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Geometry and Haptics Part 1

Craig McDonald requested to merge feature/geometry into devel

Description

Added new Geometry section of BurtSharp library to manage the geometry of haptic objects as they get increasingly complex. Geometry is a subfolder of Math because these classes are completely separate from haptics, and could be used for other purposes.

Every public or protected member of a class should have comments for documentation, so as not to generate more compiler warnings. This means that hopefully I do not need to do a lot of additional explanation beyond what's in the comments.

As a note, this online source was used, and cited, for some of the distance algorithms https://www.geometrictools.com/Documentation/Documentation.html.

This merge request mostly only deals with 2D geometry (the Plane and Line are technically in 3D space). The next merge request will add 3D geometry and haptic objects that makes use of it.

What to focus on

  • The new Geometry classes designed to underlie haptic objects.
  • HapticWall changes to make use of the new geometry classes.
  • HapticGeometryTest program designed to test the features developed in this branch.
  • All haptics and control still remains functional.
Edited by Craig McDonald

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