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FCL 0

FCL 0.7.0 (2021-09-09)

  • Breaking changes

    • Macros FCL_SUPPRESS_MAYBE_UNINITIALIZED_BEGIN and FCL_SUPPRESS_MAYBE_UNINITIALIZED_END defined in fcl/common/warning.h have been removed: #489
    • Require CMake 3.10: #506
    • Check SSE support and enable SSE if support is found: #506 #514

  • Core/Common

    • Use package format 3 with conditional dependency on catkin: #536
    • Fix compilation on Windows. Do not use "not" in preprocessor: #530
    • Use std::copy instead of memcpy. Patches imported from Debian: #517
    • Fix finding of ccd with pkg-config: #499 #497

  • Math

    • constants::eps() is now constexpr: #494
    • Fix shape conservative advancement normal computation: #505

  • Geometry

    • OcTree logic for determining free/occupied: #467
    • Bugs in RSS distance queries fixed: #467
    • Convex gets some validation and improved support for the GJK supportVertex() API: #488
    • Fixed bug in collision function matrix that only allowed calculation of collision between ellipsoid and half space with that ordering. Now also supports half space and ellipsoid. #520
    • Do not flush error messages on cerr: #542

  • Broadphase

  • Narrowphase

    • Primitive convex-half space collision algorithm introduced: #469
    • Contact and distance query results types changed to be compatible with OcTree: #472
    • Documentation for OcTree no longer mistakenly excluded from doxygen: #472
    • Another failure mode in the GJK/EPA signed distance query patched: #494
    • Fix build when ccd_real_t == float: #498
    • Remove accidental recursive include: #496

  • Build/Test/Misc

    • Fixed syntax which prevented building in Visual Studio 2015: #459
    • Fix compilation errors using default options on Emscripten: #470
    • Change supported linux build to Ubuntu 18.04 and Mac OS 10.14.6: #489

FCL 0.6.1 (2020-02-26)

  • Math

    • Replace M_PI instance with constants::pi(): #450

  • Narrowphase

    • Various corrections and clarifications of the GJK algorithm used for general convex distance: #446

  • Build/Test/Misc

    • Clean up install config files and ensure find_dependency is called as appropriate: #452

FCL 0.6.0 (2020-02-10)

  • Core/Common

    • Removed dependency on boost: #140, #146, #147, #148
    • Fix incorrect use of FCL_BUILD_TYPE_DEBUG: #153
    • Replaced NULL with nullptr: #158
    • Templatized FCL for scalar type: #154, #165, #188
    • Reorganized source tree: #163, #175

  • Math

    • Switched to Eigen for math operations: #150
    • Rework fcl::constants; replace M_PI instances and include scalar-dependent numerical tolerances: #264, #279
    • fcl::Transform defined to be an Isometry to optimize inverses: #318

  • Geometry

    • BVH Model throws intelligent errors when it runs out of memory: #237
    • Generate a BVH Model from multiple primitives: #308
    • Clean up Convex class: #325, #338, #369
    • Computation of Capsule moment of inertia corrected: #420
    • Added tests on local AABB computation for Capsule: #423
    • Fixed interpretation of capsule parameters in primitive capsule-capsule distance computation. #436

  • Broadphase

    • Fixed redundant pair checking of SpatialHashingCollisionManager: #156
    • Clean up of hierarchy tree code: #439
    • Default callback functions for broadphase collision managers have been moved out of fcl::test and into fcl namespace (with a corresponding name change, e.g., defaultDistanceFunction --> DefaultDistanceFunction). #438
      • This includes the removal of the stub function defaultContinuousDistanceFunction().

  • Narrowphase

    • Added distance request option for computing exact negative distance: #172
    • Adjust tolerance on cylinder-cone unit test to pass on MacOS: #198
    • Unify computation of nearest point in convexity-based distance algorithms: #215
    • Fixed bug in cylinder-half space collision query: #255, #267
    • Errors in box-box collision function addressed -- this changes the semantics of the old results: penetration depth is a positive value and the position of the penetration will not lie on the surface of one box, but lies at the midpoint between the two penetrating surfaces: #259
    • Fixed bug in meshConservativeAdvancementOrientedNodeCanStop: #271
    • CollisionRequest gets a "GJK tolerance": #283
    • Correct distance queries to report nearest point in world frame: #288
    • Various corrections and clarifications of the GJK algorithm used for general convex distance: #290, #296, #324, #365, #367, #373
    • Remove duplicated code between GJKDistance and GJKSignedDistance: #292
    • Significant bug fixes in the EPA algorithm for computing signed distance on penetrating convex shapes: #305, #314, #336, #352, #388, #397, #417, #434, #435, #437
    • Add custom sphere-box collision and distance algorithms for both solvers: #316
    • Add custom sphere-cylinder collision and distance algorithms for both solvers: #321
    • Octree-mesh distance query returns witness points: #427

  • Build/Test/Misc

    • Ensure the locally generated config.h is used: #142
    • Use major.minor version for ABI soversion: #143
    • Added missing copyright headers: #149
    • Enable Win32 builds on AppVeyor CI: #157
    • Enabled build with SSE option by default: #159
    • Show build status of master branch in README.md: #166
    • Added CMake targets for generating API documentation: #174
    • Clean up finding external dependencies and use imported targets where available: #181, #182, #196
    • Added version check for Visual Studio in CMake (VS2015 or greater required): #189
    • Add dedicated SSE CMake option: #191
    • Remove unused references to TinyXML from build: #193
    • Minor corrections to signed distance tests: #199
    • Fix various compiler warnings and enable warnings as errors in CI: #197, #200, #204, #205
    • Allow the CMake RPATH to be configured: #203
    • Set SSE flags for the Apple compiler: #206
    • Windows CI always uses double-valued libccd: #216
    • Clean up of CMake install configuration: #230
    • Formalize visibility of binary symbols: #233
    • Remove tapping deprecated homebrew-science: #262
    • Move travis CI to use xcode 9 instead of 7.3: #266
    • Fix VS2017 incompatibility: #277
    • Mention Visual Studio version requirement in INSTALL file: #284
    • Correct CMake error message for the wrong version of libccd: #286
    • Added test utility for performing equality between Eigen matrix-types (CompareMatrices in test/eign_matrix_compare.h): #316
    • Toward enabling dashboards on CI: #328
    • Add configuration files for various static analyzers: #332
    • Update AppVeyor badge URL in README: #342
    • CMake fixes and cleanup: #360
    • Enable --output-on-failure for CI builds: #362
    • Corrected test of the distance function to be compatible with libccd 2: #371
    • Provides the UnexpectedConfigurationException so that when narrowphase operations encounter an error, they can throw this new exception which will trigger a logging of the types and poses of the geometries that led to the error: #381
    • Provide catkin packaage.xml per ROS REP 136: #409
    • Updated README.md to reflect FCL 0.6.0 syntax changes: #410

FCL 0.5.0 (2016-07-19)

  • Added safe-guards to allow octree headers only if octomap enabled: #136
  • Added CMake option to disable octomap in build: #135
  • Added automatic coverage test reporting: #125, #98
  • Added CMake exported targets: #116
  • Fixed API to support Octomap 1.8: #129, #126
  • Fixed continuousCollisionNaive() wasn't resetting the returned result when no collision: #123
  • Fixed uninitialized tf in TranslationMotion: #121
  • Fixed fcl.pc populated incorrect installation paths: #118
  • Fixed octree vs mesh CollisionResult now returns triangle id: #114
  • Fixed minor typo: #113
  • Fixed fallback finding of libccd: #112
  • Fixed a nasty bug in propagate propagateBVHFrontListCollisionRecurse(): #110
  • Fixed test_fcl_math failures on Windows 64 bit due to non-portable use of long: #108, #107
  • Fixed compilation in Visual Studio 2015, and suppressed some warnings: #99
  • Fixed build when libccd package config not found: #94
  • Removing dependency on boost: #108, #105, #104, #103