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create convex mesh when possible #1664

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MFridlyand
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Create bullet convex mesh collision shape when input mesh is convex. Convex mesh colliders work much faster, also Bullet do not support concave mesh vs concave mesh collisions

@MFridlyand MFridlyand force-pushed the improve_bullet_collision_detector_performance branch 4 times, most recently from 3842079 to 45a2559 Compare May 26, 2022 15:43
@jslee02 jslee02 added this to the DART 6.13.0 milestone May 28, 2022
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Thank you for your contribution! The code could be a bit more generalized for the scalar type because the Bullet library could be built for either float or double. Let me address that in a separate PR. Thanks again!

@jslee02 jslee02 merged commit 87c0e30 into dartsim:main May 29, 2022
jslee02 added a commit that referenced this pull request May 29, 2022
jslee02 added a commit that referenced this pull request May 29, 2022
jslee02 added a commit that referenced this pull request May 29, 2022
jslee02 added a commit that referenced this pull request May 30, 2022
jslee02 added a commit that referenced this pull request May 30, 2022
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2 participants