Collision detectors should refresh collision shapes when they get changed

[mxgrey]

Based on what I've looked through in the source code, it seems like the FCLCollisionDetector classes only grab the Shape information when a Skeleton is first given to it. This could pose a problem if a collision shape is ever added or removed (or even modified). It would be good if the fcl::CollisionGeometry data structures could be updated as Shapes change and added/removed as Shapes are added and removed from the BodyNode's collision shape array.

This could either be implemented with dirty flags or with the recent Signal/Slog feature that's been added.

Note that this does not appear to be an issue for the DARTCollide class.

[jslee02]

Agree, and there is similar issue, #197.

[mxgrey]

To add to this, the collision detectors should update whenever a new BodyNode is added to a Skeleton. I'm noticing that the collision handler behaves poorly when BodyNodes are created or removed from a Skeleton unless you remove the Skeleton and re-add it.

[jslee02]

Related to #664

[stale]

This issue has been automatically marked as stale because it has not had recent activity. It will be closed in 7 days if no further activity occurs. Thank you for your contributions.

[jslee02]

Resolved by #1112