Transform: add `Random` and `setRandom` methods

Contact patch: add bvh and hfield

[pre-commit.ci] pre-commit autoupdate

pre-commit-ci[bot] authored 11 months ago and Justin Carpentier committed 11 months ago

updates:
- [github.com/astral-sh/ruff-pre-commit: v0.4.2 → v0.4.4](https://github.com/astral-sh/ruff-pre-commit/compare/v0.4.2...v0.4.4)
- [github.com/pre-commit/mirrors-clang-format: v18.1.4 → v18.1.5](https://github.com/pre-commit/mirrors-clang-format/compare/v18.1.4...v18.1.5)

ci pip: no py 3.8 on macos arm64 for now

* Fix linters failure in gitlab CI.

* [pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci

* pre-commit: black → ruff

* [pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci



---------

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Guilhem Saurel <guilhem.saurel@laas.fr>

Fix potential with older version of Eigen

for more information, see https://pre-commit.ci

Compute multiple contact points/contact surfaces

HPP-FCL should simply compute the patch and let the user decide
 which point of the contact patch they want to keep.

Important for physics simulation where we might want to know in advance
the maximum amount of contact points per contact pair.

This flag needs to be present at the CMakeLists level, as Eigen
is present everywhere in hpp-fcl.

The SH algo is super easy to understand; however we have to handle the
edge cases carefully. The edge cases are mainly due to degenerate cases
where we have segments and points instead of non-empty convex polygons.
If not handled properly, these edge cases induce redundancies in the
final polygon of SH. For example, if SH is ran on two triangles which
have only one common point, SH will return an intersection polygon
composed of 3 identical points (the common point of the triangles).

We detect these cases by using a tolerance when computing determinants.
This allows us to remove redundant points.
Also, we deal with the special case of the segment-polygon.

We only need the polygon representation, not the full support set.