Jeongseok (JS) Lee

I got it. Once the current work (related to this issue) is wrapped up, I will create a pull request for it as a work-in-progress pull request, then add more...

Hi Can, I am working on this now. Do you have any good idea about this issue?

I conducted some tests for primitive collision detecting with the most recent version of FLC (v0.2.9). I believe that the recent FCL fix resulting wrong contact points. However, I also...

I created a ticket (https://github.com/flexible-collision-library/fcl/issues/15) about multiple contacts for primitive collision.

Changed title to confine the issue because primitive shape issue duplicates with #19. Pending until [FCL's incorrect contact point computation](https://github.com/flexible-collision-library/fcl/issues/106) is resolved.

Sorry for the delayed reply. I found some code (e.g., [btMprPenetration.h](https://github.com/bulletphysics/bullet3/blob/857a4e98e8ff2c6f5278ab9c2cd0a44ae0176269/src/BulletCollision/NarrowPhaseCollision/btMprPenetration.h), [b3MprPenetration.h](https://github.com/bulletphysics/bullet3/blob/857a4e98e8ff2c6f5278ab9c2cd0a44ae0176269/src/Bullet3Collision/NarrowPhaseCollision/shared/b3MprPenetration.h)) in bullet (probably what you refer to) where the math operation is replaced by bullet's own math code....

Thank you for reporting this issue. Unfortunately, I currently don't have the bandwidth to debug this on FreeBSD. Most of the failures seem to be related to dependencies, which might...

Thank you for the initial work. If you're still interested in completing this feature, let me know. Otherwise, I'm happy to take over the rest of the work.

Actually, I quickly checked your PR and noticed that ODE doesn't currently support cones: https://bitbucket.org/odedevs/ode/src/b4253237006f7f6b5184f80ed973fb1c0bfc6039/include/ode/collision.h#lines-877:899 In this case, we may need to fall back to other collision engines (such as...

Is the cone shape present but not officially supported? In any case, it would be beneficial to incorporate ODE cone support into DART when it becomes available.