FCL was forked in 2015. Since then, a large part of the code has been rewritten or removed (for the unused and untested part). The broadphase was reintroduced by J. Carpentier in 2022 based on the FCL version 0.7.0.
Compared to the original FCL library, the main new features are:
This project is now used in many robotics frameworks such as Pinocchio, an open-source software which implements efficient and versatile rigid body dynamics algorithms and the Humanoid Path Planner, an open-source software for Motion and Manipulation Planning.
Unlike the original FCL library, HPP-FCL implements the well-established GJK algorithm and its variants for collision detection and distance computation. These implementations lead to state-of-the-art performances, as depicted by the figure below. In particular, you can observe that GJK-based approaches largely outperform solutions based on classic optimization solvers (e.g., QP solver like ProxQP), notably for large geometries composed of tens or hundred of vertices.
The development of HPP-FCL is actively supported by the Gepetto team @LAAS-CNRS, the Willow team @INRIA and, to some extend, Eureka Robotics.