You signed in with another tab or window. Reload to refresh your session.You signed out in another tab or window. Reload to refresh your session.You switched accounts on another tab or window. Reload to refresh your session.Dismiss alert
The solvers GJKSolver_libccd and GJKSolver_indep use tolerances for the GJK and EPA algorithms to determine when the iterative algorithm should stop. These tolerances are hard-coded to a simple 1e-6 (see links above). This is an artifact from the former 32-bit floating point days.
The default values should depend on the underlying scalar type.
Proposal
Extend fcl::constants to provide some convenient, precision-dependent tolerance values and use those scalar-dependent functions to default initialize the solver values.
The text was updated successfully, but these errors were encountered:
Problem
The solvers
GJKSolver_libccd
andGJKSolver_indep
use tolerances for the GJK and EPA algorithms to determine when the iterative algorithm should stop. These tolerances are hard-coded to a simple 1e-6 (see links above). This is an artifact from the former 32-bit floating point days.The default values should depend on the underlying scalar type.
Proposal
Extend
fcl::constants
to provide some convenient, precision-dependent tolerance values and use those scalar-dependent functions to default initialize the solver values.The text was updated successfully, but these errors were encountered: