Enhance EPA #549
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Enhance EPA #549
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jcarpent
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This allows to save/load primitive shapes so that C++ can be used to inspect collision problems and vice-versa.
Also add Serializer struct, can be usefull even on C++'s side
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nim65s
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Nov 21, 2024
## [3.0.0] - 2024-11-20
### Added
- Renaming the library from `hpp-fcl` to `coal`. Created a `COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL` CMake option for retro compatibility. This allows to still do `find_package(hpp-fcl)` and `#include <hpp/fcl/...>` in C++ and it allows to still do `import hppfcl` in python (coal-library/coal#596).
- Added `Transform3f::Random` and `Transform3f::setRandom` (coal-library/coal#584)
- New feature: computation of contact surfaces for any pair of primitive shapes (triangle, sphere, ellipsoid, plane, halfspace, cone, capsule, cylinder, convex) (coal-library/coal#574).
- Enhance Broadphase DynamicAABBTree to better handle planes and halfspace (coal-library/coal#570)
- (coal-library/coal#558):
- [internal] Removed dead code in `narrowphase/details.h` (coal-library/coal#558)
- [internal] Removed specializations of methods of `GJKSolver`. Now the specializations are all handled by `ShapeShapeDistance` in `shape_shape_func.h`.
- [new feature] Added support for Swept-Sphere primitives (sphere, box, capsule, cone, ellipsoid, triangle, halfspace, plane, convex mesh).
- [API change] Renamed default convergence criterion from `VDB` to `Default` (coal-library/coal#556)
- Fixed EPA returning nans on cases where it could return an estimate of the normal and penetration depth. (coal-library/coal#556)
- Fixed too low tolerance in GJK/EPA asserts (coal-library/coal#554)
- Fixed `normal_and_nearest_points` test (no need to have Eigen 3.4) (coal-library/coal#553)
- (coal-library/coal#549)
- Optimize EPA: ignore useless faces in EPA's polytope; warm-start support computation for `Convex`; fix edge-cases witness points computation.
- Add `Serializable` trait to transform, collision data, collision geometries, bounding volumes, bvh models, hfields. Collision problems can now be serialized from C++ and sent to python and vice versa.
- CMake: allow use of installed jrl-cmakemodules (coal-library/coal#564)
- CMake: Add compatibility with jrl-cmakemodules workspace (coal-library/coal#610)
- Python: add id() support for geometries (coal-library/coal#618).
Packaging changes:
- renamed package
- removed patch 522, merged upstream
- updated patch aa
- replaced common Makefile from HPP to JRL
- turned on backward compatibility with hpp-fcl
- updated required version to 3.0.0 (coal < 3.0.0 does not exist)
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This PR fixes/enhances EPA:
ConvexTo work on the PR, I had to serialize objects to visualize scenarios from python, hence the commits related to python serialization. The serialization code is borrowed from Pinocchio.