Jeongseok (JS) Lee
Jeongseok (JS) Lee
Let me take a look at this problem with my mac machine when I have a chance.
I could reproduce the incorrect result from dart 6.3.0 installed by homebrew. The superficial cause of the problem was that the gravity mode of the body node is set to...
It seems DART 6.3 of Homebrew causes other problems too. Many of AIKIDO's tests segfault with it but not DART 6.3.0 manually built from source. Please don't use DART 6.3...
[PlaneShape](https://github.com/dartsim/dart/blob/master/dart/dynamics/PlaneShape.h) was added by 4d19d606b1207c2b05dd292af1c3679411f7baa1 but only [BulletCollisionDetector](https://github.com/dartsim/dart/blob/master/dart/collision/bullet/BulletCollisionDetector.h) supports the PlaneShape. [Our renderer](https://github.com/dartsim/dart/blob/master/dart/renderer/OpenGLRenderInterface.h) doesn't support PlaneShape yet.
Pending until `FCLCollisionDetector` becomes default collision detector.
@mxgrey made a good point. `BoxShape`, for example, only contains the geometry information while `ShapeNode` (or `ShapeFrame`) provides the relative transformation including the geometry information as it holds a pointer...
Right, I should take back what I said. After looking more closely, it would be better that [`DARTCollisionPrivate`](https://bitbucket.org/osrf/gazebo/src/be1f869ea33f62c031b3e595300fe923ed13099b/gazebo/physics/dart/DARTCollisionPrivate.hh?at=dart5&fileviewer=file-view-default#DARTCollisionPrivate.hh-29) holds `ShapeNode`. `DARTCollisionPrivate` takes the parent link point and never change it...
> If you agree, I will make these changes. :+1:
It appears the number of contact points has some impact based on your experiments (using coarse meshes). In this case, you might want to try using bullet collision detection. This...
Some questions to understand the case: * Does that happen with FCL as well? * Do you refer to self-collision within the shapes in one body or the shapes in...