
cubeA.getRobot().update();
cubeB.getRobot().update();
RigidBodyTransform transformToWorld = new RigidBodyTransform();
cubeA.getTransformToWorld(transformToWorld);
CollisionDetectionResult result = new CollisionDetectionResult();
collisionDetector.performCollisionDetection(result);
assertEquals(0, result.getNumberOfCollisions());
}
}