Adding swept-sphere radius + removing dead code#558

Merged

jcarpent merged 76 commits intocoal-library:develfrom lmontaut:topic/swept-sphere-primitives

Apr 3, 2024

+4,975-6,704

Commits on Apr 3, 2024

GJK/EPA: move warning to collision data documentation

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Fix compilation warning in convex support function

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ShapeBase: add swept sphere radius property

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Support func: remove useless dirIsNormalized

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Shapes: fix typo in doc

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GJKSolver: remove useless distance_upper_bound field

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ShapeBase: more explicit inflated doc

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GJK/EPA: take swept sphere radius into account

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Shapes: swept sphere radius in isEqual + python binding

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ShapeBase: serialize swept sphere radius

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MinkowskiDiff: template support by InflateSupport boolean

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GJKSolver: template runGJKAndEPA for testing

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ShapeBase: add doc on swept sphere radius

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Test/serialization: fix order of computeLocalAABB

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GJK/EPA: fix normal computation

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Add test for swept-sphere radius

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Test: refactor swept_sphere_radius.cpp

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Test/swept-sphere: test all primitives collision pairs

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ShapeDistance: add missing convex/triangle-plane specialized algos

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ShapeDistance: add generic plane/halfspace-whatever distance function

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Contact: simplify constructor

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Sphere-sphere: take swept-sphere radius into account

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capsule-capsule: take swept-sphere radius into account

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GJK/EPA: fix support functions

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ShapeDistance specializations: remove useless headers

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Test: fix security_margin test

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Misc: move GJK vs. specialization table to shape_shape_func.h file

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Misc: rename template in shape_shape_func.h file

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Hfield-shape: remove dead code

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ShapeCollisionTraversalNode: use ShapeShapeCollide

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test/geometric_shapes: remove duplicated tests

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test/geom_shapes: rename tests to be more explicit

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GJKSolver: remove useless shapeIntersect method

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test/misc: fix compilation warning

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SphereSphere: move specialization to "details.h"

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Shape specializations: remove dead code

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CollisionMatrix: add support for TriangleP

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TriangleP: add missing specializations

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Fix compilation warning

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GJKSolver: remove dead code

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GJKSolver: return void instead of boolean

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Test/geom_shapes: update TriangleP tests

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test/geom_shapes: rename triangle tests

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test/geom_shapes: add missing SET_LINE to triangle tests

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SphereTriangle: fix specialized function

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test/geom_shapes: fix plane triangle test

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test/geom_shapes: fix sphere-sphere convention when perfect overlap

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test/geom_shapes: fix expected normals in conecone/conecylinder test

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test/obb: fix typo in inequality

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Misc/traversalNodeShape: switch to ShapeShapeDistance

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GJKSolver: cosmetic changes only - cleaning the struct

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BVH-Shape: use ShapeShape functions instead of GJKSolver

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Octree-BVH: use ShapeShapeDistance instead of GJKSolver

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GJKSolver: restore previously deleted attributes

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Hfield-Shape: use ShapeShapeDistance instead of GJKSolver

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Octree: use ShapeShapeDistance instead of GJKSolver

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BVH-BVH: use ShapeShapeDistance instead of GJKSolver

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BVH-BVH: add todo on copying BVHModels (???)

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python: fix MinkowskiDiff doxygen

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Hfield-Shape: remove unused member

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Swept-Sphere radius: clarify difference with "inflated" methods

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Test/gjk: use the right function for Triangle-Triangle

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GJKSolver: add doc and shapeDistance returns FCL_REAL

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ShapeShape: add signature and use it in traversal nodes

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Sphere-Cylinder: take swept-sphere radius into account

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Box-Sphere: take swept-sphere radius into account

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GJKSolver: small optimization to avoid computing two transformations

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EPA: fix normal in certain edge cases

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GJKSolver: fix doxygen to xml when empty template param

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Swept-Sphere: change tpl from bool to enum to be more explicit

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Swept-Sphere: fix missing explicit instantiation

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Swept-Sphere: fix doxygen xml parser

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Swept-Sphere: export template instantation for windows DLL API

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Swept-Sphere: add support for plane-halfspace/plane-halfspace collisions

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BVs - swept-sphere: add support for computeLocalAABB + todo for all BVs

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Update changelog

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