Commit cb68e2b8 authored by Florent Lamiraux's avatar Florent Lamiraux Committed by Florent Lamiraux florent@laas.fr
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Add security_margin and break_distance to CollisionRequest

  - security_margin is the distance below which collision test returns
    collision,
  - break_distance is the distance below which bounding boxes are broken
    down.
parent 78a63ac4
......@@ -219,6 +219,12 @@ struct CollisionRequest
/// @brief the gjk intial guess set by user
Vec3f cached_gjk_guess;
/// @brief Distance below which objects are considered in collision
FCL_REAL security_margin;
/// @brief Distance below which bounding volumes are break down
FCL_REAL break_distance;
CollisionRequest(size_t num_max_contacts_ = 1,
bool enable_contact_ = false,
bool enable_distance_lower_bound_ = false,
......@@ -232,7 +238,9 @@ struct CollisionRequest
num_max_cost_sources(num_max_cost_sources_),
enable_cost(enable_cost_),
use_approximate_cost(use_approximate_cost_),
gjk_solver_type(gjk_solver_type_)
gjk_solver_type(gjk_solver_type_),
security_margin (0),
break_distance (1e-3)
{
enable_cached_gjk_guess = false;
cached_gjk_guess = Vec3f(1, 0, 0);
......
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