shooter : contact normal is not correctly computed for primitives

humanoid-path-planner / hpp-rbprm

"Implementation of RB-PRM planner using hpp."

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shooter : contact normal is not correctly computed for primitives #58

Open pFernbach opened 4 years ago

pFernbach commented 4 years ago

See https://github.com/humanoid-path-planner/hpp-rbprm/pull/57

Contact normal used in the shooter algorithm ^[1] are not correctly computed, exept when the environment is composed of fcl::BV_OBBRSS nodes, with modelType==BVH_MODEL_TRIANGLES.

[1] the normals used for the equilibrium tests and all the other algorithms are corrects.