Identified during unit testing of code for Drake.
The configuration is from an intermediate step in an optimizer, so I don't know exactly what it looks like, but it is two cylinders, probably lying parallel but offset, in contact along their edges.
C++ exception with description "Error with configuration
Original error message: external/fcl/include/fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd-inl.h:(1721): validateNearestFeatureOfPolytopeBeingEdge(): The origin is outside of the polytope. This should already have been identified as separating.
Shape 1: Cylinder(r: 0.010000000000000000208, lz: 1)
X_FS1
0.070736898150081176095 0 -0.99749500812791291882 0.24874750406395645941
0 1 0 0
0.99749500812791291882 0 0.070736898150081176095 -0.035368449075040588048
0 0 0 1
Shape 2: Cylinder(r: 0.010000000000000000208, lz: 1)
X_FS2
0.070736898153116234411 0 0.99749500812769764657 -0.24874750406384882329
0 1 0 0
-0.99749500812769764657 0 0.070736898153116234411 -0.035368449076558117206
0 0 0 1
Solver: GjkSolver_libccd
collision_tolerance: 2.0097183471152322134e-14
max collision iterations: 500
distance tolerance: 9.9999999999999995475e-07
max distance iterations: 1000" thrown in the test body.
Identified during unit testing of code for Drake. The configuration is from an intermediate step in an optimizer, so I don't know exactly what it looks like, but it is two cylinders, probably lying parallel but offset, in contact along their edges.