[sig.johnnson]

I was encountering some strange behavior of Collision_Line(), so I created a test workstation to troubleshoot.

When testing in the attached workstation, I would expect a collision to occur between the object and the line from [0,0,0] to [0,0,100]. However, running the code below indicates that no collision occurs.

Code:

from robodk import *

RDK = robolink.Robolink()

obj = RDK.Item('my_obj')

RDK.Render(True)
print("Testing Collision_Line().")
print("\tRender: True")
print("\tObject in the way")
[collided, item, pt] = RDK.Collision_Line([0, 0, 0], [0, 0, 100])
print("\tResult: collided=" + str(collided) + "\n")

What's going on here?

[Albert]

Good point, this is an edge case because your line is right on the edge going through 2 triangles.

For example, if you just move the start point only by 0.001 mm along a coordinate (for example, along X), it seems to work well:

Code:

[collided, item, pt] = RDK.Collision_Line([1e-3, 0, 0], [0, 0, 100])

We don't have a quick workaround for now but we'll try to adjust the tolerances to prevent this issue.

[sig.johnnson]

Thanks, Albert. Works great.