tests: avoid Raycast segfault when no hits

Author: jslee02

tests/integration/test_Raycast.cpp

@@ -102,8 +102,8 @@ void testBasicInterface(const std::shared_ptr<CollisionDetector>& cd)
       Eigen::Vector3d(2, 0, 0),
       option,
       &result);
-  EXPECT_TRUE(result.hasHit());
-  EXPECT_EQ(result.mRayHits.size(), 1u);
+  ASSERT_TRUE(result.hasHit());
+  ASSERT_EQ(result.mRayHits.size(), 1u);
   rayHit = result.mRayHits[0];
   EXPECT_TRUE(equals(rayHit.mPoint, Eigen::Vector3d(-1, 0, 0)));
   EXPECT_TRUE(equals(rayHit.mNormal, Eigen::Vector3d(-1, 0, 0)));
@@ -118,8 +118,8 @@ void testBasicInterface(const std::shared_ptr<CollisionDetector>& cd)
       Eigen::Vector3d(-2, 0, 0),
       option,
       &result);
-  EXPECT_TRUE(result.hasHit());
-  EXPECT_EQ(result.mRayHits.size(), 1u);
+  ASSERT_TRUE(result.hasHit());
+  ASSERT_EQ(result.mRayHits.size(), 1u);
   rayHit = result.mRayHits[0];
   EXPECT_TRUE(equals(rayHit.mPoint, Eigen::Vector3d(1, 0, 0)));
   EXPECT_TRUE(equals(rayHit.mNormal, Eigen::Vector3d(1, 0, 0)));
@@ -133,8 +133,8 @@ void testBasicInterface(const std::shared_ptr<CollisionDetector>& cd)
       Eigen::Vector3d(2, 0, 0),
       option,
       &result);
-  EXPECT_TRUE(result.hasHit());
-  EXPECT_EQ(result.mRayHits.size(), 1u);
+  ASSERT_TRUE(result.hasHit());
+  ASSERT_EQ(result.mRayHits.size(), 1u);
   rayHit = result.mRayHits[0];
   EXPECT_TRUE(equals(rayHit.mPoint, Eigen::Vector3d(0, 0, 0)));
   EXPECT_TRUE(equals(rayHit.mNormal, Eigen::Vector3d(-1, 0, 0)));
@@ -194,8 +194,8 @@ void testOptions(const std::shared_ptr<CollisionDetector>& cd)
       Eigen::Vector3d(5, 0, 0),
       option,
       &result);
-  EXPECT_TRUE(result.hasHit());
-  EXPECT_EQ(result.mRayHits.size(), 1u);
+  ASSERT_TRUE(result.hasHit());
+  ASSERT_EQ(result.mRayHits.size(), 1u);
   rayHit = result.mRayHits[0];
   EXPECT_TRUE(equals(rayHit.mPoint, Eigen::Vector3d(-3, 0, 0)));
   EXPECT_TRUE(equals(rayHit.mNormal, Eigen::Vector3d(-1, 0, 0)));
@@ -212,8 +212,8 @@ void testOptions(const std::shared_ptr<CollisionDetector>& cd)
       Eigen::Vector3d(5, 0, 0),
       option,
       &result);
-  EXPECT_TRUE(result.hasHit());
-  EXPECT_EQ(result.mRayHits.size(), 2u);
+  ASSERT_TRUE(result.hasHit());
+  ASSERT_EQ(result.mRayHits.size(), 2u);
   rayHit = result.mRayHits[0];
   EXPECT_TRUE(equals(rayHit.mPoint, Eigen::Vector3d(-3, 0, 0)));
   EXPECT_TRUE(equals(rayHit.mNormal, Eigen::Vector3d(-1, 0, 0)));