This is for making the code compliant with new policy in C++17.

  - in DistanceResult constructor, initialize nearestpoints and normal with
    NaN vectors,
  - in test_fcl_geometric_shapes.cpp, initialize plane with zero vectors.

Joseph Mirabel authored 6 years ago and Joseph Mirabel committed 6 years ago

* Commands executed:
* find include src test -iname "*.h" -type f -exec sed -i "s/^namespace fcl/namespace hpp\n{\nnamespace fcl/; \$i} // namespace hpp\n" {} \;
* find src -iname "*.cpp" -type f -exec sed -i "s/^namespace fcl/namespace hpp\n{\nnamespace fcl/; \$a\\\n} // namespace hpp" {} \;
* find test/ -iname "*.cpp" -type f -exec sed -i "s/using namespace fcl/using namespace hpp::fcl/; s/fcl::/hpp::fcl::/g" {} \;

  If GJK returns fail, assume no collision.
  Fix computation of closest points.

  to check that if no collision lowed bound of distance is positive.

  sqrDistLowerBound output parameter was not computed.

  - if collision is very small epa algorithm may return slightly negative
    penetration.

  If GJK::evaluate fails to converge but that the distance of the origin to the
  simplex converges to 0, set distance and return fail. In shapeDistance,
  return collision if GJK::evaluate failed.