Todo List
Class hpp::fcl::details::MinkowskiDiff
template this by the two shapes. The triangle / triangle case can be easily optimized computing once the triangle shapes[1] into frame0
Member hpp::fcl::distance (const Matrix3f &R0, const Vec3f &T0, const kIOS &b1, const kIOS &b2, Vec3f *P=NULL, Vec3f *Q=NULL)
P and Q is not returned, need implementation
Member hpp::fcl::overlap (const Matrix3f &R0, const Vec3f &T0, const kIOS &b1, const kIOS &b2)
Not efficient
Member hpp::fcl::overlap (const Matrix3f &R0, const Vec3f &T0, const kIOS &b1, const kIOS &b2, const CollisionRequest &request, FCL_REAL &sqrDistLowerBound)
Not efficient
Member hpp::fcl::RSS::operator+= (const Vec3f &p)
This function may have some bug.