From 836eec17eaf2ee6d8ed70c20a9409007c6f68fb1 Mon Sep 17 00:00:00 2001
From: Louis Montaut <louismontaut@gmail.com>
Date: Fri, 9 Feb 2024 09:57:13 +0100
Subject: [PATCH] test/gjk_asserts: isolating the problematic cases to reduce
 test run time

I only keep the cases that were previously triggering asserts.
Otherwise this test timeout on the CI.

All of the other cases don't trigger any assert.
---
 test/gjk_asserts.cpp | 22 +++++++++++++++-------
 1 file changed, 15 insertions(+), 7 deletions(-)

diff --git a/test/gjk_asserts.cpp b/test/gjk_asserts.cpp
index c95b9a784..31c6c6c94 100644
--- a/test/gjk_asserts.cpp
+++ b/test/gjk_asserts.cpp
@@ -68,14 +68,22 @@ BOOST_AUTO_TEST_CASE(TestSpheres) {
 
   for (int i = 0; i < 360; ++i) {
     for (int j = 0; j < 180; ++j) {
-      sphere2Tf.setQuatRotation(
-          Eigen::AngleAxis<double>(DegToRad(i), Vec3f::UnitZ()) *
-          Eigen::AngleAxis<double>(DegToRad(j), Vec3f::UnitY()));
-      for (const Vec3f& dir : dirs) {
-        sphere2Tf.setTranslation(dir);
-        CollisionResult result;
+      if (
+          /// assertion: src/narrowphase/gjk.cpp:331
+          (i == 5 && j == 48) || (i == 64 && j == 151) ||
+          (i == 98 && j == 47) || (i == 355 && j == 48) ||
+          /// assertion: src/narrowphase/gjk.cpp:1263
+          (i == 86 && j == 52) || (i == 89 && j == 17) ||
+          (i == 89 && j == 58) || (i == 89 && j == 145)) {
+        sphere2Tf.setQuatRotation(
+            Eigen::AngleAxis<double>(DegToRad(i), Vec3f::UnitZ()) *
+            Eigen::AngleAxis<double>(DegToRad(j), Vec3f::UnitY()));
+        for (const Vec3f& dir : dirs) {
+          sphere2Tf.setTranslation(dir);
+          CollisionResult result;
 
-        BOOST_CHECK_NO_THROW(compute(sphere2Tf, sphere1Tf, request, result));
+          BOOST_CHECK_NO_THROW(compute(sphere2Tf, sphere1Tf, request, result));
+        }
       }
     }
   }