Add CollisionResult::nearest_points #303
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This implements the changed suggested in coal-library#200
Not sure yet if the change are all correct. That's why, I decided to split with respect to the content of coal-library#200.
`distance_lower_bound` may be initialized with a lower value than the one contained in sqrDistLowerBound.
This is indeed expected as the lower bound has been updated in the collision call.
jmirabel
reviewed
Jun 10, 2022
| @@ -149,6 +149,9 @@ struct HPP_FCL_DLLAPI QueryRequest { | |||
| /// @brief enable timings when performing collision/distance request | |||
| bool enable_timings; | |||
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| /// @brief threshold below which a collision is considered. | |||
| FCL_REAL collision_distance_threshold; | |||
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Is this the same thing as what is called security_margin in other places of the code ?
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No. These is just small tiny positive numbers to choose when there is a collision or not. In some contexts, the test (3e-18 <= 0) leads to invalid results. The idea is to make it a bit more robust.
jmirabel
reviewed
Jun 10, 2022
jmirabel
approved these changes
Jun 10, 2022
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This comes to replace #200 which was no more aligned with the current devel.
In addition, it fixes potential issues related to #200.