MultiAdaptiveBeamMapping: Better collision model topology (and fix 3instruments_collis.scn)#203
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epernod merged 3 commits intoSep 26, 2025
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fredroy
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pr: fix
pr: status to review
bakpaul
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Sep 18, 2025
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pr: status ready
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Based on
The "full deployment" 3instruments_collis.scn was like this:
We can see that some collsion edges are missing.
The problem is that the topology built by the MultiAdaptiveBeamMapping does not contain enough DOFs for the submappings. It was simply using the tool with the most discretization, which is wrong.
So this PR fixes that by computing the worst case (all the tools are deployed fully)
Note that it will induce more collision detection though (as there are more collision edges and points).
And the regressions will need to be re-generated 😿