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...