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Fix project_to_psd assertion #67

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Merged
zfergus merged 2 commits into from
Oct 13, 2023
Merged

Fix project_to_psd assertion #67

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2eaa79c
Fix project_to_psd assertion
zfergus Oct 13, 2023
3b9f66a
Fix CHECKs
zfergus Oct 13, 2023
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4 changes: 2 additions & 2 deletions src/ipc/utils/eigen_ext.tpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@ project_to_pd(
double eps)
{
assert(eps > 0);
assert(A == A.transpose() && "A must be symmetric");
assert(A.isApprox(A.transpose()) && "A must be symmetric");

// https://math.stackexchange.com/q/2776803
Eigen::SelfAdjointEigenSolver<
Expand Down Expand Up @@ -63,7 +63,7 @@ Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>
project_to_psd(
const Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& A)
{
assert(A == A.transpose() && "A must be symmetric");
assert(A.isApprox(A.transpose()) && "A must be symmetric");

// https://math.stackexchange.com/q/2776803
Eigen::SelfAdjointEigenSolver<
Expand Down
4 changes: 2 additions & 2 deletions tests/ccd/test_ccd_benchmark.cpp
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Expand Up @@ -158,7 +158,7 @@ void run_benchmark(
if (result < expected_result) {
fmt::print("\n");
}
CHECK(result >= expected_result); // false positive is ok
CHECK((result || !expected_result)); // false positive is ok
}
}
}
Expand Down Expand Up @@ -256,7 +256,7 @@ TEST_CASE(
// V.row(0), V.row(1), V.row(2), V.row(3), V.row(4), V.row(5),
// V.row(6), V.row(7), toi);
// // }
// CHECK(result >= expected_result); // false positive is ok
// CHECK(result || !expected_result); // false positive is ok
// }
// }
// }
Expand Down
6 changes: 3 additions & 3 deletions tests/ccd/test_edge_edge_ccd.cpp
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Expand Up @@ -136,7 +136,7 @@ TEST_CASE("Edge-Edge CCD", "[ccd][3D][edge-edge][!mayfail]")
eb1_t1 = eb1_t0 + Eigen::Vector3d(-scale, -dy, -scale);

// this ternary operator is to force MSVC to use 1 or 0
is_collision_expected = dy >= d0 / 2 ? true : false;
is_collision_expected = dy >= d0 / 2;
conservative_check = false;
}
CAPTURE(int(is_collision_expected));
Expand All @@ -146,7 +146,7 @@ TEST_CASE("Edge-Edge CCD", "[ccd][3D][edge-edge][!mayfail]")
ea0_t0, ea1_t0, eb0_t0, eb1_t0, ea0_t1, ea1_t1, eb0_t1, eb1_t1, toi,
/*min_distance=*/0.0, tmax, tol, max_iter);
if (conservative_check) {
CHECK(is_colliding >= is_collision_expected);
CHECK((is_colliding || !is_collision_expected));
} else {
CHECK(is_colliding == is_collision_expected);
}
Expand All @@ -155,7 +155,7 @@ TEST_CASE("Edge-Edge CCD", "[ccd][3D][edge-edge][!mayfail]")
ea0_t0, ea1_t0, eb0_t0, eb1_t0, ea0_t1, ea1_t1, eb0_t1, eb1_t1, toi,
/*min_distance=*/0.0, tmax);
if (conservative_check) {
CHECK(is_colliding >= is_collision_expected);
CHECK((is_colliding || !is_collision_expected));
} else {
CHECK(is_colliding == is_collision_expected);
}
Expand Down
4 changes: 2 additions & 2 deletions tests/ccd/test_point_triangle_ccd.cpp
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Expand Up @@ -97,15 +97,15 @@ TEST_CASE("Point-Triangle CCD", "[ccd][3D][point-triangle][!mayfail]")
p_t0, t0_t0, t1_t0, t2_t0, p_t1, t0_t1, t1_t1, t2_t1, toi);

if (conservative_check) {
CHECK(is_colliding >= is_collision_expected);
CHECK((is_colliding || !is_collision_expected));
} else {
CHECK(is_colliding == is_collision_expected);
}

is_colliding = additive_ccd::point_triangle_ccd(
p_t0, t0_t0, t1_t0, t2_t0, p_t1, t0_t1, t1_t1, t2_t1, toi);
if (conservative_check) {
CHECK(is_colliding >= is_collision_expected);
CHECK((is_colliding || !is_collision_expected));
} else {
CHECK(is_colliding == is_collision_expected);
}
Expand Down