- with a cylinder.

  - in DistanceResult constructor, initialize nearestpoints and normal with
    NaN vectors,
  - in test_fcl_geometric_shapes.cpp, initialize plane with zero vectors.

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>.

  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.

  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 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    GJKSolver_indep::shapeTriangleIntersect have been replaced by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.