• Antonio El Khoury's avatar
    Define new capsule body class with distance computation methods, and · 87a9571d
    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.
    87a9571d