search

flexible-collision-library / fcl

Flexible Collision Library
https://flexible-collision-library.github.io/
Other
1.35k stars 414 forks source link

Warning: distance function between node type 2 and node type 2 is not supported #554

Closed WangZP10969 closed 2 years ago

WangZP10969 commented 2 years ago

I am using the BVH model to calculate the closest distance between triangles, using the default fcl::DistanceRequestd and fcl::DistanceResultd, and then calling fcl::distance

fcl::DistanceRequestd DistanceRequest(false, false);
fcl::DistanceResultd DistanceResult;
fcl::distance(CollisionObject1.get(), CollisionObject2.get(), DistanceRequest, DistanceResult);

Console output warning

Warning: distance function between node type 2 and node type 2 is not supported

What could cause this?

jmirabel commented 2 years ago

To resolve such kind of issue, you can have a look at the source code. Maybe your two BVH do not use the same type of bounding volumes.

WangZP10969 commented 2 years ago

@jmirabel Thank you very much for your suggestions. I found that BV_AABB and GEOM_BOX were calculated during my distance calculation. I use BV_RSS to replace them.