Conservative advancement collision checking

[schmrlng]

It seems that the continuous collision checking mode employed by omplapp is CCDC_CONSERVATIVE_ADVANCEMENT (see FCLMethodWrapper.h#L117), but in my own tests with simple box-box translation collisions, I can't get this mode to work properly (see this gist, output at the bottom).

Digging through git history, it looks like there's been some significant refactors in the past couple of years that may have messed things up, but does anyone know if CCDC_CONSERVATIVE_ADVANCEMENT was ever actually functional?

Related issue: https://github.com/flexible-collision-library/fcl/issues/119

[wxmerkt]

I can confirm this - in my recent tests it depends on what type of geometry you have - for OT_GEOM I can use conservative advancement, with OT_BVH only CCDC_NAIVE works.

[the13fools]

I also just tested and conservative advancement works for OT_GEOM (and is much faster than the naive setting).

[xinyazhang]

I found the result depends on what BV you're using. The only working choice as far as I know is RSS.

None of AABB/OBBRSS/kIOS work for me. OBB and kDOP further report "OBB/kDOP distance not implemented".

Update: after running more testing cases, the RSS BV also failed sometimes. In summary none of the combinations are bug free.