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humanoid-path-planner / hpp-fcl

An extension of the Flexible Collision Library
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Can broadphase collision detect parallel in different transform scenario？ #576

Open loster-1 opened 5 months ago

loster-1 commented 5 months ago

Can broadphase collision detect parallel in different transform scenario？

jcarpent commented 5 months ago

Dear @loster-1,

Your question is not clear enough. Could you please elaborate more and give a detailed example?

Best, Justin

loster-1 commented 5 months ago

Dear @loster-1,

Your question is not clear enough. Could you please elaborate more and give a detailed example?

Best, Justin

I'm doing collision detection for a six-axis robot right now, I built a BroadPhaseCollisionManager and register all arms in it, I want to detect the self collision of the six arms of the robot in different postures, but now there are a lot of postures, so I want to do these collision detection in parallel to increase speed. How can I do it?

loster-1 commented 5 months ago

If I can pass the transformations of all objects when do collsion detect, that would be OK, but I can not find the function of BroadPhaseCollisionManager I want.