From cb68e2b8dbd1d0535ce02a1c3dadf4095684d352 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Wed, 28 Nov 2018 16:05:26 +0100
Subject: [PATCH] Add security_margin and break_distance to CollisionRequest
- security_margin is the distance below which collision test returns
collision,
- break_distance is the distance below which bounding boxes are broken
down.
---
include/hpp/fcl/collision_data.h | 10 +++++++++-
1 file changed, 9 insertions(+), 1 deletion(-)
diff --git a/include/hpp/fcl/collision_data.h b/include/hpp/fcl/collision_data.h
index e9a3d5c5..34456f17 100644
--- a/include/hpp/fcl/collision_data.h
+++ b/include/hpp/fcl/collision_data.h
@@ -219,6 +219,12 @@ struct CollisionRequest
/// @brief the gjk intial guess set by user
Vec3f cached_gjk_guess;
+ /// @brief Distance below which objects are considered in collision
+ FCL_REAL security_margin;
+
+ /// @brief Distance below which bounding volumes are break down
+ FCL_REAL break_distance;
+
CollisionRequest(size_t num_max_contacts_ = 1,
bool enable_contact_ = false,
bool enable_distance_lower_bound_ = false,
@@ -232,7 +238,9 @@ struct CollisionRequest
num_max_cost_sources(num_max_cost_sources_),
enable_cost(enable_cost_),
use_approximate_cost(use_approximate_cost_),
- gjk_solver_type(gjk_solver_type_)
+ gjk_solver_type(gjk_solver_type_),
+ security_margin (0),
+ break_distance (1e-3)
{
enable_cached_gjk_guess = false;
cached_gjk_guess = Vec3f(1, 0, 0);
--
GitLab