Automatic tesselation of IndexedFaceSets

[ad-daniel]

As mentioned in #2610, the primitive TexturedParallelepiped.proto constructs the faces of the parallelepiped as squares (4-vertices) whereas according to the IndexedFaceSet documentation

When used for collision detection (boundingObject), each face of the IndexedFaceSet must contain exactly three vertices, hence defining a triangle mesh (or trimesh).

When the ensuing shape is used as boundingObject there appears to be a triangulation of the surface taking place which either means the documentation needs updating or something else is going on. The picture below is the triangulation that appears on a TexturedParallelepiped.

If it's tesselation, it might be worth ensuring that the way it takes place is such that the normals of each triangle points outwards otherwise interactions with distanceSensors could break again as the angle between the ray and the surface normal is used to determine the validity of a contact point (#2610)

Tasks

• [ ] double-check if the constraint mentioned on IndexedFaceSets documentation needs removing
• [ ] ensure tesselation is consistent with ray interaction from distance sensors