Improvement of FCL collision detector #405
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Conflicts: dart/constraint/ConstraintBase.h
jslee02
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Jun 15, 2015
Improvement of FCL collision detector
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This pull request improves FCLCollisionDetector that utilizes primitive shapes and broad phase algorithm of FCL.
Related issues: #19, #20, #59
Caution
The current version of FCL has some issues in support of primitive shapes, but they will be resolved in the next version. In the meantime, you can use fcl-dart, which is customized version of FCL for DART 5.0. Also, debian package of
fcl-dartwill be released shortly.You can still use
fcl 0.3.2but the result will be incorrect.This video shows the result when you use
fcl 0.3.2:This video show the result when you use
fcl-dart: