Use GJK for box-box. Not sure why this helps.

Without this, the sliding_bricks example in Drake doesn't display stiction behavior at all.
flexible-collision-library · Jun 1, 2017 · 5638747 · 5638747
1 parent 5645721
commit 5638747
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/include/fcl/narrowphase/detail/gjk_solver_indep-inl.h b/include/fcl/narrowphase/detail/gjk_solver_indep-inl.h
@@ -242,7 +242,7 @@ bool GJKSolver_indep<S>::shapeIntersect(
   FCL_GJK_INDEP_SHAPE_SHAPE_INTERSECT_INV(SHAPE1, SHAPE2, ALG)
 
 FCL_GJK_INDEP_SHAPE_INTERSECT(Sphere, detail::sphereSphereIntersect)
-FCL_GJK_INDEP_SHAPE_INTERSECT(Box, detail::boxBoxIntersect)
+//FCL_GJK_INDEP_SHAPE_INTERSECT(Box, detail::boxBoxIntersect)
 
 FCL_GJK_INDEP_SHAPE_SHAPE_INTERSECT(Sphere, Capsule, detail::sphereCapsuleIntersect)