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Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog.

Unreleased

3.0.0 - 2024-11-20

Added

  • Renaming the library from hpp-fcl to coal. Created a COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL CMake option for retro compatibility. This allows to still do find_package(hpp-fcl) and #include <hpp/fcl/...> in C++ and it allows to still do import hppfcl in python (#596).
  • Added Transform3f::Random and Transform3f::setRandom (#584)
  • New feature: computation of contact surfaces for any pair of primitive shapes (triangle, sphere, ellipsoid, plane, halfspace, cone, capsule, cylinder, convex) (#574).
  • Enhance Broadphase DynamicAABBTree to better handle planes and halfspace (#570)
  • #558:
    • [internal] Removed dead code in narrowphase/details.h (#558)
    • [internal] Removed specializations of methods of GJKSolver. Now the specializations are all handled by ShapeShapeDistance in shape_shape_func.h.
    • [new feature] Added support for Swept-Sphere primitives (sphere, box, capsule, cone, ellipsoid, triangle, halfspace, plane, convex mesh).
  • [API change] Renamed default convergence criterion from VDB to Default (#556)
  • Fixed EPA returning nans on cases where it could return an estimate of the normal and penetration depth. (#556)
  • Fixed too low tolerance in GJK/EPA asserts (#554)
  • Fixed normal_and_nearest_points test (no need to have Eigen 3.4) (#553)
  • #549
  • Optimize EPA: ignore useless faces in EPA's polytope; warm-start support computation for Convex; fix edge-cases witness points computation.
  • Add Serializable trait to transform, collision data, collision geometries, bounding volumes, bvh models, hfields. Collision problems can now be serialized from C++ and sent to python and vice versa.
  • CMake: allow use of installed jrl-cmakemodules (#564)
  • CMake: Add compatibility with jrl-cmakemodules workspace (#610)
  • Python: add id() support for geometries (#618).

Fixed

  • Fix Fix serialization unit test when running without Qhull support (#611)
  • Compiler warnings (#601, #605)
  • CMake: fix assimp finder
  • Don't define GCC7 Boost serialization hack when HPP_FCL_SKIP_EIGEN_BOOST_SERIALIZATION is defined (#530)
  • Default parameters for narrowphase algorithms (GJK and EPA); fixed assertion checks that were sometimes failing in GJK simplex projection and BVH collide (#531).
  • Created a new macro HPP_FCL_ASSERT which behaves as an assert by default. When the option HPP_FCL_TURN_ASSERT_INTO_EXCEPTION is turned on, it replaces the macro by an exception (#533). Also fixed an EPA assert in GJKSolver.
  • Simplify internals of hpp-fcl (#535):
    • Computing distance between 2 primitives shapes does not use a traversal node anymore.
    • Removed successive mallocs in GJK/EPA when using an instance of GJKSolver multiple times.
    • GJKSolver now deals with all statuses of GJK/EPA. Some of these statuses represent a bad behavior of GJK/EPA and now trigger an assertion in Debug mode. Usefull for debugging these algos.
    • Logging was added with macros like HPP_FCL_LOG_(INFO/DEBUG/WARNING/ERROR); hpp-fcl can now log usefull info when the preprocessor option HPP_FCL_ENABLE_LOGGING is enabled.
    • Deprecated enable_distance_lower_bound in CollisionRequest; a lower bound on distance is always computed.
    • Deprecated enable_nearest_points in DistanceRequest; they are always computed and are the points of the shapes that achieve a distance of DistanceResult::min_distance.
    • Added enable_signed_distance flag in DistanceRequest (default true). Turn this of for better performance if only the distance when objects are disjoint is needed.
    • The internal collision and distance functions of hpp-fcl now use CollisionRequest::enable_contact and DistanceRequest::enable_signed_distance to control whether or not penetration information should be computed. There are many scenarios where we don't need the penetration information and only want to know if objects are colliding and compute their distance only if they are disjoint. These flags allow the user to control the trade-off between performance vs. information of the library.
    • Fix convergence criterion of EPA; made GJK and EPA convergence criterion absolute + relative to scale to the shapes' dimensions; remove max face/vertices fields from EPA (these can be deduced from the max number of iterations)
  • Account for lateral borders in Height Fields model.
  • Fix compilation error on recent APPLE compilers (#539).
  • Fix printing of deprecated message (#540).
  • Fix compilation with earlier Eigen version
  • Fix compilation warning message
  • Fix issue in Octomap.computeLocalAABB
  • Fix unsupported function for contact_patch_matrix
  • Fix Octomap dependency on ROS

2.4.5 - 2024-07-28

Fixed

  • Fix Octomap dependency on ROS

2.4.4 - 2024-03-06

2.4.3 - 2024-03-06

Fixed

  • updated cmake module to fix documentation generation
  • test documentation in conda ci

2.4.2 - 2024-03-06

Fixed

  • Fix CMAKE_INSTALL_{} path for installation (#543)

2.4.1 - 2024-01-23

Fixed

  • CachedMeshLoader checks file last modification time.
  • Fix call to clear methods for {Collision,Distance}Data inside init function (#509)
  • CMake: fix submodule use in bindings in (#512)
  • Fix bug in DynamicAABBTreeCollisionManager (see #514) in (#515)

Added

  • In struct Contact
    • Documentation of the members,
    • initialization of normal, closest points and contact point in constructors
    • method getDistanceToCollision
  • New variant of GJK (PolyakAcceleration).
  • Specialization of distance computation between
    • Sphere and Capsule,
    • Ellipsoid and Halfspace,
    • Ellipsoid and Plane.
  • Collision computation between Octree and HeightField.

Changed

  • Matrixx3f and Matrixx3i become row major.
  • Use shared pointers to vectors instead of arrays for vertices and triangles in class BVHModelBase.

Removed

  • members related epa in class QueryRequest

2.4.0 - 2023-11-27

Added

  • Add method to CollisionObject to get CollisionGeometry raw pointer

Fixed

  • Fix RPATH computation on OSX
  • Fix Python stubs generation on Windows

2.3.7 - 2023-11-15

What's Changed

2.3.6 - 2023-09-30

What's Changed

New Contributors

2.3.5 - 2023-07-11

What's Changed

2.3.4 - 2023-06-01

What's Changed

2.3.3 - 2023-05-09

What's Changed

2.3.2 - 2023-04-27

What's Changed

2.3.1 - 2023-03-25

What's Changed

2.3.0 - 2023-03-17

What's Changed

2.2.0 - 2022-12-12

What's Changed

2.1.4 - 2022-10-24

What's Changed

2.1.3 - 2022-09-13

What's Changed

New Contributors

2.1.2 - 2022-08-01

What's Changed

  • core: add EPA::FallBack condition to shapeDistance computation by @lmontaut (#325)
  • CMake: update to eigenpy 2.7.10 by @nim65s (#327)

2.1.1 - 2022-07-25

What's Changed

  • cmake: relocatable package for recent CMake versions by @nim65s (#319)
  • ROS2/Colcon integration by @wxmerkt (#321)

2.1.0 - 2022-07-13

What's Changed

New Contributors

2.0.1 - 2022-04-15

This PR mainly fixes packaging issues and removes compilation warnings.

What's Changed

New Contributors

2.0.0 - 2022-04-06

This new release reintroduces the full support of Broad phase within hpp-fcl while also enforcing C++11 as minimal standard.

What's Changed

New Contributors

1.8.1 - 2022-03-20

What's Changed

1.8.0 - 2022-02-08

What's Changed

1.7.8 - 2021-10-30

What's Changed

1.7.7 - 2021-09-13

This new release fixes several bugs within the framework.

1.7.6 - 2021-09-08

This new release improves the packaging of the project and integrates the Stub generation of Python bindings.

1.7.5 - 2021-07-30

This new release provides extended API exposition in Python, removes some code related to CDD while also trying to rely on the QHULL version present on the system.

1.7.4 - 2021-06-11

This release fixes several bugs:

  • correct update of the distance lower bound
  • fix memory footprint computation

while also removing the support of Travis CI.

1.7.3 - 2021-05-26

This new release provides:

  • fixes of LINE and POINTS when loading meshes with assimp
  • removing of various warnings
  • computation of memory footprint for geometries

1.7.2 - 2021-04-19

This new release improves the loading of meshes using Assimp by automatically removing degenerated LINES and POINTS.

1.7.1 - 2021-04-02

This new release reduces the impact of timers on the computations. This should be used with care and can be enabled by setting the correct flag to true in the QueryRequest.

1.7.0 - 2021-03-31

This new release provides:

  • extended support for serialization
  • timing of the collision/distance computations
  • helpers to build octree
  • various bug fixes and interface improvements

1.6.0 - 2020-10-06

This new release provides:

  • functors for evaluating Collision and Distances (faster call)
  • extended support of v142 compiler
  • support of collision check between HalfSpace and Convex shapes
  • improvement of GJK solver
  • fixes on Python bindings

1.5.4 - 2020-09-22

In this new release, the support of collision checking between Convex objects and HalfSpace have been enhanced and some minor fixes have been provided.

1.5.3 - 2020-08-31

This new release provides better CMake packaging and improved GJK algorithms.

1.5.2 - 2020-08-15

This release improves the packaging of the project and provides fixes for the GJK solver.

1.5.1 - 2020-08-06

This new release fixes packaging issues with precedent release 1.5.0. It also provides additional fixes in main collision/distance algorithms.

1.4.6 - 2020-06-10

This new release enhances the packaging of the project and allows the compilation of FCL on Windows systems.

1.4.5 - 2020-06-03

Changes in v1.4.5:

  • Fix Python 3 doc generation
  • Fix packaging of the project
  • Compilation on Windows.
  • [CMake] Install missing header.
  • Add collide and distance prototype that update the GJK guess.
  • Add support function cached guess in queries and merge query attribute.
  • Add function to generate the convex hull.
  • Add hint to the support function + Fix usage of GJK guess.
  • [Python] Add constructor for class Convex.
  • [Python] Bind functions to create BVHModel.

1.4.4 - 2020-04-29

Changes in 1.4.4:

  • add MeshLoader::loadOctree
  • fix generation of XML documentation
  • fix generation of Doxygen documentation

1.4.3 - 2020-04-08

This new release fixes some packagings issues for OS X systems.

1.4.2 - 2020-04-04

Changes in v1.4.2:

  • don't require linking to eigenpy in .pc file.

1.4.1 - 2020-04-03

Changes in v1.4.1:

  • Bug fix + prepare optimization of collision using GJK / EPA
  • Add missing constructor for Transform3f

1.4.0 - 2020-04-03

Changes since v1.3.0:

  • Improve code efficiency + use shared memory between Numpy and Eigen
  • [Python] Doc and minor update + [C++] bugfix
  • [Python] Fix bindings of CollisionResult.
  • FIX: throw when no contact is available
  • Minor fix and computational improvments
  • [GJK/EPA] Fix bugs + Treat sphere as point and capsule as line segment.
  • Fix boxSphereDistance
  • Provide documentation for the Python bindings.
  • Generate Python documentation from doxygen documentation.
  • Fix issue when Python_EXECUTABLE is not defined
  • update CMake packaging

1.3.0 - 2020-01-28

This new release comes with:

  • the removing of the GJK solver
  • the Python bindings build by default
  • an improved documentation
  • additional Python bindings

1.2.2 - 2019-12-17

This new Release improves the Python bindings and fixes an important bug when checking the collision between two Capsules.

Thanks to @rstrudel for this fix.

1.2.1 - 2019-12-09

This new release improves both the packaging of the project, which seems to be totally compatible with the new CMake linkage style. In addition, the bindings are now fully compatible with Pinocchio.

1.2.0 - 2019-11-22

Changes since v1.1.3:

  • Add python bindings
  • Update CMake
  • Add version support
  • New folder Internal for internal header
  • Travis: update CI & change policy to only perform build in DEBUG mode on Bionic
  • assimp: fix issue with recent version of assimp
  • [bindings] [CMakeLists] Use .so for Mac and .pyd for Windows, fix #86
  • Organize documentation
  • [CMake] fix octomap detection
  • [Minor] update CMake module + fix visibility of some methods.
  • Enable Convex / Convex queries + Add Python bindings.
  • Fix unit-tests and compilation
  • [GJK] Fix GJK::encloseOrigin (fixes unit-tests)
  • Improve GJK implementation + OBB overlap test + bug fixes
  • Clean include BV/BVH/math/mesh_loader

1.1.3 - 2019-08-07

This new release enhances the compatibility of hpp-fcl with C++14 and more. This feature is requested for integration in Anaconda.

1.1.2 - 2019-08-05

This new release provides a fix in the parallelization of the computations and improves the packaging of the whole project.

1.0.2 - 2019-04-24

Changes since v1.0.1:

  • obb: fix compatibility with Eigen 3.0.5
  • [CI] octomap for osx

1.0.1 - 2019-02-20

  • Fix CI on OSX
  • Declare CachedMeshLoader::Key::operator<
  • minor details

0.7.0 - 2019-01-31

This release is mainly here to allow the packaging of HPP-RBPRM. Another release will follow with more news.

0.6.0 - 2018-10-22

  • Fix bug when OCTOMAP is not found
  • move buildTrianglePlane and clipTriangle method from private to public
  • Fix bug with "" symbols
  • [CMake] Add flags related to Octomap in pkg-config file and remove FCL_HAVE_EIGEN

0.5.1 - 2017-10-02

Now Eigen is at the heart of linear algebra computations.

0.5 - 2017-03-17

First release