debug: print getMOdelType

proyan · Apr 15, 2022 · d63ea45 · d63ea45
1 parent c8373f9
commit d63ea45
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diff --git a/include/hpp/fcl/BVH/BVH_model.h b/include/hpp/fcl/BVH/BVH_model.h
@@ -85,6 +85,7 @@ class HPP_FCL_DLLAPI BVHModelBase : public CollisionGeometry {
 
   /// @brief Model type described by the instance
   BVHModelType getModelType() const {
+    std::cerr<<"num_tris "<<num_tris<<"num_vertices"<<num_vertices<<std::endl;
     if (num_tris && num_vertices)
       return BVH_MODEL_TRIANGLES;
     else if (num_vertices)

diff --git a/include/hpp/fcl/internal/traversal_node_setup.h b/include/hpp/fcl/internal/traversal_node_setup.h
@@ -515,6 +515,9 @@ bool initialize(MeshCollisionTraversalNode<BV, 0>& node,
                 const BVHModel<BV>& model1, const Transform3f& tf1,
                 const BVHModel<BV>& model2, const Transform3f& tf2,
                 CollisionResult& result) {
+  std::cerr<<"XXXXXXXXXXXXXXXXXXXXXXXXXX"<<std::endl;
+  std::cerr<<model1.getModelType()<<" vs "<<BVH_MODEL_TRIANGLES<<std::endl;
+  std::cerr<<"YYYYYYYYYYYYYYYYYYYYYYYYYY"<<std::endl;
   if (model1.getModelType() != BVH_MODEL_TRIANGLES)
     HPP_FCL_THROW_PRETTY(
         "model1 should be of type BVHModelType::BVH_MODEL_TRIANGLES.",