test_fcl_obb.

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" {} \;

This reverts commit 31e52cc9.

  - overlap method without sqrDistLowerBound as an argument call the method
    with sqrDistLowerBound as an argument.

  void collide(CollisionTraversalNodeBase* node, FCL_REAL& sqrDistLowerBound,
               BVHFrontList* front_list) ->
  void collide(CollisionTraversalNodeBase* node,
               const CollisionRequest& request, CollisionResult& result,
               BVHFrontList* front_list),
  void propagateBVHFrontListCollisionRecurse (CollisionTraversalNodeBase* node,
                                              FCL_REAL& sqrDistLowerBound,
                                              BVHFrontList* front_list) ->
  void propagateBVHFrontListCollisionRecurse (CollisionTraversalNodeBase* node,
                                              const CollisionRequest& request,
                                              CollisionResult& result,
                                              BVHFrontList* front_list)

  This enables users to install the official version of fcl together with
  hpp-fcl.

  - returning a small value for the distance lower bound makes time of
    computation of continuous collision checking very high. It is better to
    break the bounding volumes to get a better bound, eventhough it increases
    the time of computation.

  - add a Boolean value in CollisionRequest to trigger this option,
  - if selected, fcl::collision function will compute a lower bound
    on the distance between the two objects if they do not collide.