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Exposing gjk utils #302

Merged
merged 25 commits into from
Jun 3, 2022
Merged

Exposing gjk utils #302

merged 25 commits into from
Jun 3, 2022

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lmontaut
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@lmontaut lmontaut commented Jun 1, 2022

  • make tolerance & max_iterations available in QueryRequests
  • removing setGJKVariant/ConvergenceCriterion in GJKSolver to keep consistency with tolerance and max_iterations
  • better naming for convergence criterion in GJKSolver

@lmontaut lmontaut marked this pull request as draft June 2, 2022 11:34
@lmontaut lmontaut force-pushed the feature/exposing_gjk_utils branch from c749e7a to db25e42 Compare June 2, 2022 13:15
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lmontaut commented Jun 2, 2022

I added an enum gjk_initial_guess in GJKSolver so that the user can choose between

  • Default: vector (1, 0, 0)
  • cached: set by the user or previous GJK result
  • aabb centers: vector center aabb1 - center aabb2

Regarding the API, the user sets request.gjk_initial_guess = GJKInitialGuess::DefaultGuess/CachedGuess/BoundingVolumeGuess.
When either the collision/distance functions or functors are used, request passes the user's settings down to GJKSolver which in turn passes it down to GJK which actually runs the gjk algorithm.

The previous enable_cached_guess is still there but deprecated.

jcarpent
jcarpent reviewed Jun 2, 2022
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jcarpent
jcarpent reviewed Jun 2, 2022
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@lmontaut lmontaut marked this pull request as ready for review June 2, 2022 14:34
jmirabel
jmirabel reviewed Jun 2, 2022
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@lmontaut lmontaut force-pushed the feature/exposing_gjk_utils branch from dce544c to 1d92924 Compare June 3, 2022 09:03
@jcarpent jcarpent merged commit c4639f8 into coal-library:devel Jun 3, 2022
@lmontaut lmontaut deleted the feature/exposing_gjk_utils branch June 3, 2022 15:15
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@jcarpent jcarpent jcarpent approved these changes

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@lmontaut @jcarpent @jmirabel