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" {} \;

  in GJKSolver_indep::shapeDistance<TriangleP, TriangleP>.

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

  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.

This reverts commit 31e52cc9.

  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.

  - if dir [2] == 0, return a point with z coordinate equal to 0,
  - add a test between box and cylinder that did make GJK algorithm fail.

  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.

  distance lower bound is necessary to compute security margin. In the previous
  state of the code, security margin was not computed if distance lower bound
  was not selected.

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

  in a local header so that they can be called from another file.

  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    GJKSolver_indep::shapeTriangleIntersect have been replaced by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.

  - remove unused variable.

  - use GJK algorithm to detect collision between triangles.
  - Remove methods
    - MeshCollisionTraversalNodeOBB::leafTesting,
    - MeshCollisionTraversalNodeRSS::leafTesting,
    - MeshCollisionTraversalNodekIOS::leafTesting,
    - MeshCollisionTraversalNodeOBBRSS::leafTesting,
    use parent class implementation instead.

  - old constructor is deprecated.