hpp-fcl（现已更名 Coal）是一个高性能的机器人碰撞检测库，在经典几何体之外还支持**高度场（HeightField）与八叉树（OcTree）**两种进阶几何体。本文从安装、建模到碰撞调用，带你完整掌握这两 ...
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