text: /*
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   *  Copyright (c) 2014-2016, Open Source Robotics Foundation
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  /** @author Jia Pan */
  
  #include <gtest/gtest.h>
  
  #include "fcl/narrowphase/detail/traversal/collision_node.h"
  #include "test_fcl_utility.h"
  #include "fcl_resources/config.h"
  
  // TODO(SeanCurtis-TRI): A file called `test_fcl_distance.cpp` should *not* have
  // collision tests.
  
  using namespace fcl;
  
  bool verbose = false;
  
  template <typename S>
  S DELTA() { return 0.001; }
  
  template<typename BV>
  void distance_Test(const Transform3<typename BV::S>& tf,
                     const std::vector<Vector3<typename BV::S>>& vertices1, const std::vector<Triangle>& triangles1,
                     const std::vector<Vector3<typename BV::S>>& vertices2, const std::vector<Triangle>& triangles2, detail::SplitMethodType split_method,
                     int qsize,
                     test::DistanceRes<typename BV::S>& distance_result,
                     bool verbose = true);
  
  template <typename S>
  bool collide_Test_OBB(const Transform3<S>& tf,
                        const std::vector<Vector3<S>>& vertices1, const std::vector<Triangle>& triangles1,
                        const std::vector<Vector3<S>>& vertices2, const std::vector<Triangle>& triangles2, detail::SplitMethodType split_method, bool verbose);
  
  template<typename BV, typename TraversalNode>
  void distance_Test_Oriented(const Transform3<typename BV::S>& tf,
                              const std::vector<Vector3<typename BV::S>>& vertices1, const std::vector<Triangle>& triangles1,
                              const std::vector<Vector3<typename BV::S>>& vertices2, const std::vector<Triangle>& triangles2, detail::SplitMethodType split_method,
                              int qsize,
                              test::DistanceRes<typename BV::S>& distance_result,
                              bool verbose = true);
  
  template <typename S>
  bool nearlyEqual(const Vector3<S>& a, const Vector3<S>& b)
  {
    if(fabs(a[0] - b[0]) > DELTA<S>()) return false;
    if(fabs(a[1] - b[1]) > DELTA<S>()) return false;
    if(fabs(a[2] - b[2]) > DELTA<S>()) return false;
    return true;
  }
  
  template <typename S>
  void test_mesh_distance()
  {
    std::vector<Vector3<S>> p1, p2;
    std::vector<Triangle> t1, t2;
  
    test::loadOBJFile(TEST_RESOURCES_DIR"/env.obj", p1, t1);
    test::loadOBJFile(TEST_RESOURCES_DIR"/rob.obj", p2, t2);
  
    aligned_vector<Transform3<S>> transforms; // t0
    S extents[] = {-3000, -3000, 0, 3000, 3000, 3000};
  #ifdef NDEBUG
    std::size_t n = 10;
  #else
    std::size_t n = 1;
  #endif
  
    test::generateRandomTransforms(extents, transforms, n);
  
    double dis_time = 0;
    double col_time = 0;
  
    test::DistanceRes<S> res, res_now;
    for(std::size_t i = 0; i < transforms.size(); ++i)
    {
      test::Timer timer_col;
      timer_col.start();
      collide_Test_OBB(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, verbose);
      timer_col.stop();
      col_time += timer_col.getElapsedTimeInSec();
  
      test::Timer timer_dist;
      timer_dist.start();
      distance_Test_Oriented<RSS<S>, detail::MeshDistanceTraversalNodeRSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, 2, res, verbose);
      timer_dist.stop();
      dis_time += timer_dist.getElapsedTimeInSec();
  
      distance_Test_Oriented<RSS<S>, detail::MeshDistanceTraversalNodeRSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, 2, res_now, verbose);
  
      EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
      EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test_Oriented<RSS<S>, detail::MeshDistanceTraversalNodeRSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, 2, res_now, verbose);
  
      EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
      EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test_Oriented<RSS<S>, detail::MeshDistanceTraversalNodeRSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, 20, res_now, verbose);
  
      EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
      EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test_Oriented<RSS<S>, detail::MeshDistanceTraversalNodeRSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, 20, res_now, verbose);
  
      EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
      EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test_Oriented<RSS<S>, detail::MeshDistanceTraversalNodeRSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, 20, res_now, verbose);
  
      EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
      EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test_Oriented<kIOS<S>, detail::MeshDistanceTraversalNodekIOS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, 2, res_now, verbose);
  
      EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
      EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test_Oriented<kIOS<S>, detail::MeshDistanceTraversalNodekIOS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, 2, res_now, verbose);
  
      EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
      EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test_Oriented<kIOS<S>, detail::MeshDistanceTraversalNodekIOS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, 2, res_now, verbose);
  
      EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
      EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test_Oriented<kIOS<S>, detail::MeshDistanceTraversalNodekIOS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, 20, res_now, verbose);
  
      EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
      EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test_Oriented<kIOS<S>, detail::MeshDistanceTraversalNodekIOS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, 20, res_now, verbose);
  
      EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
      EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test_Oriented<kIOS<S>, detail::MeshDistanceTraversalNodekIOS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, 20, res_now, verbose);
  
      EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
      EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test_Oriented<OBBRSS<S>, detail::MeshDistanceTraversalNodeOBBRSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, 2, res_now, verbose);
  
      EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
      EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test_Oriented<OBBRSS<S>, detail::MeshDistanceTraversalNodeOBBRSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, 2, res_now, verbose);
  
      EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
      EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test_Oriented<OBBRSS<S>, detail::MeshDistanceTraversalNodeOBBRSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, 2, res_now, verbose);
  
      EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
      EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test_Oriented<OBBRSS<S>, detail::MeshDistanceTraversalNodeOBBRSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, 20, res_now, verbose);
  
      EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
      EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test_Oriented<OBBRSS<S>, detail::MeshDistanceTraversalNodeOBBRSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, 20, res_now, verbose);
  
      EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
      EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test_Oriented<OBBRSS<S>, detail::MeshDistanceTraversalNodeOBBRSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, 20, res_now, verbose);
  
      EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
      EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
  
  
      distance_Test<RSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, 2, res_now, verbose);
  
      EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
      EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test<RSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, 2, res_now, verbose);
  
      EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
      EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test<RSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, 2, res_now, verbose);
  
      EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
      EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test<RSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, 20, res_now, verbose);
  
      EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
      EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test<RSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, 20, res_now, verbose);
  
      EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
      EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test<RSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, 20, res_now, verbose);
  
      EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
      EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test<kIOS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, 2, res_now, verbose);
  
      EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
      EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test<kIOS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, 2, res_now, verbose);
  
      EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
      EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test<kIOS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, 2, res_now, verbose);
  
      EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
      EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test<kIOS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, 20, res_now, verbose);
  
      EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
      EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test<kIOS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, 20, res_now, verbose);
  
      EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
      EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test<kIOS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, 20, res_now, verbose);
  
      EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
      EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
  
      distance_Test<OBBRSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, 2, res_now, verbose);
  
      EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
      EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test<OBBRSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, 2, res_now, verbose);
  
      EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
      EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test<OBBRSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, 2, res_now, verbose);
  
      EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
      EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test<OBBRSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEAN, 20, res_now, verbose);
  
      EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
      EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test<OBBRSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_MEDIAN, 20, res_now, verbose);
  
      EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
      EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test<OBBRSS<S>>(transforms[i], p1, t1, p2, t2, detail::SPLIT_METHOD_BV_CENTER, 20, res_now, verbose);
  
      EXPECT_TRUE(fabs(res.distance - res_now.distance) < DELTA<S>());
      EXPECT_TRUE(fabs(res.distance) < DELTA<S>() || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
    }
  
    std::cout << "distance timing: " << dis_time << " sec" << std::endl;
    std::cout << "collision timing: " << col_time << " sec" << std::endl;
  }
  
  GTEST_TEST(FCL_DISTANCE, mesh_distance)
  {
  //  test_mesh_distance<float>();
    test_mesh_distance<double>();
  }
  
  template <typename S>
  void NearestPointFromDegenerateSimplex() {
    // Tests a historical bug. In certain configurations, the distance query
    // would terminate with a degenerate 3-simplex; the triangle was actually a
    // line segment. As a result, nearest points were populated with NaN values.
    // See https://github.com/flexible-collision-library/fcl/issues/293 for
    // more discussion.
    DistanceResult<S> result;
    DistanceRequest<S> request;
    request.enable_nearest_points = true;
    request.gjk_solver_type = GJKSolverType::GST_LIBCCD;
  
    // These values were extracted from a real-world scenario that produced NaNs.
    std::shared_ptr<CollisionGeometry<S>> box_geometry_1(
        new Box<S>(2.750000, 6.000000, 0.050000));
    std::shared_ptr<CollisionGeometry<S>> box_geometry_2(
        new Box<S>(0.424000, 0.150000, 0.168600));
    CollisionObject<S> box_object_1(
        box_geometry_1, Eigen::Quaterniond(1, 0, 0, 0).matrix(),
        Eigen::Vector3d(1.625000, 0.000000, 0.500000));
    CollisionObject<S> box_object_2(
        box_geometry_2,
        Eigen::Quaterniond(0.672811, 0.340674, 0.155066, 0.638138).matrix(),
        Eigen::Vector3d(0.192074, -0.277870, 0.273546));
  
    EXPECT_NO_THROW(fcl::distance(&box_object_1, &box_object_2, request, result));
  
    // The values here have been visually confirmed from the computation.
    S expected_dist{0.053516322172152138};
    Vector3<S> expected_p0{-1.375, -0.098881502700918666, -0.025000000000000022};
    Vector3<S> expected_p1{0.21199965773384655, 0.074999692703297122,
                           0.084299993303443954};
    EXPECT_TRUE(nearlyEqual(result.nearest_points[0], expected_p0));
    EXPECT_TRUE(nearlyEqual(result.nearest_points[1], expected_p1));
    // TODO(SeanCurtis-TRI): Change this tolerance to constants<S>::eps_34() when
    // the mac single/double libccd problem is resolved.
    EXPECT_NEAR(expected_dist, result.min_distance,
                constants<ccd_real_t>::eps_34());
  }
  
  GTEST_TEST(FCL_DISTANCE, NearestPointFromDegenerateSimplex) {
    NearestPointFromDegenerateSimplex<double>();
  }
  
  template<typename BV, typename TraversalNode>
  void distance_Test_Oriented(const Transform3<typename BV::S>& tf,
                              const std::vector<Vector3<typename BV::S>>& vertices1, const std::vector<Triangle>& triangles1,
                              const std::vector<Vector3<typename BV::S>>& vertices2, const std::vector<Triangle>& triangles2, detail::SplitMethodType split_method,
                              int qsize,
                              test::DistanceRes<typename BV::S>& distance_result,
                              bool verbose)
  {
    using S = typename BV::S;
  
    BVHModel<BV> m1;
    BVHModel<BV> m2;
    m1.bv_splitter.reset(new detail::BVSplitter<BV>(split_method));
    m2.bv_splitter.reset(new detail::BVSplitter<BV>(split_method));
  
  
    m1.beginModel();
    m1.addSubModel(vertices1, triangles1);
    m1.endModel();
  
    m2.beginModel();
    m2.addSubModel(vertices2, triangles2);
    m2.endModel();
  
    DistanceResult<S> local_result;
    TraversalNode node;
    if(!initialize(node, (const BVHModel<BV>&)m1, tf, (const BVHModel<BV>&)m2, Transform3<S>::Identity(), DistanceRequest<S>(true), local_result))
      std::cout << "initialize error" << std::endl;
  
    node.enable_statistics = verbose;
  
    distance(&node, nullptr, qsize);
  
    // points are in local coordinate, to global coordinate
    Vector3<S> p1 = local_result.nearest_points[0];
    Vector3<S> p2 = local_result.nearest_points[1];
  
  
    distance_result.distance = local_result.min_distance;
    distance_result.p1 = p1;
    distance_result.p2 = p2;
  
    if(verbose)
    {
      std::cout << "distance " << local_result.min_distance << std::endl;
  
      std::cout << p1[0] << " " << p1[1] << " " << p1[2] << std::endl;
      std::cout << p2[0] << " " << p2[1] << " " << p2[2] << std::endl;
      std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
    }
  }
  
  template<typename BV>
  void distance_Test(const Transform3<typename BV::S>& tf,
                     const std::vector<Vector3<typename BV::S>>& vertices1, const std::vector<Triangle>& triangles1,
                     const std::vector<Vector3<typename BV::S>>& vertices2, const std::vector<Triangle>& triangles2, detail::SplitMethodType split_method,
                     int qsize,
                     test::DistanceRes<typename BV::S>& distance_result,
                     bool verbose)
  {
    using S = typename BV::S;
  
    BVHModel<BV> m1;
    BVHModel<BV> m2;
    m1.bv_splitter.reset(new detail::BVSplitter<BV>(split_method));
    m2.bv_splitter.reset(new detail::BVSplitter<BV>(split_method));
  
  
    m1.beginModel();
    m1.addSubModel(vertices1, triangles1);
    m1.endModel();
  
    m2.beginModel();
    m2.addSubModel(vertices2, triangles2);
    m2.endModel();
  
    Transform3<S> pose1(tf);
    Transform3<S> pose2 = Transform3<S>::Identity();
  
    DistanceResult<S> local_result;
    detail::MeshDistanceTraversalNode<BV> node;
  
    if(!detail::initialize<BV>(node, m1, pose1, m2, pose2, DistanceRequest<S>(true), local_result))
      std::cout << "initialize error" << std::endl;
  
    node.enable_statistics = verbose;
  
    distance(&node, nullptr, qsize);
  
    distance_result.distance = local_result.min_distance;
    distance_result.p1 = local_result.nearest_points[0];
    distance_result.p2 = local_result.nearest_points[1];
  
    if(verbose)
    {
      std::cout << "distance " << local_result.min_distance << std::endl;
  
      std::cout << local_result.nearest_points[0][0] << " " << local_result.nearest_points[0][1] << " " << local_result.nearest_points[0][2] << std::endl;
      std::cout << local_result.nearest_points[1][0] << " " << local_result.nearest_points[1][1] << " " << local_result.nearest_points[1][2] << std::endl;
      std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
    }
  }
  
  template <typename S>
  bool collide_Test_OBB(const Transform3<S>& tf,
                        const std::vector<Vector3<S>>& vertices1, const std::vector<Triangle>& triangles1,
                        const std::vector<Vector3<S>>& vertices2, const std::vector<Triangle>& triangles2, detail::SplitMethodType split_method, bool verbose)
  {
    BVHModel<OBB<S>> m1;
    BVHModel<OBB<S>> m2;
    m1.bv_splitter.reset(new detail::BVSplitter<OBB<S>>(split_method));
    m2.bv_splitter.reset(new detail::BVSplitter<OBB<S>>(split_method));
  
    m1.beginModel();
    m1.addSubModel(vertices1, triangles1);
    m1.endModel();
  
    m2.beginModel();
    m2.addSubModel(vertices2, triangles2);
    m2.endModel();
  
    CollisionResult<S> local_result;
    detail::MeshCollisionTraversalNodeOBB<S> node;
    if(!detail::initialize(node, (const BVHModel<OBB<S>>&)m1, tf, (const BVHModel<OBB<S>>&)m2, Transform3<S>::Identity(),
                   CollisionRequest<S>(), local_result))
      std::cout << "initialize error" << std::endl;
  
    node.enable_statistics = verbose;
  
    collide(&node);
  
    if(local_result.numContacts() > 0)
      return true;
    else
      return false;
  }
  
  //==============================================================================
  int main(int argc, char* argv[])
  {
    ::testing::InitGoogleTest(&argc, argv);
    return RUN_ALL_TESTS();
  }
  