Add simple regression test for #666

dartsim · Apr 14, 2016 · d22b556 · d22b556
1 parent 46e9c03
commit d22b556
Showing 1 changed file with 12 additions and 0 deletions.
diff --git a/unittests/testCollision.cpp b/unittests/testCollision.cpp
@@ -802,6 +802,18 @@ void testCreateCollisionGroups(const std::shared_ptr<CollisionDetector>& cd)
   EXPECT_TRUE(skeletonGroup1->collide(skeletonGroup2.get(), option, result));
   EXPECT_TRUE(bodyNodeGroup1->collide(bodyNodeGroup2.get(), option, result));
   EXPECT_TRUE(shapeNodeGroup1->collide(shapeNodeGroup2.get(), option, result));
+
+  // Regression test for #666
+  auto world = common::make_unique<World>();
+  world->getConstraintSolver()->setCollisionDetector(cd);
+  world->addSkeleton(boxSkeleton1);
+  world->addSkeleton(boxSkeleton2);
+  EXPECT_FALSE(boxBodyNode1->isColliding());
+  EXPECT_FALSE(boxBodyNode2->isColliding());
+
+  world->step();
+  EXPECT_TRUE(boxBodyNode1->isColliding());
+  EXPECT_TRUE(boxBodyNode2->isColliding());
 }
 
 //==============================================================================