Jeongseok (JS) Lee

Thanks for the answers! It seems self-collision with bullet has some issues. Let me investigate further late today.

Practically `PgsBoxedLcpSolver` with low [iteration numbers](https://github.com/dartsim/dart/blob/release-6.7/dart/constraint/PgsBoxedLcpSolver.hpp#L55) could give you less accurate but faster results, but the current implementation is experimental (and not fully optimized yet) so no guarantee for now....

@costashatz Sorry for the late response. I haven't tested this yet due to the hectic schedule of this quarter. I thought I could have a chance to take a look...

> One mitigation strategy is to defer any ABI-breaking changes until a major version increment. I think our ABI-breaking changes are rare enough that this would be an acceptable solution...

DART consists of the core library (kinematics, dynamics, collision detection) and optional components (gui, optionall collision detectors). We try to keep the core library to be light as much as...

On Windows, you could use [vcpkg](https://github.com/microsoft/vcpkg/tree/e4653aec8f67634969c712820de5f7e53ea74fac/ports/fcl). Edit: `vcpkg` doesn't host binaries itself.

It seems libccd is not linked correctly. Did you add libccd library files to your final solution?

Yeah, it's great news! I'm glad to hear that FCL is going to have more development support. > 2: This is a longer discussion, but I think we can build...

Could you provide more details like the version of FCL and error messages?

I believe (without proof) this is not specific to box primitives (to clarify, mesh generated from box was tested rather than the original box primitive), but this is more noticeable...