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Ran 08 Aug 2018 05:28PM UTC

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Committed 08 Aug 2018 05:12PM UTC coverage: 72.423% (+0.07%) from 72.351%

Job # BUILD_TYPE=Debug COVERALLS=ON

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Commit Message

Add primitive cylinder-sphere collision and distance query (#321)

* Add custom sphere-cylinder collision and distance tests

By default, the GJK solver was being used for performing distance queries
between cylinders and spheres. For small features, the answer was being
dominated by the iterative tolerance and producing wildly problematic
values. The logical thing to do is to perform sphere-cylinder collisions
using knowledge of the primitives.

This commit adds the following:
  - A new test illustrating the error of GJK is used
    (see test_fcl_sphere_cylinder.cpp)
  - Adds the custom sphere-cylinder collision/distance
    (sphere_cylinder.h and sphere_cylinder-inl.h)
  - Adds *extensive* unit tests on the custom algorithm.
  - Ties the custom algorithm into the libccd and indep GJK solvers.

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