Inquiry on Adding Support for a New Shape in FCL

[tejalbarnwal]

I am currently working on a project for 3D planning for quadrotors with bonxai. As part of this project, I require collision checking for a custom shape that is not currently supported by FCL. I noticed that FCL supports a variety of shapes such as boxes, spheres, capsules, and octrees, among others.

To complete this, I would like to extend FCL to include support for bonxai. Could you please guide me on how to approach this? Specifically, I am seeking information on:

• The architectural components or classes in FCL that need to be modified or extended.
• Any existing documentation, examples, or guides on adding new shape support.
• Whether there are specific considerations for integration with collision detection algorithms or bounding volume hierarchies in FCL.
• Additionally, apart from the FCL paper, are there any other specific resources, references, or materials you would recommend to help me understand the inner workings of FCL and the best practices for customization?

Your insights would be invaluable in helping me get started. If there are additional resources or points of contact for this type of customization, I would greatly appreciate you pointing me in the right direction.

Thank you for your time and for maintaining such a powerful library. I look forward to your guidance.

[rjoomen]

FCL does not seem to be actively developed anymore. I suggest you take a look at Coal, a fork of FCL which is under very active development.