@@ -6,7 +6,7 @@ FCL is a library for performing three types of proximity queries on a pair of ge
- Distance computation: computing the minimum distance between a pair of models, i.e., the distance between the closest pair of points.
- Tolerance verification: determining whether two models are closer or farther than a tolerance distance.
- Continuous collision detection: detecting whether the two moving models overlap during the movement, and optionally, the time of contact.
- Global penetration depth: detecting the minimum motion required to separate two in-collision objects, and return the configuration where the collision has been resolved.
# - Global penetration depth: detecting the minimum motion required to separate two in-collision objects, and return the configuration where the collision has been resolved.
- Contact information: for collision detection, continuous collision detection and global penetration depth, the contact information (including contact normals and contact points) can be returned optionally.
For global penetration depth computation, we need a pre-computation step. Beside that, the online penetration depth function uses exactly the same pipeline as shown above:
```cpp
// Given two objects o1 and o2
CollisionObject*o1=...
CollisionObject*o2=...
// the precomputation step for global penetration computation (see test_fcl_xmldata.cpp for an example)
...
// set the penetration depth request structure, here we just use the default setting
PenetrationDepthRequestrequest;
// result will be returned via the penetration depth result structure
PenetrationDepthResultresult;
// perform global penetration depth test
penetrationDepth(o1,o2,request,result);
```
#For global penetration depth computation, we need a pre-computation step. Beside that, the online penetration depth function uses exactly the same pipeline as shown above:
#```cpp
#// Given two objects o1 and o2
#CollisionObject* o1 = ...
#CollisionObject* o2 = ...
#// the precomputation step for global penetration computation (see test_fcl_xmldata.cpp for an example)
#...
#// set the penetration depth request structure, here we just use the default setting
#PenetrationDepthRequest request;
#// result will be returned via the penetration depth result structure
#PenetrationDepthResult result;
#// perform global penetration depth test
#penetrationDepth(o1, o2,request, result);
#```
FCL supports broadphase collision/distance between two groups of objects and can avoid the n square complexity. For collision, broadphase algorithm can return all the collision pairs. For distance, it can return the pair with the minimum distance. FCL uses a CollisionManager structure to manage all the objects involving the collision or distance operations.
```cpp
...
...
@@ -186,6 +186,6 @@ For more examples, please refer to the test folder:
- test_fcl_distance.cpp: provide examples for distance test
- test_fcl_broadphase.cpp: provide examples for broadphase collision/distance test
- test_fcl_frontlist.cpp: provide examples for frontlist collision acceleration
- test_fcl_global_penetration.cpp: provide examples for global penetration depth test
- test_fcl_xmldata.cpp: provide examples for more global penetration depth test based on xml data
#- test_fcl_global_penetration.cpp: provide examples for global penetration depth test
#- test_fcl_xmldata.cpp: provide examples for more global penetration depth test based on xml data
- test_fcl_octomap.cpp: provide examples for collision/distance computation between octomap data and other data types.
