This test makes GJK fail, reaching the maximal number of iterations.

  - 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.

  This test was malformed. It tested collision for tangent shapes and checked
  that A against B and B against A were collision free.

  - many tests put shapes in singular configuration so that normal and depth
    are ill-defined. This modifications removes tests that are not relevant.

  - 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    GJKSolver_indep::shapeTriangleIntersect have been replaced by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.

  instead of -1.

  when checking sizes of vectors.

  - old constructor is deprecated.

  - store const CollisionRequest& as a member instead of CollisionRequest,
  - remove member CollisionRequest::enable_distance_lower_bound,
  - modify constructors of all derived classes.

  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)

Joseph Mirabel authored 7 years ago and Joseph Mirabel committed 7 years ago

* and disable test doomed to fail.

  - this feature is implemented in a more general way in HPP.