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git-svn-id: https://kforge.ros.org/fcl/fcl_ros@141 253336fb-580f-4252-a368-f3cef5a2a82b

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git-svn-id: https://kforge.ros.org/fcl/fcl_ros@138 253336fb-580f-4252-a368-f3cef5a2a82b

change the interface of collide: the collision settings are now in a CollisionRequest structure, and collision results are now in a CollisionResult structure. Distance has similar extension. This is for the convenience of adding cost and potential future extension.


git-svn-id: https://kforge.ros.org/fcl/fcl_ros@137 253336fb-580f-4252-a368-f3cef5a2a82b

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@136 253336fb-580f-4252-a368-f3cef5a2a82b

add octomap in shape; all collision_managers can handle octomap now, and DynamicAABB manager has special optimization for octomap. Need more test.


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fix bug in sse matrix


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git-svn-id: https://kforge.ros.org/fcl/fcl_ros@125 253336fb-580f-4252-a368-f3cef5a2a82b

implement the morton curve version of broadphase structure construction, on test, of the same performance as SSaP.


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git-svn-id: https://kforge.ros.org/fcl/fcl_ros@115 253336fb-580f-4252-a368-f3cef5a2a82b

fix more bugs. the new dynamicAABBTree broadphase works quite well in both distance and collision. besides the old self-collision, collision with an object, distance to an object interface, added self-distance, collision with a set of objects, distance to a set of objects. This simplifies the function in collision_detection_fcl and also makes some optimization possible.


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