# Changelog

All notable changes to this project will be documented in this file.

The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).

## [Unreleased]

### Added
- broadphase: add functional API for collision and distance callbacks ([#724](https://github.com/coal-library/coal/pull/724))
- Added a second set of Python bindings based on nanobind ([#659](https://github.com/coal-library/coal/pull/659))
- ROS: jrl_cmakemodules dependency + kilted CI ([#769](https://github.com/coal-library/coal/pull/769))
- Added `SUFFIX_SO_VERSION` CMake option, default `OFF` ([#770](https://github.com/coal-library/coal/pull/770))
- Add pixi-build support ([#774](https://github.com/coal-library/coal/pull/774))
- contact patches: add helpers to reduce the size of a contact patch by keeping points that minimize the difference between the area of the original patch and the area of the new patch
  - handle the specific cases of n_desired = 1 or 2 ([805](https://github.com/coal-library/coal/pull/805))
  - improve efficiency of ContactPatchSimplifierMaxArea and improve testing of patch simplifiers ([813](https://github.com/coal-library/coal/pull/813))
- timings: + and += operators ([805](https://github.com/coal-library/coal/pull/805))
- Add print methods for collision data (`Contact`, `CollisionRequest`, `CollisionResult`, `DistanceRequest`, `DistanceResult`, `ContactPatch`, `ContactPatchRequest` and `ContactPatchResult`) ([854](https://github.com/coal-library/coal/pull/854)).
  - One can now do `std::cout << contact` for example.
  - Added the `PrintableVisitor` in python bindings so that `print(contact)` works in python as well
- Added `resolveReferences` method to `Contact` and `DistanceResult` to remap the `o1/o2` pointers (typically after serialization/deserialization) ([855](https://github.com/coal-library/coal/pull/855)).
- Added copy constructors to `Contact::Contact(const Contact& other, const CollisionGeometry* new_o1, const CollisionGeometry* new_o2)` and `DistanceResult::DistanceResult(const DistanceResult& other, const CollisionGeometry* new_o1, const CollisionGeometry* new_o2)` to allow copying a `Contact` or `DistanceResult` while remapping the `o1/o2` pointers to new geometries. This is typically useful in the context of deep-copying ([#856](https://github.com/coal-library/coal/pull/820)).
- Added the `COAL_EQUAL_OPERATOR_CHECK` macro. This macro can be overridden at compile time, extremely practial for debugging serialization for example. ([#859](https://github.com/coal-library/coal/pull/859))

### Removed
- Remove direct dependency to ([#744](https://github.com/coal-library/coal/pull/744)):
  - Boost::system
  - Boost::chrono
  - Boost::date_time
  - Boost::thread

### Fixed
- Fix doc parsing via doxygen scripts ([#678](https://github.com/coal-library/coal/pull/678) [#699](https://github.com/coal-library/coal/pull/699))
- Correctly calculate AABB for pruned octrees ([#741](https://github.com/coal-library/coal/pull/741))
- Fix contact counting in octree collision detection with ShapeShapeCollide ([#746](https://github.com/coal-library/coal/pull/746))
- Fix sqrDistLowerBound in octree traversal with height field ([#753](https://github.com/coal-library/coal/pull/753))
- Fix contact patch computation by enforcing CCW construction of support sets ([#772](https://github.com/coal-library/coal/pull/772))
- Remove pixi 0.57 warnings ([#774](https://github.com/coal-library/coal/pull/774))
- Fix nanobind bindings' stub file ([#781](https://github.com/coal-library/coal/pull/781#event-20983199417))
- Remove Windows warnings when building benchmakrs ([789](https://github.com/coal-library/coal/pull/789))
- convex: a point can have more than 256 neighbors now. In fact, a point can have `std::numeric_limits<IndexType>::max()` number of neighbors, where IndexType is typically int16 or int32 ([805](https://github.com/coal-library/coal/pull/805))
- Fix octree against octree collision check ([#811](https://github.com/coal-library/coal/pull/811))
- Fix condition for negative bounding volume check ([#816](https://github.com/coal-library/coal/pull/816))
- Add missing calls to computeLocalAABB for internal objects ([#819](https://github.com/coal-library/coal/pull/819))
- Add missing override specifiers ([#820](https://github.com/coal-library/coal/pull/820))
- Fix Python error when accessing `geometry.convex` on BVH geometris ([#833](https://github.com/coal-library/coal/pull/833))
- Fix `Contact`, `CollisionResult` and `DistanceResult` operator== ([#856](https://github.com/coal-library/coal/pull/820)):
  - If the `o1/o2` pointers are different, we check whether or not the underlying geometries are the same. This is typically important in the context of serialization.
  - Fix using NaN to initialize collision data (`Contact`, `CollisionResult`, `DistanceResult`). This prevents the absurd `Contact contact; contact == contact; // false` problem.
  - Fix NaNs coming from GJK/EPA when the algorithms (correctly) early stopped. NaNs indicate failure. In the case that GJK/EPA early stopped but ran fine, we set non-computed data to inf instead of NaN.
- `coalConfig.cmake` declare the right Boost component to search ([#869](https://github.com/coal-library/coal/pull/869))

### Changed
- Float precision ([#665](https://github.com/coal-library/coal/pull/665))
  - Rename `CoalScalar` to `Scalar`
  - Add option to switch between (default) double precision and float precision
  - Changed all the uses of `double` to `Scalar` in Coal
  - Fixed all the compilation warnings when compiling the library using float precision
- Tracy profiling ([#668](https://github.com/coal-library/coal/pull/668))
  - added cmake option `COAL_BUILD_WITH_TRACY`
  - put tracy scoped zones in broadphase and primitive shapes collision/distance queries
- Use double precision for GJK/EPA when coal is compiled in float ([#674](https://github.com/coal-library/coal/pull/674))
  - Everything is in float in coal (including the support functions), except the computations inside GJK/EPA
  - Allows GJK/EPA to avoid limitation of float precision
- Renamed PyPI package from coal-library to coal ([#675](https://github.com/coal-library/coal/pull/675))
- Fixed malloc in COAL_ASSERT ([#687](https://github.com/coal-library/coal/pull/687))
- Introducing `Convex16` and `Convex32` to store neighbors and polygons indices as `uint16` or `uint32` ([#682](https://github.com/coal-library/coal/pull/682), [#716](https://github.com/coal-library/coal/pull/716)).
  - Along with #665, this allows to divide by two the memory footprint of `Convex`.
- Fixed a bug in DynamicAABBTree broadphase that missed aabb overlaps when multiple planes/halfspaces are used in a scene.
- Python version update ([#774](https://github.com/coal-library/coal/pull/774)):
  - Project is now tested with Python 3.10 and 3.14
  - Python 3.10 is the minimal supported Python version
- Nix: switch to flakoboros ([#852](https://github.com/coal-library/coal/pull/852))

## [3.0.3] - 2026-05-05

- Backport removal of Boost::system

## [3.0.2] - 2025-09-29

### Added
- CMake: add COAL_DISABLE_HPP_FCL_WARNINGS option ([#709](https://github.com/coal-library/coal/pull/709))
- CMake: add support for BUILD_STANDALONE_PYTHON_INTERFACE ([#658](https://github.com/coal-library/coal/pull/658))
- Docker images `ghcr.io/coal-library/coal` ([#737](https://github.com/coal-library/coal/pull/737))

### Removed
- Remove constraints on supported doxygen version to generate the python documentation ([#681](https://github.com/coal-library/coal/pull/681))
- Remove useless COAL_WITH_CXX11_SUPPORT guard ([#688](https://github.com/coal-library/coal/pull/688))
- Remove qhull submodule, as ubuntu 20.04 is EoL ([#704](https://github.com/coal-library/coal/pull/704))
- Removed support for octomap < 1.8 ([#727](https://github.com/coal-library/coal/pull/727))

### Changed
- Formatted all CMake listfiles using gersemi, add gersemi to pre-commit configuration ([#657](https://github.com/coal-library/coal/pull/657/files))

## [3.0.1] - 2025-02-12

### Fixed
- Remove CMake CMP0167 warnings ([#630](https://github.com/coal-library/coal/pull/630))
- Allow to run test in the build directory on Windows ([#630](https://github.com/coal-library/coal/pull/630))
- Updated nix flake from `hpp-fcl` to `coal` ([#632](https://github.com/coal-library/coal/pull/632)
- Fix hpp-fclConfig.cmake on Windows ([#633](https://github.com/coal-library/coal/pull/633))
- Fix install version ([#651](https://github.com/coal-library/coal/pull/651))

### Added
- Add Pixi support ([#629](https://github.com/coal-library/coal/pull/629))

### Changed
- Set NOMINMAX as a public definitions on Windows ([#640](https://github.com/coal-library/coal/pull/640))

## [3.0.0] - 2024-11-20

### Added
- Renaming the library from `hpp-fcl` to `coal`. Created a `COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL` CMake option for retro compatibility. This allows to still do `find_package(hpp-fcl)` and `#include <hpp/fcl/...>` in C++ and it allows to still do `import hppfcl` in python ([#596](https://github.com/coal-library/coal/pull/596)).
- Added `Transform3f::Random` and `Transform3f::setRandom` ([#584](https://github.com/coal-library/coal/pull/584))
- New feature: computation of contact surfaces for any pair of primitive shapes (triangle, sphere, ellipsoid, plane, halfspace, cone, capsule, cylinder, convex) ([#574](https://github.com/coal-library/coal/pull/574)).
- Enhance Broadphase DynamicAABBTree to better handle planes and halfspace ([#570](https://github.com/coal-library/coal/pull/570))
- [#558](https://github.com/coal-library/coal/pull/558):
  - [internal] Removed dead code in `narrowphase/details.h` ([#558](https://github.com/coal-library/coal/pull/558))
  - [internal] Removed specializations of methods of `GJKSolver`. Now the specializations are all handled by `ShapeShapeDistance` in `shape_shape_func.h`.
  - [new feature] Added support for Swept-Sphere primitives (sphere, box, capsule, cone, ellipsoid, triangle, halfspace, plane, convex mesh).
- [API change] Renamed default convergence criterion from `VDB` to `Default` ([#556](https://github.com/coal-library/coal/pull/556))
- Fixed EPA returning nans on cases where it could return an estimate of the normal and penetration depth. ([#556](https://github.com/coal-library/coal/pull/556))
- Fixed too low tolerance in GJK/EPA asserts ([#554](https://github.com/coal-library/coal/pull/554))
- Fixed `normal_and_nearest_points` test (no need to have Eigen 3.4) ([#553](https://github.com/coal-library/coal/pull/553))
- [#549](https://github.com/coal-library/coal/pull/549)
- Optimize EPA: ignore useless faces in EPA's polytope; warm-start support computation for `Convex`; fix edge-cases witness points computation.
- Add `Serializable` trait to transform, collision data, collision geometries, bounding volumes, bvh models, hfields. Collision problems can now be serialized from C++ and sent to python and vice versa.
- CMake: allow use of installed jrl-cmakemodules ([#564](https://github.com/coal-library/coal/pull/564))
- CMake: Add compatibility with jrl-cmakemodules workspace ([#610](https://github.com/coal-library/coal/pull/610))
- Python: add id() support for geometries ([#618](https://github.com/coal-library/coal/pull/618)).


### Fixed

- Fix Fix serialization unit test when running without Qhull support ([#611](https://github.com/coal-library/coal/pull/611))
- Compiler warnings ([#601](https://github.com/coal-library/coal/pull/601), [#605](https://github.com/coal-library/coal/pull/605))
- CMake: fix assimp finder
- Don't define GCC7 Boost serialization hack when `HPP_FCL_SKIP_EIGEN_BOOST_SERIALIZATION` is defined ([#530](https://github.com/coal-library/coal/pull/530))
- Default parameters for narrowphase algorithms (GJK and EPA); fixed assertion checks that were sometimes failing in GJK simplex projection and BVH `collide` ([#531](https://github.com/coal-library/coal/pull/531)).
- Created a new macro `HPP_FCL_ASSERT` which behaves as an assert by default. When the option `HPP_FCL_TURN_ASSERT_INTO_EXCEPTION` is turned on, it replaces the macro by an exception ([#533](https://github.com/coal-library/coal/pull/533)). Also fixed an EPA assert in `GJKSolver`.
- Simplify internals of hpp-fcl ([#535](https://github.com/coal-library/coal/pull/535)):
  - Computing distance between 2 primitives shapes does not use a traversal node anymore.
  - Removed successive mallocs in GJK/EPA when using an instance of `GJKSolver` multiple times.
  - `GJKSolver` now deals with **all** statuses of GJK/EPA. Some of these statuses represent a bad behavior of GJK/EPA and now trigger an assertion in Debug mode. Usefull for debugging these algos.
  - Logging was added with macros like `HPP_FCL_LOG_(INFO/DEBUG/WARNING/ERROR)`; hpp-fcl can now log usefull info when the preprocessor option `HPP_FCL_ENABLE_LOGGING` is enabled.
  - Deprecated `enable_distance_lower_bound` in `CollisionRequest`; a lower bound on distance is always computed.
  - Deprecated `enable_nearest_points` in `DistanceRequest`; they are always computed and are the points of the shapes that achieve a distance of `DistanceResult::min_distance`.
  - Added `enable_signed_distance` flag in `DistanceRequest` (default `true`). Turn this of for better performance if only the distance when objects are disjoint is needed.
  - The internal collision and distance functions of hpp-fcl now use `CollisionRequest::enable_contact` and `DistanceRequest::enable_signed_distance` to control whether or not penetration information should be computed. There are many scenarios where we don't need the penetration information and only want to know if objects are colliding and compute their distance only if they are disjoint. These flags allow the user to control the trade-off between performance vs. information of the library.
  - Fix convergence criterion of EPA; made GJK and EPA convergence criterion absolute + relative to scale to the shapes' dimensions; remove max face/vertices fields from EPA (these can be deduced from the max number of iterations)
- Account for lateral borders in Height Fields model.
- Fix compilation error on recent APPLE compilers ([#539](https://github.com/coal-library/coal/pull/539)).
- Fix printing of deprecated message ([#540](https://github.com/coal-library/coal/pull/540)).
- Fix compilation with earlier Eigen version
- Fix compilation warning message
- Fix issue in Octomap.computeLocalAABB
- Fix unsupported function for contact_patch_matrix
- Fix Octomap dependency on ROS

## [2.4.5] - 2024-07-28

### Fixed
- Fix Octomap dependency on ROS

## [2.4.4] - 2024-03-06

## [2.4.3] - 2024-03-06

### Fixed
- updated cmake module to fix documentation generation
- test documentation in conda ci

## [2.4.2] - 2024-03-06

### Fixed
- Fix CMAKE_INSTALL_{} path for installation ([#543](https://github.com/coal-library/coal/pull/543))

## [2.4.1] - 2024-01-23

### Fixed
- CachedMeshLoader checks file last modification time.
- Fix call to clear methods for {Collision,Distance}Data inside init function ([#509](https://github.com/coal-library/coal/pull/509))
- CMake: fix submodule use in bindings in ([#512](https://github.com/coal-library/coal/pull/512))
- Fix bug in DynamicAABBTreeCollisionManager (see [#514](https://github.com/coal-library/coal/issues/514)) in ([#515](https://github.com/coal-library/coal/pull/515))
### Added
- In struct Contact
  - Documentation of the members,
  - initialization of normal, closest points and contact point in constructors
  - method getDistanceToCollision
- New variant of GJK (PolyakAcceleration).
- Specialization of distance computation between
  - Sphere and Capsule,
  - Ellipsoid and Halfspace,
  - Ellipsoid and Plane.
- Collision computation between Octree and HeightField.

### Changed
- Matrixx3f and Matrixx3i become row major.
- Use shared pointers to vectors instead of arrays for vertices and triangles in class BVHModelBase.

### Removed
- members related epa in class QueryRequest

## [2.4.0] - 2023-11-27

### Added
- Add method to `CollisionObject` to get `CollisionGeometry` raw pointer

### Fixed
- Fix RPATH computation on OSX
- Fix Python stubs generation on Windows

## [2.3.7] - 2023-11-15

### What's Changed
- Add Python 3.12 support by [@jorisv](https://github.com/jorisv) ([#471](https://github.com/coal-library/coal/pull/471))
- Enable ruff linting by [@nim65s](https://github.com/nim65s) ([#464](https://github.com/coal-library/coal/pull/464))

## [2.3.6] - 2023-09-30

### What's Changed
- Update ROS_DISTRO by [@jcarpent](https://github.com/jcarpent) ([#442](https://github.com/coal-library/coal/pull/442))
- Add citations by [@jcarpent](https://github.com/jcarpent) ([#449](https://github.com/coal-library/coal/pull/449))
- [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) ([#444](https://github.com/coal-library/coal/pull/444))
- [WIP] Debug by [@jcarpent](https://github.com/jcarpent) ([#455](https://github.com/coal-library/coal/pull/455))
- CMake: require >= 3.10 by [@nim65s](https://github.com/nim65s) ([#453](https://github.com/coal-library/coal/pull/453))
- core: fix SaPCollisionManager::empty() by [@rujialiu](https://github.com/rujialiu) ([#454](https://github.com/coal-library/coal/pull/454))
- [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) ([#452](https://github.com/coal-library/coal/pull/452))

### New Contributors
- [@rujialiu](https://github.com/rujialiu) made their first contribution ([#454](https://github.com/coal-library/coal/pull/454))

## [2.3.5] - 2023-07-11

### What's Changed
- Fix compilation warning by [@jcarpent](https://github.com/jcarpent) ([#434](https://github.com/coal-library/coal/pull/434))
- Fix parsing of doxygen doc by [@jcarpent](https://github.com/jcarpent) ([#439](https://github.com/coal-library/coal/pull/439))
- [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) ([#438](https://github.com/coal-library/coal/pull/438))

## [2.3.4] - 2023-06-01

### What's Changed
- [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) ([#414](https://github.com/coal-library/coal/pull/414))
- Fix conversion warning by [@wxmerkt](https://github.com/wxmerkt) ([#417](https://github.com/coal-library/coal/pull/417))
- Add missing boost include by [@nim65s](https://github.com/nim65s) ([#418](https://github.com/coal-library/coal/pull/418))
- ci: update macos-linux-pip by [@nim65s](https://github.com/nim65s) ([#419](https://github.com/coal-library/coal/pull/419))
- Modernize Cmake use by [@nim65s](https://github.com/nim65s) ([#420](https://github.com/coal-library/coal/pull/420))
- tests: use boost::filesystem by [@nim65s](https://github.com/nim65s) ([#424](https://github.com/coal-library/coal/pull/424))
- [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) ([#425](https://github.com/coal-library/coal/pull/425))
- Update minimal Python version  by [@jcarpent](https://github.com/jcarpent) ([#427](https://github.com/coal-library/coal/pull/427))
- Sync submodule cmake by [@jcarpent](https://github.com/jcarpent) ([#430](https://github.com/coal-library/coal/pull/430))
- Sync submodule CMake by [@jcarpent](https://github.com/jcarpent) ([#431](https://github.com/coal-library/coal/pull/431))

## [2.3.3] - 2023-05-09

### What's Changed
- update default C++ to 14 by [@nim65s](https://github.com/nim65s) ([#410](https://github.com/coal-library/coal/pull/410))
- Sync submodule cmake by [@jcarpent](https://github.com/jcarpent) ([#413](https://github.com/coal-library/coal/pull/413))

## [2.3.2] - 2023-04-27

### What's Changed
- [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) ([#391](https://github.com/coal-library/coal/pull/391))
- Sync submodule cmake by [@jcarpent](https://github.com/jcarpent) ([#393](https://github.com/coal-library/coal/pull/393))
- Topic/rpath by [@nim65s](https://github.com/nim65s) ([#394](https://github.com/coal-library/coal/pull/394))
- [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) ([#396](https://github.com/coal-library/coal/pull/396))
- [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) ([#399](https://github.com/coal-library/coal/pull/399))
- [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) ([#402](https://github.com/coal-library/coal/pull/402))
- Sync submodule cmake by [@jcarpent](https://github.com/jcarpent) ([#406](https://github.com/coal-library/coal/pull/406))

## [2.3.1] - 2023-03-25

### What's Changed
- Remove useless call to /proc/cpuinfo by [@jcarpent](https://github.com/jcarpent) ([#385](https://github.com/coal-library/coal/pull/385))
- Add pip CI by [@nim65s](https://github.com/nim65s) ([#386](https://github.com/coal-library/coal/pull/386))
- [GJKSolver] Fix missing switch case in result status of GJK by [@lmontaut](https://github.com/lmontaut) ([#387](https://github.com/coal-library/coal/pull/387))
- Sync submodule cmake by [@jcarpent](https://github.com/jcarpent) ([#388](https://github.com/coal-library/coal/pull/388))

## [2.3.0] - 2023-03-17

### What's Changed
- [CI] Remove EOL Galactic by [@wxmerkt](https://github.com/wxmerkt) ([#366](https://github.com/coal-library/coal/pull/366))
- [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) ([#367](https://github.com/coal-library/coal/pull/367))
- Sync submodule cmake by [@jcarpent](https://github.com/jcarpent) ([#368](https://github.com/coal-library/coal/pull/368))
- [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) ([#369](https://github.com/coal-library/coal/pull/369))
- Adding EarlyStopped flag in GJK by [@lmontaut](https://github.com/lmontaut) ([#371](https://github.com/coal-library/coal/pull/371))
- [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) ([#373](https://github.com/coal-library/coal/pull/373))
- Update CI by [@jcarpent](https://github.com/jcarpent) ([#374](https://github.com/coal-library/coal/pull/374))
- [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) ([#375](https://github.com/coal-library/coal/pull/375))
- Skip test if BUILD_TESTING is OFF by [@jcarpent](https://github.com/jcarpent) ([#378](https://github.com/coal-library/coal/pull/378))

## [2.2.0] - 2022-12-12

### What's Changed
- [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) ([#358](https://github.com/coal-library/coal/pull/358))
- Extract checks if AABB overlap by [@jmirabel](https://github.com/jmirabel) ([#360](https://github.com/coal-library/coal/pull/360))
- [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) ([#361](https://github.com/coal-library/coal/pull/361))
- Sync submodule CMake by [@jcarpent](https://github.com/jcarpent) ([#362](https://github.com/coal-library/coal/pull/362))
- Add support of Pickling by [@jcarpent](https://github.com/jcarpent) ([#363](https://github.com/coal-library/coal/pull/363))

## [2.1.4] - 2022-10-24

### What's Changed
- Sync submodule CMake by [@jcarpent](https://github.com/jcarpent) ([#352](https://github.com/coal-library/coal/pull/352))
- [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) ([#353](https://github.com/coal-library/coal/pull/353))

## [2.1.3] - 2022-09-13

### What's Changed
- Minor boost cleanup by [@pantor](https://github.com/pantor) ([#331](https://github.com/coal-library/coal/pull/331))
- [CI] Activate ROS2 configurations by [@wxmerkt](https://github.com/wxmerkt) ([#332](https://github.com/coal-library/coal/pull/332))
- [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) ([#337](https://github.com/coal-library/coal/pull/337))
- Sync submodule cmake by [@jcarpent](https://github.com/jcarpent) ([#341](https://github.com/coal-library/coal/pull/341))
- Fix shapeIntersect when for EPA FallBack by [@jcarpent](https://github.com/jcarpent) ([#342](https://github.com/coal-library/coal/pull/342))
- Fix findAssimp on Windows by [@jcarpent](https://github.com/jcarpent) ([#345](https://github.com/coal-library/coal/pull/345))
- Sync submodule cmake by [@jcarpent](https://github.com/jcarpent) ([#347](https://github.com/coal-library/coal/pull/347))

### New Contributors
- [@pantor](https://github.com/pantor) made their first contribution ([#331](https://github.com/coal-library/coal/pull/331))

## [2.1.2] - 2022-08-01

### What's Changed
- core: add EPA::FallBack condition to shapeDistance computation by [@lmontaut](https://github.com/lmontaut) ([#325](https://github.com/coal-library/coal/pull/325))
- CMake: update to eigenpy 2.7.10 by [@nim65s](https://github.com/nim65s) ([#327](https://github.com/coal-library/coal/pull/327))

## [2.1.1] - 2022-07-25

### What's Changed
- cmake: relocatable package for recent CMake versions by [@nim65s](https://github.com/nim65s) ([#319](https://github.com/coal-library/coal/pull/319))
- ROS2/Colcon integration by [@wxmerkt](https://github.com/wxmerkt) ([#321](https://github.com/coal-library/coal/pull/321))

## [2.1.0] - 2022-07-13

### What's Changed
- [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) ([#288](https://github.com/coal-library/coal/pull/288))
- Add enum helpers by [@jcarpent](https://github.com/jcarpent) ([#290](https://github.com/coal-library/coal/pull/290))
- [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) ([#294](https://github.com/coal-library/coal/pull/294))
- Ellipsoids in collision & distance matrices by [@lmontaut](https://github.com/lmontaut) ([#295](https://github.com/coal-library/coal/pull/295))
- doc: simplex projection in GJK class. by [@lmontaut](https://github.com/lmontaut) ([#296](https://github.com/coal-library/coal/pull/296))
- Feature: Nesterov acceleration for GJK by [@lmontaut](https://github.com/lmontaut) ([#289](https://github.com/coal-library/coal/pull/289))
- Add more testing to broadphase by [@jcarpent](https://github.com/jcarpent) ([#298](https://github.com/coal-library/coal/pull/298))
- Feature: adding convergence criterions for GJK algorithm by [@lmontaut](https://github.com/lmontaut) ([#299](https://github.com/coal-library/coal/pull/299))
- Sync submodule cmake by [@jcarpent](https://github.com/jcarpent) ([#300](https://github.com/coal-library/coal/pull/300))
- Reorder triangles when computing convex hulls by [@lmontaut](https://github.com/lmontaut) ([#301](https://github.com/coal-library/coal/pull/301))
- Exposing gjk utils by [@lmontaut](https://github.com/lmontaut) ([#302](https://github.com/coal-library/coal/pull/302))
- Fix assert precision in GJK by [@jcarpent](https://github.com/jcarpent) ([#304](https://github.com/coal-library/coal/pull/304))
- Simplify GJKSolver settings by [@jcarpent](https://github.com/jcarpent) ([#305](https://github.com/coal-library/coal/pull/305))
- Add CollisionResult::nearest_points  by [@jcarpent](https://github.com/jcarpent) ([#303](https://github.com/coal-library/coal/pull/303))
- [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) ([#306](https://github.com/coal-library/coal/pull/306))
- [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) ([#309](https://github.com/coal-library/coal/pull/309))
- Fix minimal value for GJK::distance_upper_bound by [@jcarpent](https://github.com/jcarpent) ([#310](https://github.com/coal-library/coal/pull/310))
- Fix incoherent overlap by [@jcarpent](https://github.com/jcarpent) ([#311](https://github.com/coal-library/coal/pull/311))
- Expose shared_ptr<OcTree> by [@Jiayuan-Gu](https://github.com/Jiayuan-Gu) ([#314](https://github.com/coal-library/coal/pull/314))
- test/gjk_convergence_criterion: Add check on GJK::Status by [@wxmerkt](https://github.com/wxmerkt) ([#315](https://github.com/coal-library/coal/pull/315))
- [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) ([#316](https://github.com/coal-library/coal/pull/316))
- Handle negative security margin by [@jcarpent](https://github.com/jcarpent) ([#312](https://github.com/coal-library/coal/pull/312))

### New Contributors
- [@Jiayuan-Gu](https://github.com/Jiayuan-Gu) made their first contribution ([#314](https://github.com/coal-library/coal/pull/314))

## [2.0.1] - 2022-04-15

This PR mainly fixes packaging issues and removes compilation warnings.

### What's Changed
- Zero warnings by [@wxmerkt](https://github.com/wxmerkt) ([#282](https://github.com/coal-library/coal/pull/282))
- Sync submodule cmake by [@jcarpent](https://github.com/jcarpent) ([#283](https://github.com/coal-library/coal/pull/283))
- [pre-commit.ci] pre-commit autoupdate by [@pre-commit-ci](https://github.com/pre-commit-ci) ([#284](https://github.com/coal-library/coal/pull/284))
- Activate python3-pylatexenc dependency by [@wxmerkt](https://github.com/wxmerkt) ([#286](https://github.com/coal-library/coal/pull/286))
- Comment pylatexenc again since it's not available on the buildfarm by [@wxmerkt](https://github.com/wxmerkt) ([#287](https://github.com/coal-library/coal/pull/287))

### New Contributors
- [@pre-commit-ci](https://github.com/pre-commit-ci) made their first contribution ([#284](https://github.com/coal-library/coal/pull/284))

## [2.0.0] - 2022-04-06

This new release reintroduces the full support of Broad phase within hpp-fcl while also enforcing C++11 as minimal standard.

### What's Changed
- Add Ellipsoid by [@jcarpent](https://github.com/jcarpent) ([#259](https://github.com/coal-library/coal/pull/259))
- Removing comment about inflation. by [@lmontaut](https://github.com/lmontaut) ([#261](https://github.com/coal-library/coal/pull/261))
- Reintroduce broadphase by [@jcarpent](https://github.com/jcarpent) ([#260](https://github.com/coal-library/coal/pull/260))
- Simplify CollisionObject by removing cgeom_const by [@jcarpent](https://github.com/jcarpent) ([#263](https://github.com/coal-library/coal/pull/263))
- Address some warnings by [@wxmerkt](https://github.com/wxmerkt) ([#262](https://github.com/coal-library/coal/pull/262))
- Fix missing copy of aabb_local in CollisionGeometry by [@jcarpent](https://github.com/jcarpent) ([#264](https://github.com/coal-library/coal/pull/264))
- use std::shared_ptr, fix #218 by [@nim65s](https://github.com/nim65s) ([#266](https://github.com/coal-library/coal/pull/266))
- Fix broadphase warnings for clang (some conversion remain for g++) by [@wxmerkt](https://github.com/wxmerkt) ([#268](https://github.com/coal-library/coal/pull/268))
- [ComputeCollision] Return no collision if security_margin is set to -inf by [@florent-lamiraux](https://github.com/florent-lamiraux) ([#271](https://github.com/coal-library/coal/pull/271))
- tests: remove link to boost unit test framework by [@nim65s](https://github.com/nim65s) ([#270](https://github.com/coal-library/coal/pull/270))
- Fix computation of aabb_center by [@jcarpent](https://github.com/jcarpent) ([#273](https://github.com/coal-library/coal/pull/273))
- Add operator== and operator!= to CollisionGeometry by [@jcarpent](https://github.com/jcarpent) ([#274](https://github.com/coal-library/coal/pull/274))
- Merge pull request #276 from humanoid-path-planner/patch-release-1.8.1 by [@jcarpent](https://github.com/jcarpent) ([#277](https://github.com/coal-library/coal/pull/277))
- Fix some missing features in base classes by [@jcarpent](https://github.com/jcarpent) ([#275](https://github.com/coal-library/coal/pull/275))
- Add operator{==,!=} to CollisionObject by [@jcarpent](https://github.com/jcarpent) ([#278](https://github.com/coal-library/coal/pull/278))
- Configure and apply pre-commit by [@jcarpent](https://github.com/jcarpent) ([#280](https://github.com/coal-library/coal/pull/280))
- Fix DistanceCallBackBaseWrapper by [@jcarpent](https://github.com/jcarpent) ([#281](https://github.com/coal-library/coal/pull/281))

### New Contributors
- [@lmontaut](https://github.com/lmontaut) made their first contribution ([#261](https://github.com/coal-library/coal/pull/261))

## [1.8.1] - 2022-03-20

### What's Changed
- Preparing for ROS1 and ROS2 release by [@wxmerkt](https://github.com/wxmerkt) ([#255](https://github.com/coal-library/coal/pull/255))
- Patch release 1.8.1 by [@wxmerkt](https://github.com/wxmerkt) ([#276](https://github.com/coal-library/coal/pull/276))

## [1.8.0] - 2022-02-08

### What's Changed
- [CMake] Qhull is a private dependency by [@nim65s](https://github.com/nim65s) ([#247](https://github.com/coal-library/coal/pull/247))
- Remove useless warnings by [@jcarpent](https://github.com/jcarpent) ([#248](https://github.com/coal-library/coal/pull/248))
- fix submodule url by [@nim65s](https://github.com/nim65s) ([#246](https://github.com/coal-library/coal/pull/246))
- Remove warnings and add missing noalias by [@jcarpent](https://github.com/jcarpent) ([#249](https://github.com/coal-library/coal/pull/249))
- Function makeOctree returns a shared pointer by [@florent-lamiraux](https://github.com/florent-lamiraux) ([#254](https://github.com/coal-library/coal/pull/254))
- Add support of HeightField by [@jcarpent](https://github.com/jcarpent) ([#251](https://github.com/coal-library/coal/pull/251))
- [OcTree] Add method to save octree in obj file. by [@florent-lamiraux](https://github.com/florent-lamiraux) ([#256](https://github.com/coal-library/coal/pull/256))
- Fix C++98 compatibility by [@jcarpent](https://github.com/jcarpent) ([#258](https://github.com/coal-library/coal/pull/258))

## [1.7.8] - 2021-10-30

### What's Changed
- Fix conversion by [@jcarpent](https://github.com/jcarpent) ([#242](https://github.com/coal-library/coal/pull/242))
- Fix exposition of vertices by [@jcarpent](https://github.com/jcarpent) ([#243](https://github.com/coal-library/coal/pull/243))
- Enhance Convex exposition by [@jcarpent](https://github.com/jcarpent) ([#244](https://github.com/coal-library/coal/pull/244))
- Sync submodule cmake by [@jcarpent](https://github.com/jcarpent) ([#245](https://github.com/coal-library/coal/pull/245))

## [1.7.7] - 2021-09-13

This new release fixes several bugs within the framework.

## [1.7.6] - 2021-09-08

This new release improves the packaging of the project and integrates the Stub generation of Python bindings.

## [1.7.5] - 2021-07-30

This new release provides extended API exposition in Python, removes some code related to CDD while also trying to rely on the QHULL version present on the system.

## [1.7.4] - 2021-06-11

This release fixes several bugs:
- correct update of the distance lower bound
- fix memory footprint computation

while also removing the support of Travis CI.

## [1.7.3] - 2021-05-26

This new release provides:
- fixes of LINE and POINTS when loading meshes with assimp
- removing of various warnings
- computation of memory footprint for geometries

## [1.7.2] - 2021-04-19

This new release improves the loading of meshes using Assimp by automatically removing degenerated LINES and POINTS.

## [1.7.1] - 2021-04-02

This new release reduces the impact of timers on the computations.
This should be used with care and can be enabled by setting the correct flag to true in the QueryRequest.

## [1.7.0] - 2021-03-31

This new release provides:
- extended support for serialization
- timing of the collision/distance computations
- helpers to build octree
- various bug fixes and interface improvements

## [1.6.0] - 2020-10-06

This new release provides:
- functors for evaluating Collision and Distances (faster call)
- extended support of v142 compiler
- support of collision check between HalfSpace and Convex shapes
- improvement of GJK solver
- fixes on Python bindings

## [1.5.4] - 2020-09-22

In this new release, the support of collision checking between Convex objects and HalfSpace have been enhanced and some minor fixes have been provided.

## [1.5.3] - 2020-08-31

This new release provides better CMake packaging and improved GJK algorithms.

## [1.5.2] - 2020-08-15

This release improves the packaging of the project and provides fixes for the GJK solver.

## [1.5.1] - 2020-08-06

This new release fixes packaging issues with precedent release 1.5.0. It also provides additional fixes in main collision/distance algorithms.

## [1.4.6] - 2020-06-10

This new release enhances the packaging of the project and allows the compilation of FCL on Windows systems.

## [1.4.5] - 2020-06-03

Changes in v1.4.5:
- Fix Python 3 doc generation
- Fix packaging of the project
- Compilation on Windows.
- [CMake] Install missing header.
- Add collide and distance prototype that update the GJK guess.
- Add support function cached guess in queries and merge query attribute.
- Add function to generate the convex hull.
- Add hint to the support function + Fix usage of GJK guess.
- [Python] Add constructor for class Convex.
- [Python] Bind functions to create BVHModel.

## [1.4.4] - 2020-04-29

Changes in 1.4.4:
- add MeshLoader::loadOctree
- fix generation of XML documentation
- fix generation of Doxygen documentation

## [1.4.3] - 2020-04-08

This new release fixes some packagings issues for OS X systems.

## [1.4.2] - 2020-04-04

Changes in v1.4.2:
- don't require linking to eigenpy in .pc file.

## [1.4.1] - 2020-04-03

Changes in v1.4.1:
- Bug fix + prepare optimization of collision using GJK / EPA
- Add missing constructor for Transform3f

## [1.4.0] - 2020-04-03

Changes since v1.3.0:
- Improve code efficiency + use shared memory between Numpy and Eigen
- [Python] Doc and minor update + [C++] bugfix
- [Python] Fix bindings of CollisionResult.
- FIX: throw when no contact is available
- Minor fix and computational improvments
- [GJK/EPA] Fix bugs + Treat sphere as point and capsule as line segment.
- Fix boxSphereDistance
- Provide documentation for the Python bindings.
- Generate Python documentation from doxygen documentation.
- Fix issue when Python_EXECUTABLE is not defined
- update CMake packaging

## [1.3.0] - 2020-01-28

This new release comes with:
- the removing of the GJK solver
- the Python bindings build by default
- an improved documentation
- additional Python bindings

## [1.2.2] - 2019-12-17

This new Release improves the Python bindings and fixes an important bug when checking the collision between two Capsules.

Thanks to [@rstrudel](https://github.com/rstrudel) for this fix.

## [1.2.1] - 2019-12-09

This new release improves both the packaging of the project, which seems to be totally compatible with the new CMake linkage style. In addition, the bindings are now fully compatible with Pinocchio.

## [1.2.0] - 2019-11-22

Changes since v1.1.3:
- Add python bindings
- Update CMake
- Add version support
- New folder Internal for internal header
- Travis: update CI & change policy to only perform build in DEBUG mode on Bionic
- assimp: fix issue with recent version of assimp
- [bindings] [CMakeLists] Use .so for Mac and .pyd for Windows, fix #86
- Organize documentation
- [CMake] fix octomap detection
- [Minor] update CMake module + fix visibility of some methods.
- Enable Convex / Convex queries + Add Python bindings.
- Fix unit-tests and compilation
- [GJK] Fix GJK::encloseOrigin (fixes unit-tests)
- Improve GJK implementation + OBB overlap test + bug fixes
- Clean include  BV/BVH/math/mesh_loader

## [1.1.3] - 2019-08-07

This new release enhances the compatibility of hpp-fcl with C++14 and more.
This feature is requested for integration in Anaconda.

## [1.1.2] - 2019-08-05

This new release provides a fix in the parallelization of the computations and improves the packaging of the whole project.

## [1.0.2] - 2019-04-24

Changes since v1.0.1:
- obb: fix compatibility with Eigen 3.0.5
- [CI] octomap for osx

## [1.0.1] - 2019-02-20

- Fix CI on OSX
- Declare CachedMeshLoader::Key::operator<
- minor details

## [0.7.0] - 2019-01-31

This release is mainly here to allow the packaging of HPP-RBPRM.
Another release will follow with more news.

## [0.6.0] - 2018-10-22

- Fix bug when OCTOMAP is not found
- move buildTrianglePlane and clipTriangle method from private to public
- Fix bug with "\" symbols
- [CMake] Add flags related to Octomap in pkg-config file and remove FCL_HAVE_EIGEN

## [0.5.1] - 2017-10-02

Now Eigen is at the heart of linear algebra computations.

## [0.5] - 2017-03-17

First release


[Unreleased]: https://github.com/coal-library/coal/compare/v3.0.3...HEAD
[3.0.3]: https://github.com/coal-library/coal/compare/v3.0.2...v3.0.3
[3.0.2]: https://github.com/coal-library/coal/compare/v3.0.1...v3.0.2
[3.0.1]: https://github.com/coal-library/coal/compare/v3.0.0...v3.0.1
[3.0.0]: https://github.com/coal-library/coal/compare/v2.4.5...v3.0.0
[2.4.5]: https://github.com/coal-library/coal/compare/v2.4.4...v2.4.5
[2.4.4]: https://github.com/coal-library/coal/compare/v2.4.3...v2.4.4
[2.4.3]: https://github.com/coal-library/coal/compare/v2.4.2...v2.4.3
[2.4.2]: https://github.com/coal-library/coal/compare/v2.4.1...v2.4.2
[2.4.1]: https://github.com/coal-library/coal/compare/v2.4.0...v2.4.1
[2.4.0]: https://github.com/coal-library/coal/compare/v2.3.7...v2.4.0
[2.3.7]: https://github.com/coal-library/coal/compare/2.3.6...v2.3.7
[2.3.6]: https://github.com/coal-library/coal/compare/v2.3.5...v2.3.6
[2.3.5]: https://github.com/coal-library/coal/compare/v2.3.4...v2.3.5
[2.3.4]: https://github.com/coal-library/coal/compare/v2.3.3...v2.3.4
[2.3.3]: https://github.com/coal-library/coal/compare/v2.3.2...v2.3.3
[2.3.2]: https://github.com/coal-library/coal/compare/v2.3.1...v2.3.2
[2.3.1]: https://github.com/coal-library/coal/compare/v2.3.0...v2.3.1
[2.3.0]: https://github.com/coal-library/coal/compare/v2.2.0...v2.3.0
[2.2.0]: https://github.com/coal-library/coal/compare/v2.1.4...v2.2.0
[2.1.4]: https://github.com/coal-library/coal/compare/v2.1.3...v2.1.4
[2.1.3]: https://github.com/coal-library/coal/compare/v2.1.2...v2.1.3
[2.1.2]: https://github.com/coal-library/coal/compare/v2.1.1...v2.1.2
[2.1.1]: https://github.com/coal-library/coal/compare/v2.1.0...v2.1.1
[2.1.0]: https://github.com/coal-library/coal/compare/v2.0.1...v2.1.0
[2.0.1]: https://github.com/coal-library/coal/compare/v2.0.0...v2.0.1
[2.0.0]: https://github.com/coal-library/coal/compare/v1.8.1...v2.0.0
[1.8.1]: https://github.com/coal-library/coal/compare/v1.8.0...v1.8.1
[1.8.0]: https://github.com/coal-library/coal/compare/v1.7.8...v1.8.0
[1.7.8]: https://github.com/coal-library/coal/compare/v1.7.7...v1.7.8
[1.7.7]: https://github.com/coal-library/coal/compare/v1.7.6...v1.7.7
[1.7.6]: https://github.com/coal-library/coal/compare/v1.7.5...v1.7.6
[1.7.5]: https://github.com/coal-library/coal/compare/v1.7.4...v1.7.5
[1.7.4]: https://github.com/coal-library/coal/compare/v1.7.3...v1.7.4
[1.7.3]: https://github.com/coal-library/coal/compare/v1.7.2...v1.7.3
[1.7.2]: https://github.com/coal-library/coal/compare/v1.7.1...v1.7.2
[1.7.1]: https://github.com/coal-library/coal/compare/v1.7.0...v1.7.1
[1.7.0]: https://github.com/coal-library/coal/compare/v1.6.0...v1.7.0
[1.6.0]: https://github.com/coal-library/coal/compare/v1.5.4...v1.6.0
[1.5.4]: https://github.com/coal-library/coal/compare/v1.5.3...v1.5.4
[1.5.3]: https://github.com/coal-library/coal/compare/v1.5.2...v1.5.3
[1.5.2]: https://github.com/coal-library/coal/compare/v1.5.1...v1.5.2
[1.5.1]: https://github.com/coal-library/coal/compare/v1.4.6...v1.5.1
[1.4.6]: https://github.com/coal-library/coal/compare/v1.4.5...v1.4.6
[1.4.5]: https://github.com/coal-library/coal/compare/v1.4.4...v1.4.5
[1.4.4]: https://github.com/coal-library/coal/compare/v1.4.3...v1.4.4
[1.4.3]: https://github.com/coal-library/coal/compare/v1.4.2...v1.4.3
[1.4.2]: https://github.com/coal-library/coal/compare/v1.4.1...v1.4.2
[1.4.1]: https://github.com/coal-library/coal/compare/v1.4.0...v1.4.1
[1.4.0]: https://github.com/coal-library/coal/compare/v1.3.0...v1.4.0
[1.3.0]: https://github.com/coal-library/coal/compare/v1.2.2...v1.3.0
[1.2.2]: https://github.com/coal-library/coal/compare/v1.2.1...v1.2.2
[1.2.1]: https://github.com/coal-library/coal/compare/v1.2.0...v1.2.1
[1.2.0]: https://github.com/coal-library/coal/compare/v1.1.3...v1.2.0
[1.1.3]: https://github.com/coal-library/coal/compare/v1.1.2...v1.1.3
[1.1.2]: https://github.com/coal-library/coal/compare/v1.0.2...v1.1.2
[1.0.2]: https://github.com/coal-library/coal/compare/v1.0.1...v1.0.2
[1.0.1]: https://github.com/coal-library/coal/compare/v0.7.0...v1.0.1
[0.7.0]: https://github.com/coal-library/coal/compare/v0.6.0...v0.7.0
[0.6.0]: https://github.com/coal-library/coal/compare/v0.5.1...v0.6.0
[0.5.1]: https://github.com/coal-library/coal/compare/v0.5...v0.5.1
[0.5]: https://github.com/coal-library/coal/releases/tag/v0.5
