{"action":"created","issue":{"url":"https://api.github.com/repos/flexible-collision-library/fcl/issues/319","repository_url":"https://api.github.com/repos/flexible-collision-library/fcl","labels_url":"https://api.github.com/repos/flexible-collision-library/fcl/issues/319/labels{/name}","comments_url":"https://api.github.com/repos/flexible-collision-library/fcl/issues/319/comments","events_url":"https://api.github.com/repos/flexible-collision-library/fcl/issues/319/events","html_url":"https://github.com/flexible-collision-library/fcl/issues/319","id":345459915,"node_id":"MDU6SXNzdWUzNDU0NTk5MTU=","number":319,"title":"libccd EPA expandPolytope: \"this should not happen\"","user":{"login":"wxmerkt","id":1664508,"node_id":"MDQ6VXNlcjE2NjQ1MDg=","avatar_url":"https://avatars2.githubusercontent.com/u/1664508?v=4","gravatar_id":"","url":"https://api.github.com/users/wxmerkt","html_url":"https://github.com/wxmerkt","followers_url":"https://api.github.com/users/wxmerkt/followers","following_url":"https://api.github.com/users/wxmerkt/following{/other_user}","gists_url":"https://api.github.com/users/wxmerkt/gists{/gist_id}","starred_url":"https://api.github.com/users/wxmerkt/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/wxmerkt/subscriptions","organizations_url":"https://api.github.com/users/wxmerkt/orgs","repos_url":"https://api.github.com/users/wxmerkt/repos","events_url":"https://api.github.com/users/wxmerkt/events{/privacy}","received_events_url":"https://api.github.com/users/wxmerkt/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":{"login":"hongkai-dai","id":6314000,"node_id":"MDQ6VXNlcjYzMTQwMDA=","avatar_url":"https://avatars2.githubusercontent.com/u/6314000?v=4","gravatar_id":"","url":"https://api.github.com/users/hongkai-dai","html_url":"https://github.com/hongkai-dai","followers_url":"https://api.github.com/users/hongkai-dai/followers","following_url":"https://api.github.com/users/hongkai-dai/following{/other_user}","gists_url":"https://api.github.com/users/hongkai-dai/gists{/gist_id}","starred_url":"https://api.github.com/users/hongkai-dai/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/hongkai-dai/subscriptions","organizations_url":"https://api.github.com/users/hongkai-dai/orgs","repos_url":"https://api.github.com/users/hongkai-dai/repos","events_url":"https://api.github.com/users/hongkai-dai/events{/privacy}","received_events_url":"https://api.github.com/users/hongkai-dai/received_events","type":"User","site_admin":false},"assignees":[{"login":"hongkai-dai","id":6314000,"node_id":"MDQ6VXNlcjYzMTQwMDA=","avatar_url":"https://avatars2.githubusercontent.com/u/6314000?v=4","gravatar_id":"","url":"https://api.github.com/users/hongkai-dai","html_url":"https://github.com/hongkai-dai","followers_url":"https://api.github.com/users/hongkai-dai/followers","following_url":"https://api.github.com/users/hongkai-dai/following{/other_user}","gists_url":"https://api.github.com/users/hongkai-dai/gists{/gist_id}","starred_url":"https://api.github.com/users/hongkai-dai/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/hongkai-dai/subscriptions","organizations_url":"https://api.github.com/users/hongkai-dai/orgs","repos_url":"https://api.github.com/users/hongkai-dai/repos","events_url":"https://api.github.com/users/hongkai-dai/events{/privacy}","received_events_url":"https://api.github.com/users/hongkai-dai/received_events","type":"User","site_admin":false}],"milestone":null,"comments":11,"created_at":"2018-07-28T16:11:52Z","updated_at":"2018-08-28T15:25:38Z","closed_at":null,"author_association":"CONTRIBUTOR","body":"As noted in https://github.com/flexible-collision-library/fcl/pull/305#discussion_r205945024, I have encountered the \"should not happen\" logic error:\r\n```\r\nRuntimeError: FCL expandPolytope(): This should not happen. Both the nearest point and the new vertex are on an edge, thus the nearest distance should be 0. This is touching contact, and we should not expand the polytope for touching contact.\r\n```\r\n\r\nHere are details on how to reproduce:\r\n\r\n- ``fcl::distance`` call between a box (o1, GEOM_BOX) and a cylinder (o2, GEOM_CYLINDER).\r\n- The box dimensions are: ``.05 0.39 1.47``\r\n- The cylinder dimensions are: ``length=0.18, radius=0.18``\r\n- The box transform is: ``xyz=0.8 -0.385  0.735; wxyz=0.707107 0 0 0.707107``\r\n- The cylinder transform is:  ``xyz=0.4 -0.4 0.93; wxyz=0.991445 0 0 -0.130526``\r\n\r\nI have been able to reliably reproduce it (as part of a larger process - caught and extracted the above from it).\r\n\r\ncc @hongkai-dai "},"comment":{"url":"https://api.github.com/repos/flexible-collision-library/fcl/issues/comments/416629798","html_url":"https://github.com/flexible-collision-library/fcl/issues/319#issuecomment-416629798","issue_url":"https://api.github.com/repos/flexible-collision-library/fcl/issues/319","id":416629798,"node_id":"MDEyOklzc3VlQ29tbWVudDQxNjYyOTc5OA==","user":{"login":"hongkai-dai","id":6314000,"node_id":"MDQ6VXNlcjYzMTQwMDA=","avatar_url":"https://avatars2.githubusercontent.com/u/6314000?v=4","gravatar_id":"","url":"https://api.github.com/users/hongkai-dai","html_url":"https://github.com/hongkai-dai","followers_url":"https://api.github.com/users/hongkai-dai/followers","following_url":"https://api.github.com/users/hongkai-dai/following{/other_user}","gists_url":"https://api.github.com/users/hongkai-dai/gists{/gist_id}","starred_url":"https://api.github.com/users/hongkai-dai/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/hongkai-dai/subscriptions","organizations_url":"https://api.github.com/users/hongkai-dai/orgs","repos_url":"https://api.github.com/users/hongkai-dai/repos","events_url":"https://api.github.com/users/hongkai-dai/events{/privacy}","received_events_url":"https://api.github.com/users/hongkai-dai/received_events","type":"User","site_admin":false},"created_at":"2018-08-28T15:25:38Z","updated_at":"2018-08-28T15:25:38Z","author_association":"CONTRIBUTOR","body":"Hi Wolfgang,\r\n\r\nI tried the argument you used, and fcl still doesn't throw me the error. The code is in https://github.com/hongkai-dai/fcl/blob/epa_touching_degenerate/test/narrowphase/detail/convexity_based_algorithm/test_box_cylinder.cpp.\r\n\r\nI am quite sure with the box and cylinder you mentioned, it cannot cause FCL to throw that error. Since the box and cylinder are **separated** by 2.5cm. On the other hand, the EPA algorithm is only called if the two objects are penetrating. Could you check if the box/cylinder data are correct?\r\n\r\nBest,\r\nHongkai"}}
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