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Antonio El Khoury authored
associated factory. * Add dependency to hpp-geometry * Define new CapsuleBody class that derives from Body. * We assume that the body has only one inner object of type hpp::geometry::collision::Segment that represents a capsule. * Beside a CkcdAnalysis vector attribute, class has a segment pair attribute to store self-collision pairs. * When adding inner and outer segments, self-collision pairs are added. * When computing distance for a distance pair, kcd is used for segment-polyhedron analyses, and a fast distance computation is used for segment-segment pairs. * Define method to compute minimum distance for all pairs of a body.
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