Fix CI on OSX

Declare CachedMeshLoader::Key::operator<

Wrap code into namespace hpp

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" {} \;

using flag structure for argurments to collision requests

Fix GJK between triangles that are very close

  in GJKSolver_indep::shapeDistance<TriangleP, TriangleP>.

  triangles are in collision but distance between them is slightly positive.

  Position of octree is defined by resolution only. cell center coordinates are
  of the form:
    ((kx+.5)*resolution, (ky+.5)*resolution, (kz+.5)*resolution), where
    kx, ky, kz are integers.
  This commit fixes the construction of the environment octree in order to
  respect this constraint.
  In test_fcl_octree, envOctree contains envMesh.

  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.

  It seems that GJK fails when the triangles are close to each other but not
  colliding,
  Add a test in test_fcl_gjk with specific triangles and transforms that make
  GJK fail.

Revert "[OBB] Simplify expression in obbDisjointAndLowerBoundDistance", fix #46

This reverts commit 31e52cc9.

[CI] use generated configuration directly