I would like to know how to add support for a new primitive shape in FCL

[Liu-Lianger]

I would like to add a truncated cylinder to the object shapes, where both the top and bottom faces are ellipses formed by slicing a cylinder with inclined planes. This custom shape would help me build more accurate geometric models. I have already implemented the support function with detailed mathematical derivation, and I would like to integrate it into the existing FCL workflow.

Based on my understanding, I believe the following components need to be added:

• A TruncatedCylinder class derived from ShapeBase, including the AABB bounding box and boundary vertices.(I would like to ask if there are any specific requirements for implementing getBoundVertices().)

• A GJKInitializer specialization, including the support function and center function.(I would like to ask how centerShape() should be defined.)

Please let me know if my understanding is correct, and kindly point out any mistakes if there are any.