Commit 05e72807 authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

Use Object oriented Bounding Boxes instead of Rectangle Swept Spheres

  for bounding volume hierarchy.
parent e0ce0a3c
......@@ -59,7 +59,7 @@ namespace hpp
typedef DevicePtr_t RobotPtrType;
typedef Joint JointType;
typedef Body BodyType;
typedef fcl::BVHModel< fcl::RSS > PolyhedronType;
typedef fcl::BVHModel< fcl::OBB > PolyhedronType;
typedef boost::shared_ptr <PolyhedronType> PolyhedronPtrType;
typedef Transform3f MatrixHomogeneousType;
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