- 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.

  Methods BVTesting with sqrDistLowerBound as output argument were not defined.
  Instead the implementation of the base class BVHCollisionTraversalNode <BV>
  was called instead. Unfortunately, in the base class, the meshes and
  bounding volume hierarchy were moved to the position given for collision
  testing, but not in the derived classes. Method overlap were then called with
  wrong argument for position and orientation.

  - This member is used to convert a octomap to a set of boxes.

  from BVHCollisionTraversalNode::leafTesting to
  GJKSolver_indep::shapeDistance<TriangleP, TriangleP>.

  - do not run EPA algorithm to compute penetration depth and normal.

  - Collision detection calls distance computation and returns collision
    if the distance between objects is below the security margin.
  - This modification requires a modification in the structure of the software
    to make collision detection and distance computation closer.
  - GJKSolver_indep::shapeTriangleDistance and
    GJKSolver_indep::shapeTriangleIntersect have been replaced by
    GJKSolver_indep::shapeTriangleInteraction.

  - this member stores the normal (direction object 2 should be translated by
    the penetration depth to make objects collision free) in case boths objects
    are in collision.