Fix doc and optional value for contact patches

include/hpp/fcl/collision_data.h

@@ -533,11 +533,11 @@ struct HPP_FCL_DLLAPI ContactPatch {
 
   /// @brief Penetration depth of the contact patch. This value corresponds to
   /// the signed distance `d` between the shapes.
-  /// @note For each contact point `p` in the patch of normal `n`, `p1 = p +
-  /// 0.5*d*n` and `p2 = p - 0.5*d*n` define a pair of witness points. `p1`
+  /// @note For each contact point `p` in the patch of normal `n`, `p1 = p -
+  /// 0.5*d*n` and `p2 = p + 0.5*d*n` define a pair of witness points. `p1`
   /// belongs to the surface of the first shape and `p2` belongs to the surface
-  /// of the second shape. For any pair of witness points, we always have `p1 -
-  /// p2 = d * n`. The vector `d * n` is called a minimum separation vector:
+  /// of the second shape. For any pair of witness points, we always have `p2 -
+  /// p1 = d * n`. The vector `d * n` is called a minimum separation vector:
   /// if S1 is translated by it, S1 and S2 are not in collision anymore.
   /// @note Although there may exist multiple minimum separation vectors between
   /// two shapes, the term "minimum" comes from the fact that it's impossible to

include/hpp/fcl/contact_patch_func_matrix.h

@@ -54,11 +54,11 @@ struct HPP_FCL_DLLAPI ContactPatchFunctionMatrix {
   ///    and tf2;
   /// 2. the collision result that generated contact patches candidates
   ///    (`hpp::fcl::Contact`), from which contact patches will be expanded;
-  /// 3. the narrow phase solver that was used to compute the collision result;
-  /// 4. the solver for computation of contact patches;
-  /// 5. the request setting for contact patches (e.g. maximum amoung and size
-  ///    of contact patches);
-  /// 6. the structure to return contact patches.
+  /// 3. the solver for computation of contact patches;
+  /// 4. the request setting for contact patches (e.g. maximum amount of
+  ///    patches, patch tolerance etc.)
+  /// 5. the structure to return contact patches
+  ///    (`hpp::fcl::ContactPatchResult`).
   ///
   /// Note: we pass a GJKSolver, because it allows to reuse internal computation
   /// that was made during the narrow phase. It also allows to experiment with

include/hpp/fcl/narrowphase/support_functions.h

@@ -219,35 +219,40 @@ void getSupportSet(const ShapeBase* shape, const Vec3f& dir,
 template <int _SupportOptions = SupportOptions::NoSweptSphere>
 void getShapeSupportSet(const TriangleP* triangle, SupportSet& support_set,
                         int& /*unused*/, ShapeSupportData& /*unused*/,
-                        size_t /*unused*/, FCL_REAL tol = 1e-3);
+                        size_t /*unused*/ num_sampled_supports = 6,
+                        FCL_REAL tol = 1e-3);
 
 /// @brief Box support set function.
 /// Assumes the support set frame has already been computed.
 template <int _SupportOptions = SupportOptions::NoSweptSphere>
 void getShapeSupportSet(const Box* box, SupportSet& support_set,
                         int& /*unused*/, ShapeSupportData& support_data,
-                        size_t /*unused*/, FCL_REAL tol = 1e-3);
+                        size_t /*unused*/ num_sampled_supports = 6,
+                        FCL_REAL tol = 1e-3);
 
 /// @brief Sphere support set function.
 /// Assumes the support set frame has already been computed.
 template <int _SupportOptions = SupportOptions::NoSweptSphere>
 void getShapeSupportSet(const Sphere* sphere, SupportSet& support_set,
                         int& /*unused*/, ShapeSupportData& /*unused*/,
-                        size_t /*unused*/, FCL_REAL /*unused*/);
+                        size_t /*unused*/ num_sampled_supports = 6,
+                        FCL_REAL /*unused*/ tol = 1e-3);
 
 /// @brief Ellipsoid support set function.
 /// Assumes the support set frame has already been computed.
 template <int _SupportOptions = SupportOptions::NoSweptSphere>
 void getShapeSupportSet(const Ellipsoid* ellipsoid, SupportSet& support_set,
                         int& /*unused*/, ShapeSupportData& /*unused*/,
-                        size_t /*unused*/, FCL_REAL /*unused*/);
+                        size_t /*unused*/ num_sampled_supports = 6,
+                        FCL_REAL /*unused*/ tol = 1e-3);
 
 /// @brief Capsule support set function.
 /// Assumes the support set frame has already been computed.
 template <int _SupportOptions = SupportOptions::NoSweptSphere>
 void getShapeSupportSet(const Capsule* capsule, SupportSet& support_set,
                         int& /*unused*/, ShapeSupportData& /*unused*/,
-                        size_t /*unused*/, FCL_REAL tol = 1e-3);
+                        size_t /*unused*/ num_sampled_supports = 6,
+                        FCL_REAL tol = 1e-3);
 
 /// @brief Cone support set function.
 /// Assumes the support set frame has already been computed.
@@ -270,21 +275,24 @@ void getShapeSupportSet(const Cylinder* cylinder, SupportSet& support_set,
 template <int _SupportOptions = SupportOptions::NoSweptSphere>
 void getShapeSupportSet(const ConvexBase* convex, SupportSet& support_set,
                         int& hint, ShapeSupportData& support_data,
-                        size_t /*unused*/, FCL_REAL tol = 1e-3);
+                        size_t /*unused*/ num_sampled_supports = 6,
+                        FCL_REAL tol = 1e-3);
 
 /// @brief Support set function for large ConvexBase (>32 vertices).
 /// Assumes the support set frame has already been computed.
 template <int _SupportOptions = SupportOptions::NoSweptSphere>
 void getShapeSupportSet(const SmallConvex* convex, SupportSet& support_set,
                         int& /*unused*/, ShapeSupportData& /*unused*/,
-                        size_t /*unused*/, FCL_REAL tol = 1e-3);
+                        size_t /*unused*/ num_sampled_supports = 6,
+                        FCL_REAL tol = 1e-3);
 
 /// @brief Support set function for small ConvexBase (<32 vertices).
 /// Assumes the support set frame has already been computed.
 template <int _SupportOptions = SupportOptions::NoSweptSphere>
 void getShapeSupportSet(const LargeConvex* convex, SupportSet& support_set,
                         int& hint, ShapeSupportData& support_data,
-                        size_t /*unused*/, FCL_REAL tol = 1e-3);
+                        size_t /*unused*/ num_sampled_supports = 6,
+                        FCL_REAL tol = 1e-3);
 
 /// @brief Computes the convex-hull of support_set. For now, this function is
 /// only needed for Box and ConvexBase.