Failure to detect collison with mesh soup in DynamicAABBTreeCollisionManager about fcl HOT 2 OPEN

I did some more testing:

So, collision detection does not work only and only if

• one of the objects is a mesh soup,
• the objects are grouped in (and checked by) CollisionManager,
• and the transformations are not already set in the constructor of CollisionObject but after CollisionObjects' creation.

This led me to a question: Why is an AABB of a CollisionObject dependent on the way the transformation of the CollisionObject is set, and does it influence collision checking with CollisionManagers?

See -- the code

auto transformation_Transform3 = fcl::Transform3<double>(translation_Translation3);
auto twoMetersBox_CollisionObject = std::make_shared<fcl::CollisionObject<double>>(twoMeters_Box, transformation_Transform3);

produces

twoMetersBox_AABB.center()= [10, 10, 5.65],

while

auto twoMetersBox_CollisionObject = std::make_shared<fcl::CollisionObject<double>>(twoMeters_Box);
twoMetersBox_CollisionObject->setTranslation(twoMetersBoxTranslation_Vector3);

produces:

twoMetersBox_AABB.center()= [0, 0, 0].

My proposition is to make CollisionObject::setTranslation() and CollisionObject::setRotation() protected or fix the way CollisionManagers are handling them, but I still lack the full understanding of how the whole thing works.

from fcl.

I just gave a last shot trying to find a similar issue, and here we are! This issue would have been solved long ago if the terribly old issue #40 was solved, too!!!

from fcl.