WIP - HPP-FCL 3x #330
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WIP - HPP-FCL 3x #330
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First return for collision status
…sults second phase
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* `GJKSolver::shapeDistance` was outputing non-uniform behavior. Now, GJKSolver outputs if GJK and/or EPA have run correctly (0 for failure, 1 for success). I updated the tests are updated accordingly. * In the hfields, we check for collision thanks to the distance given by GJK+EPA, NOT with the result given by `GJKSolver::shapeDistance`. * Definition of contact with a bin of hfields and a shape: we correct the contact points, distance and normal ONLY if GJK+EPA has detected a collision (only if distance < 0). * After computing `distToCollision` (takes into account security margin), we add a Contact only if the normal is the normal of the top of the bin. If so, we only add the contact if there was a collision or the shape is not on the side of the bin.
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* Distance to collision takes into account the security margin.
with GJKSolver::shapeDistance.
The convention is now the same as in ShapeShapeCollide.
collision. The convention is now the same as in ShapeShapeCollide.
Contact. It now follows the convention as in ShapeShapeCollide.
according to convention in ShapeShapeCollide.
to convention in ShapeShapeCollide.
Co-authored-by: Justin Carpentier <[email protected]>
Co-authored-by: Justin Carpentier <[email protected]>
Fix issues on normal directions for hfields
…fcl3x Sync hppfcl3x
Fix various bugs in serialization and computation of local AABB
In the case where only 2 shapes are used and one of them is a shape with infinite AABB (i.e Plane or Halfspace), `min_size` remains equal to +infinity in `HierarchyTree::bottomup` and `min_it1` and `min_it2` never got set, which was leading to a segfault when they are then dereferenced.
Sync submodule cmake + import fix from hppfcl 2x
Merge with v2.4.1
CMake: use Findassimp from jrl cmake module
updates: - [github.com/psf/black: 23.12.1 → 24.1.1](psf/black@23.12.1...24.1.1)
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…te-config [pre-commit.ci] pre-commit autoupdate
Merge branch hppfcl3x into devel
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