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Coal 3.0.0

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@jorisv jorisv released this 20 Nov 13:26
· 23 commits to devel since this release
v3.0.0
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jorisv Joris Vaillant
GPG key ID: 63380359F089A579
Learn about vigilant mode.
4d1b792
This commit was signed with the committer’s verified signature.
jorisv Joris Vaillant
GPG key ID: 63380359F089A579
Learn about vigilant mode.

What's Changed

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

Full Changelog: v2.4.5...v3.0.0

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