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jrl-umi3218 / sch-core

Implementation and computation algorithms for the convex hulls
BSD 2-Clause "Simplified" License
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Set default witnesses in case of collision #48

Closed mehdi-benallegue closed 1 year ago

mehdi-benallegue commented 1 year ago

This PR changes the behavior of CD_Pair::getClosestPoints, in order to provide a default value of the witness points in case of collision when the penetration depth computation is disabled.

The new behavior will provide the last computed support points that were computed before the collision was detected. It should provide a better direction to separate the objects than a random set of points.

mehdi-benallegue commented 1 year ago

The unit test does not pass because we need to update the test in the submodule of shared tests (merge this PR https://github.com/jrl-umi3218/sch-shared-tests/pull/8)

mehdi-benallegue commented 1 year ago

It was a draft because the tests were not supposed to pass yet.