Hi,
I use FCL-0.7.0 to perform mesh/mesh collisions queries. Usually one of my models serves as a surface obstacle (~200k vertices) and another one is sliding (robotic arm) on top of that surface (~1.k vertices). The number of queries is ~3 million and the BVH model is kios.
It takes about ~2 minutes when Eigen version 3.2.10 is being used and jumps to a whooping ~7 minutes with Eigen 3.3.9.
The collision request is very simple and looks like this CollisionRequest request(1, false, 1U, false, false, fcl::GST_INDEP, 1e-6);
Is there any remedy for this kind of behaviour except for sticking to the 3.2.10 Eigen version?
Hi, I use FCL-0.7.0 to perform mesh/mesh collisions queries. Usually one of my models serves as a surface obstacle (~200k vertices) and another one is sliding (robotic arm) on top of that surface (~1.k vertices). The number of queries is ~3 million and the BVH model is kios. It takes about ~2 minutes when Eigen version 3.2.10 is being used and jumps to a whooping ~7 minutes with Eigen 3.3.9. The collision request is very simple and looks like this
CollisionRequest request(1, false, 1U, false, false, fcl::GST_INDEP, 1e-6);Is there any remedy for this kind of behaviour except for sticking to the 3.2.10 Eigen version?