Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Update EPA test tolerance. #314

Merged
merged 6 commits into from
Jul 17, 2018
Merged

Update EPA test tolerance. #314

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
6 commits
Select commit Hold shift + click to select a range
b770081
Update EPA test tolerance.
hongkai-dai Jul 11, 2018
d32f66d
Address Sean's comments. Fix a bug that the EPA tolerance is not set …
hongkai-dai Jul 12, 2018
a985d12
Fix a windows CI failure.
hongkai-dai Jul 12, 2018
d5f5dab
Update documentation
hongkai-dai Jul 12, 2018
a26516b
Address Sean's comments.
hongkai-dai Jul 17, 2018
7b8f60c
Address Sean and Sherm's comments.
hongkai-dai Jul 17, 2018
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
18 changes: 16 additions & 2 deletions include/fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd-inl.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1215,8 +1215,8 @@ static ccd_vec3_t supportEPADirection(const ccd_pt_t* polytope,
* vertex of the polytope. Then we know the two objects A and B are in touching
* contact.
* 2. If the difference between the upper bound and lower bound of the distance
* is below sqrt(ccd->epa_tolerance), then we converge to a distance whose
* difference from the real distance is less than sqrt(ccd->epa_tolerance).
* is below ccd->epa_tolerance, then we converge to a distance whose
* difference from the real distance is less than ccd->epa_tolerance.
*/
static int nextSupport(const ccd_pt_t* polytope, const void* obj1,
const void* obj2, const ccd_t* ccd,
Expand Down Expand Up @@ -2253,6 +2253,7 @@ bool GJKDistanceImpl(void* obj1, ccd_support_fn supp1, void* obj2,

ccd.max_iterations = max_iterations;
ccd.dist_tolerance = tolerance;
ccd.epa_tolerance = tolerance;

ccd_vec3_t p1_, p2_;
// NOTE(JS): p1_ and p2_ are set to zeros in order to suppress uninitialized
Expand Down Expand Up @@ -2282,6 +2283,19 @@ bool GJKDistance(void* obj1, ccd_support_fn supp1,
p1, p2);
}

/**
* Compute the signed distance between two mesh objects. When the objects are
* separating, the signed distance is > 0. When the objects are touching or
* penetrating, the signed distance is <= 0.
* @param tolerance. When the objects are separating, the GJK algorithm
* terminates when the change of distance between iterations is smaller than
* this tolerance. Note that this does NOT necessarily mean that the computed
* distance is within @p tolerance to the actual distance. On the other hand,
* when the objects are penetrating, the EPA algorithm terminates when the
* difference between the upper bound and the lower bound of the penetration
* depth is smaller than @p tolerance. Hence the computed penetration depth is
* within @p tolerance to the true depth.
*/
template <typename S>
bool GJKSignedDistance(void* obj1, ccd_support_fn supp1,
void* obj2, ccd_support_fn supp2,
Expand Down
Loading