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Box box collision incorrectly calls EPA #399

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hongkai-dai opened this issue May 6, 2019 · 1 comment · May be fixed by #400 or #401
Closed

Box box collision incorrectly calls EPA #399

hongkai-dai opened this issue May 6, 2019 · 1 comment · May be fixed by #400 or #401
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@hongkai-dai
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hongkai-dai commented May 6, 2019 •
edited by SeanCurtis-TRI
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There are two errors caught in the wild:

RuntimeError: Error with configuration
  Original error message: external/fcl/include/fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd-inl.h:(1623): validateNearestFeatureOfPolytopeBeingEdge(): The origin is outside of the polytope. This should already have been identified as separating.
  Shape 1: Box0.23768037557601928711 0.15702305734157562256                   0.25
  X_FS1
-0.099432387353076273628   0.99504432079443971837                        0   0.29526406526565551758
 -0.99504432079443971837 -0.099432387353076273628                        0 -0.013230856508016586304
                       0                        0                        1                        0
                       0                        0                        0                        1
  Shape 2: Box0.010000000000000000208  0.78165709972381591797                    0.25
  X_FS2
  0.99506598442099225554  0.099215354901756730444                        0   0.22759585694545214629
-0.099215354901756730444   0.99506598442099225554                        0   0.14974093549228112421
                       0                        0                        1                        0
                       0                        0                        0                        1
  Solver: GjkSolver_libccd
    collision_tolerance:      2.0097183471152322134e-14
    max collision iterations: 500
    distance tolerance:       9.9999999999999995475e-07
    max distance iterations:  1000

and

RuntimeError: Error with configuration
  Original error message: external/fcl/include/fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd-inl.h:(1623): validateNearestFeatureOfPolytopeBeingEdge(): The origin is outside of the polytope. This should already have been identified as separating.
  Shape 1: Box0.23431687057018280029 0.16946108639240264893                   0.25
  X_FS1
  0.1612859416241739785  0.98690771860108761349                       0 -0.20553381741046905518
-0.98690771860108761349   0.1612859416241739785                       0  0.25915133953094482422
                      0                       0                       1                       0
                      0                       0                       0                       1
  Shape 2: Box0.010000000000000000208   1.4315791130065917969                    0.25
  X_FS2
-0.16128686395059221859 -0.98690756786893829577                       0 -0.38020379396316156262
 0.98690756786893829577 -0.16128686395059221859                       0  0.10682664338807786042
                      0                       0                       1                       0
                      0                       0                       0                       1
  Solver: GjkSolver_libccd
    collision_tolerance:      2.0097183471152322134e-14
    max collision iterations: 500
    distance tolerance:       9.9999999999999995475e-07
    max distance iterations:  1000

(Errors edited to anonymize...)
@hongkai-dai hongkai-dai self-assigned this May 6, 2019
This was referenced May 6, 2019
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@SeanCurtis-TRI
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The two cases above are included in #400 in tests which implies fixed.

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