[SofaBaseCollision] Remove dependencies on BaseIntTool #2081
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fredroy
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hugtalbot
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May 19, 2021
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This was referenced May 25, 2021
alxbilger
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Jun 14, 2021
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| int MinProximityIntersection::computeIntersection(Cube& cube1, Cube& cube2, OutputVector* contacts) | ||
| { | ||
| return BaseProximityIntersection::testIntersection(cube1, cube2); |
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@fredroy do you confirm the typo here? Shouldn't it be BaseProximityIntersection::computeIntersection?
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I do confirm it should be computeIntersection...
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This follows #2073
BaseIntTool/MeshIntTool (and their friends IntrUtility stuff) was mostly created to handle OBB/Capsule.
Their design is quite weird (at least to me) and it is based on a code copied from GeometricTools (so the copyright/licensing is nebulous in the best case).
This PR makes SofaBaseCollision to not rely at all on those code, mainly to revert back the code from a long time ago.
It fixes also the fact that DiscreteIntersection was using proximities for the various computeIntersection() [1st error], but not using proximities in the various testIntersection in the proximities-based Intersections [2nd error]
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