text: /*
   * Software License Agreement (BSD License)
   *
   *  Copyright (c) 2011-2014, Willow Garage, Inc.
   *  Copyright (c) 2014-2015, Open Source Robotics Foundation
   *  All rights reserved.
   *
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   *     notice, this list of conditions and the following disclaimer.
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   *     copyright notice, this list of conditions and the following
   *     disclaimer in the documentation and/or other materials provided
   *     with the distribution.
   *   * Neither the name of Open Source Robotics Foundation nor the names of its
   *     contributors may be used to endorse or promote products derived
   *     from this software without specific prior written permission.
   *
   *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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   *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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   */
  
  /** \author Jia Pan */
  
  #define BOOST_TEST_MODULE FCL_DISTANCE
  #include <chrono>
  
  #include <boost/test/included/unit_test.hpp>
  #include <boost/filesystem.hpp>
  
  #include <hpp/fcl/internal/traversal_node_bvhs.h>
  #include <hpp/fcl/internal/traversal_node_setup.h>
  #include "../src/collision_node.h"
  #include <hpp/fcl/internal/BV_splitter.h>
  
  #include "utility.h"
  #include "fcl_resources/config.h"
  
  using namespace hpp::fcl;
  namespace utf = boost::unit_test::framework;
  
  bool verbose = false;
  FCL_REAL DELTA = 0.001;
  
  
  template<typename BV>
  void distance_Test(const Transform3f& tf,
                     const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
                     const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method,
                     unsigned int qsize,
                     DistanceRes& distance_result,
                     bool verbose = true);
  
  bool collide_Test_OBB(const Transform3f& tf,
                        const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
                        const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method, bool verbose);
  
  
  template<typename BV, typename TraversalNode>
  void distance_Test_Oriented(const Transform3f& tf,
                              const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
                              const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method,
                              unsigned int qsize,
                              DistanceRes& distance_result,
                              bool verbose = true);
  
  inline bool nearlyEqual(const Vec3f& a, const Vec3f& b)
  {
    if(fabs(a[0] - b[0]) > DELTA) return false;
    if(fabs(a[1] - b[1]) > DELTA) return false;
    if(fabs(a[2] - b[2]) > DELTA) return false;
    return true;
  }
  
  
  BOOST_AUTO_TEST_CASE(mesh_distance)
  {
    std::vector<Vec3f> p1, p2;
    std::vector<Triangle> t1, t2;
    boost::filesystem::path path(TEST_RESOURCES_DIR);
    loadOBJFile((path / "env.obj").string().c_str(), p1, t1);
    loadOBJFile((path / "rob.obj").string().c_str(), p2, t2);
  
    std::vector<Transform3f> transforms; // t0
    FCL_REAL extents[] = {-3000, -3000, 0, 3000, 3000, 3000};
  #ifndef NDEBUG // if debug mode
    std::size_t n = 1;
  #else
    std::size_t n = 10;
  #endif
    n = getNbRun(utf::master_test_suite().argc, utf::master_test_suite().argv, n);
  
    generateRandomTransforms(extents, transforms, n);
  
    double dis_time = 0;
    double col_time = 0;
  
    DistanceRes res, res_now;
    for(std::size_t i = 0; i < transforms.size(); ++i)
    {
      auto timer_col = std::chrono::high_resolution_clock::now();
      collide_Test_OBB(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
      col_time += std::chrono::duration_cast<std::chrono::duration<double>>(std::chrono::high_resolution_clock::now() - timer_col).count();
  
      auto timer_dist = std::chrono::high_resolution_clock::now();
      distance_Test_Oriented<RSS, MeshDistanceTraversalNodeRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 2, res, verbose);
      dis_time += std::chrono::duration_cast<std::chrono::duration<double>>(std::chrono::high_resolution_clock::now() - timer_dist).count();
  
      distance_Test_Oriented<RSS, MeshDistanceTraversalNodeRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 2, res_now, verbose);
  
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test_Oriented<RSS, MeshDistanceTraversalNodeRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 2, res_now, verbose);
  
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test_Oriented<RSS, MeshDistanceTraversalNodeRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 20, res_now, verbose);
  
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test_Oriented<RSS, MeshDistanceTraversalNodeRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 20, res_now, verbose);
  
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test_Oriented<RSS, MeshDistanceTraversalNodeRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 20, res_now, verbose);
  
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
      
      distance_Test_Oriented<kIOS, MeshDistanceTraversalNodekIOS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 2, res_now, verbose);
  
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
      
      distance_Test_Oriented<kIOS, MeshDistanceTraversalNodekIOS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 2, res_now, verbose);
      
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test_Oriented<kIOS, MeshDistanceTraversalNodekIOS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 2, res_now, verbose);
      
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test_Oriented<kIOS, MeshDistanceTraversalNodekIOS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 20, res_now, verbose);
      
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test_Oriented<kIOS, MeshDistanceTraversalNodekIOS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 20, res_now, verbose);
      
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test_Oriented<kIOS, MeshDistanceTraversalNodekIOS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 20, res_now, verbose);
      
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test_Oriented<OBBRSS, MeshDistanceTraversalNodeOBBRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 2, res_now, verbose);
  
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
      
      distance_Test_Oriented<OBBRSS, MeshDistanceTraversalNodeOBBRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 2, res_now, verbose);
      
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test_Oriented<OBBRSS, MeshDistanceTraversalNodeOBBRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 2, res_now, verbose);
      
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test_Oriented<OBBRSS, MeshDistanceTraversalNodeOBBRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 20, res_now, verbose);
      
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test_Oriented<OBBRSS, MeshDistanceTraversalNodeOBBRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 20, res_now, verbose);
      
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test_Oriented<OBBRSS, MeshDistanceTraversalNodeOBBRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 20, res_now, verbose);
      
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
  
      distance_Test<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 2, res_now, verbose);
  
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 2, res_now, verbose);
  
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 2, res_now, verbose);
  
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 20, res_now, verbose);
  
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 20, res_now, verbose);
  
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 20, res_now, verbose);
  
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
      
      distance_Test<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 2, res_now, verbose);
  
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 2, res_now, verbose);
  
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 2, res_now, verbose);
  
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 20, res_now, verbose);
  
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 20, res_now, verbose);
  
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 20, res_now, verbose);
  
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
      
      distance_Test<kIOS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 2, res_now, verbose);
  
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
      
      distance_Test<kIOS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 2, res_now, verbose);
  
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
      
      distance_Test<kIOS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 2, res_now, verbose);
  
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test<kIOS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 20, res_now, verbose);
  
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test<kIOS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 20, res_now, verbose);
  
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test<kIOS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 20, res_now, verbose);
  
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
  
      distance_Test<OBBRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 2, res_now, verbose);
  
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
      
      distance_Test<OBBRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 2, res_now, verbose);
  
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
      
      distance_Test<OBBRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 2, res_now, verbose);
  
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test<OBBRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 20, res_now, verbose);
  
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test<OBBRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 20, res_now, verbose);
  
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
      distance_Test<OBBRSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 20, res_now, verbose);
  
      BOOST_CHECK(fabs(res.distance - res_now.distance) < DELTA);
      BOOST_CHECK(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
  
    }
  
    BOOST_TEST_MESSAGE("distance timing: " << dis_time << " sec");
    BOOST_TEST_MESSAGE("collision timing: " << col_time << " sec");
  }
  
  template<typename BV, typename TraversalNode>
  void distance_Test_Oriented(const Transform3f& tf,
                              const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
                              const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method,
                              unsigned int qsize,
                              DistanceRes& distance_result,
                              bool verbose)
  {
    BVHModel<BV> m1;
    BVHModel<BV> m2;
    m1.bv_splitter.reset(new BVSplitter<BV>(split_method));
    m2.bv_splitter.reset(new BVSplitter<BV>(split_method));
  
  
    m1.beginModel();
    m1.addSubModel(vertices1, triangles1);
    m1.endModel();
  
    m2.beginModel();
    m2.addSubModel(vertices2, triangles2);
    m2.endModel();
  
    DistanceResult local_result;
    TraversalNode node;
    if(!initialize(node, (const BVHModel<BV>&)m1, tf, (const BVHModel<BV>&)m2, Transform3f(), DistanceRequest(true), local_result))
      std::cout << "initialize error" << std::endl;
  
    node.enable_statistics = verbose;
  
    distance(&node, NULL, qsize);
  
    // points are in local coordinate, to global coordinate
    Vec3f p1 = local_result.nearest_points[0];
    Vec3f 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 Transform3f& tf,
                     const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
                     const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method,
                     unsigned int qsize,
                     DistanceRes& distance_result,
                     bool verbose)
  {
    BVHModel<BV> m1;
    BVHModel<BV> m2;
    m1.bv_splitter.reset(new BVSplitter<BV>(split_method));
    m2.bv_splitter.reset(new BVSplitter<BV>(split_method));
  
  
    m1.beginModel();
    m1.addSubModel(vertices1, triangles1);
    m1.endModel();
  
    m2.beginModel();
    m2.addSubModel(vertices2, triangles2);
    m2.endModel();
  
    Transform3f pose1(tf), pose2;
  
    DistanceResult local_result;
    MeshDistanceTraversalNode<BV> node;
  
    if(!initialize<BV>(node, m1, pose1, m2, pose2, DistanceRequest(true), local_result))
      std::cout << "initialize error" << std::endl;
  
    node.enable_statistics = verbose;
  
    distance(&node, NULL, 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;
    }
  }
  
  
  bool collide_Test_OBB(const Transform3f& tf,
                        const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
                        const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method, bool verbose)
  {
    BVHModel<OBB> m1;
    BVHModel<OBB> m2;
    m1.bv_splitter.reset(new BVSplitter<OBB>(split_method));
    m2.bv_splitter.reset(new BVSplitter<OBB>(split_method));
  
    m1.beginModel();
    m1.addSubModel(vertices1, triangles1);
    m1.endModel();
  
    m2.beginModel();
    m2.addSubModel(vertices2, triangles2);
    m2.endModel();
  
    CollisionResult local_result;
    CollisionRequest request (CONTACT | DISTANCE_LOWER_BOUND, 1);
    MeshCollisionTraversalNodeOBB node (request);
    bool success (initialize(node, (const BVHModel<OBB>&)m1, tf,
                             (const BVHModel<OBB>&)m2, Transform3f(),
                             local_result));
    BOOST_REQUIRE (success);
  
    node.enable_statistics = verbose;
  
    collide(&node, request, local_result);
  
    if(local_result.numContacts() > 0)
      return true;
    else
      return false;
  }
  
  
  