Closed snozawa closed 9 years ago
humm, it complicated
:make-collision-model-for-links -> only supported in euscollada robot?
Exactly.
qhull-faceset -> convex hull faceset, used for geometric representation gl-vertices -> original mesh , used for gl display
Currently, not.
gl-vertices is used for gl display, detailed geometric representation,
and currently used for collision checking like self-collision-cehck
.
qhull-faceset is used for simple geometric representation.
We already discussed about this.
:make-collision-model-for-links
method should be moved to irteus and supported in irteus level. However, curretly detailed geometric representation can be obtain gl-vertices and obtaining collision shape from "GL" something is strange. So, we need to rename gl-vertices
or refine these structures.bodyset
and body
classes. It would be better to remove gl-vertices from irteus. Collision program and gl program just use common detailed geometry slot variables.Related PR and isseue:
Always make pqpmodel for detailed shape according to https://github.com/euslisp/jskeus/pull/232