Support computing distance between half-spaces and some other shapes#2
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gywn wants to merge 1 commit intotrimeshContactPoints20200813from
Open
Support computing distance between half-spaces and some other shapes#2gywn wants to merge 1 commit intotrimeshContactPoints20200813from
gywn wants to merge 1 commit intotrimeshContactPoints20200813from
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…(spheres, capsules, boxes)
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This PR fills the missing template specialization of
GJKSolver_libccd::shapeDistanceandGJKSolver_indep::shapeDistance, which implement distance computation between half-spaces and some other geometries (spheres, capsules, and boxes) widely used in quasi-real-time collision checking.These specializations are necessary because libccd's GJK solver suffers from segfaults as the half-space geometry does not have finite support.
This will stay as a contribution to the newer upstream if we were to merge the upstream, since the upstream differs from the current branch only in two newly implemented template specializations of sphere-box and sphere-cylinder distance calculation. c.f.