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BerkeleyAutomation / python-fcl

Python binding of FCL library
BSD 3-Clause "New" or "Revised" License
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enable signed distances for correct nearest points calculation for intersecting objects #42

Closed Zwoelf12 closed 2 years ago

Zwoelf12 commented 2 years ago

I tried to use the fcl-python bindings for collision avoidance in a gradient based optimization algorithm, but was not able to calculate the nearest points for intersecting objects correctly. I think after exposing the enable_signed_distances parameter to python this should work now.

mikedh commented 2 years ago

Thanks for the PR! Could you add a unit test with a simple example (i.e. two boxes or spheres or something)?

Also no big deal but any idea why those wheels got added to this PR? Was it the Github Actions setting or something? I can remove them in a branch, just curious haha.

Zwoelf12 commented 2 years ago

I have added a small example where the enable_signed_distance parameter is used. Is that what you where looking for?

Ah yeah, building the wheels and installing the library from there was the only way I could think of to include the changes I made. Probably not the smartest way!

mjd3 commented 2 years ago

This PR and associated test was incorporated as part of #50; thanks so much for the PR!