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Add a comprehensive collision detection system for BB robots: - Add capsule geometry type to DSL (cylinder with hemispherical caps) - Implement collision primitives: sphere-sphere, capsule-capsule, sphere-capsule, sphere-box, capsule-box, box-box (OBB with SAT) - Add broad phase AABB culling for fast collision pair elimination - Add STL mesh parsing with bounding geometry computation and caching - Implement self-collision detection with adjacent link exclusion - Implement environment collision detection with obstacle API Public API: - `BB.Collision.self_collision?/3` - check for self-collision - `BB.Collision.detect_self_collisions/3` - get collision details - `BB.Collision.collides_with?/4` - check against obstacles - `BB.Collision.detect_collisions/4` - get obstacle collision details - `BB.Collision.obstacle/3,4` - create sphere/capsule/box obstacles All functions support an optional margin parameter for safety buffers.
- Fix alias ordering to be alphabetical in collision modules - Add explicit alias for `BB.Collision.Mesh` instead of inline references - Replace `length/1` assertions with pattern matching in tests - Extract helper functions to reduce cyclomatic complexity in `closest_points_segments` - Extract `check_box_axis/7` to reduce nesting depth in `box_box` - Update formatter config and documentation
5 tasks
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Summary
Adds a two-phase collision detection system for BB robots:
BB.Collision.BroadPhase): Fast AABB overlap tests to eliminate non-colliding pairsBB.Collision.Primitives): Precise primitive intersection tests (sphere, capsule, box)BB.Collision.Mesh): STL file loading with automatic bounding sphere/AABB computationFeatures
capsuleDSL entity for collision volumesAPI
Test plan
mix check --no-retry)