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Coal / coal
2632 commits behind the upstream repository.
Florent Lamiraux
authored
- 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 - GJKSolver_indep::shapeTriangleDistance and GJKSolver_indep::shapeTriangleIntersect have been replaced by GJKSolver_indep::shapeTriangleInteraction.