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/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2011, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
/** \author Jia Pan */
#include "fcl/collision_func_matrix.h"
#include "fcl/collision.h"
#include "fcl/simple_setup.h"
#include "fcl/geometric_shapes.h"
#include "fcl/BVH_model.h"
#include "fcl/collision_node.h"
#include "fcl/geometric_shapes_intersect.h"
namespace fcl
{
template<typename T_SH1, typename T_SH2>
int ShapeShapeCollide(const CollisionGeometry* o1, const SimpleTransform& tf1, const CollisionGeometry* o2, const SimpleTransform& tf2, int num_max_contacts, bool exhaustive, bool enable_contact, std::vector<Contact>& contacts)
ShapeCollisionTraversalNode<T_SH1, T_SH2> node;
const T_SH1* obj1 = static_cast<const T_SH1*>(o1);
const T_SH2* obj2 = static_cast<const T_SH2*>(o2);
initialize(node, *obj1, tf1, *obj2, tf2, enable_contact);
collide(&node);
if(!node.is_collision) return 0;
contacts.resize(1);
if(!enable_contact) contacts[0] = Contact(o1, o2, 0, 0);
else contacts[0] = Contact(o1, o2, 0, 0, node.contact_point, node.normal, node.penetration_depth);
return 1;
template<typename T_BVH, typename T_SH>
static inline int BVHShapeContactCollection(const std::vector<BVHShapeCollisionPair>& pairs, const BVHModel<T_BVH>* obj1, const T_SH* obj2, int num_max_contacts, bool exhaustive, bool enable_contact, std::vector<Contact>& contacts)
int num_contacts = pairs.size();
if(num_contacts > 0)
{
if((!exhaustive) && (num_contacts > num_max_contacts)) num_contacts = num_max_contacts;
contacts.resize(num_contacts);
if(!enable_contact)
{
for(int i = 0; i < num_contacts; ++i)
contacts[i] = Contact(obj1, obj2, pairs[i].id, 0);
}
else
{
for(int i = 0; i < num_contacts; ++i)
contacts[i] = Contact(obj1, obj2, pairs[i].id, 0, pairs[i].contact_point, pairs[i].normal, pairs[i].penetration_depth);
}
}
return num_contacts;
template<typename T_BVH, typename T_SH>
struct BVHShapeCollider
static int collide(const CollisionGeometry* o1, const SimpleTransform& tf1, const CollisionGeometry* o2, const SimpleTransform& tf2, int num_max_contacts, bool exhaustive, bool enable_contact, std::vector<Contact>& contacts)
{
MeshShapeCollisionTraversalNode<T_BVH, T_SH> node;
const BVHModel<T_BVH>* obj1 = static_cast<const BVHModel<T_BVH>* >(o1);
BVHModel<T_BVH>* obj1_tmp = new BVHModel<T_BVH>(*obj1);
SimpleTransform tf1_tmp = tf1;
const T_SH* obj2 = static_cast<const T_SH*>(o2);
initialize(node, *obj1_tmp, tf1_tmp, *obj2, tf2, num_max_contacts, exhaustive, enable_contact);
fcl::collide(&node);
int num_contacts = BVHShapeContactCollection(node.pairs, obj1, obj2, num_max_contacts, exhaustive, enable_contact, contacts);
delete obj1_tmp;
return num_contacts;
}
};
template<typename T_SH>
struct BVHShapeCollider<OBB, T_SH>
static int collide(const CollisionGeometry* o1, const SimpleTransform& tf1, const CollisionGeometry* o2, const SimpleTransform& tf2, int num_max_contacts, bool exhaustive, bool enable_contact, std::vector<Contact>& contacts)
{
MeshShapeCollisionTraversalNodeOBB<T_SH> node;
const BVHModel<OBB>* obj1 = static_cast<const BVHModel<OBB>* >(o1);
const T_SH* obj2 = static_cast<const T_SH*>(o2);
initialize(node, *obj1, tf1, *obj2, tf2, num_max_contacts, exhaustive, enable_contact);
fcl::collide(&node);
return BVHShapeContactCollection(node.pairs, obj1, obj2, num_max_contacts, exhaustive, enable_contact, contacts);
}
};
/*
template<typename T_SH>
struct BVHShapeCollider<RSS, T_SH>
static int collide(const CollisionGeometry* o1, const SimpleTransform& tf1, const CollisionGeometry* o2, const SimpleTransform& tf2, int num_max_contacts, bool exhaustive, bool enable_contact, std::vector<Contact>& contacts)
{
MeshShapeCollisionTraversalNodeRSS<T_SH> node;
const BVHModel<RSS>* obj1 = static_cast<const BVHModel<RSS>* >(o1);
const T_SH* obj2 = static_cast<const T_SH*>(o2);
initialize(node, *obj1, tf1, *obj2, tf2, num_max_contacts, exhaustive, enable_contact);
fcl::collide(&node);
return BVHShapeContactCollection(node.pairs, obj1, obj2, num_max_contacts, exhaustive, enable_contact, contacts);
}
};
template<typename T_SH>
struct BVHShapeCollider<kIOS, T_SH>
static int collide(const CollisionGeometry* o1, const SimpleTransform& tf1, const CollisionGeometry* o2, const SimpleTransform& tf2, int num_max_contacts, bool exhaustive, bool enable_contact, std::vector<Contact>& contacts)
{
MeshShapeCollisionTraversalNodekIOS<T_SH> node;
const BVHModel<kIOS>* obj1 = static_cast<const BVHModel<kIOS>* >(o1);
const T_SH* obj2 = static_cast<const T_SH*>(o2);
initialize(node, *obj1, tf1, *obj2, tf2, num_max_contacts, exhaustive, enable_contact);
fcl::collide(&node);
return BVHShapeContactCollection(node.pairs, obj1, obj2, num_max_contacts, exhaustive, enable_contact, contacts);
}
};
*/
template<typename T_BVH>
static inline int BVHContactCollection(const std::vector<BVHCollisionPair>& pairs, const BVHModel<T_BVH>* obj1, const BVHModel<T_BVH>* obj2, int num_max_contacts, bool exhaustive, bool enable_contact, std::vector<Contact>& contacts)
int num_contacts = pairs.size();
if(num_contacts > 0)
{
if((!exhaustive) && (num_contacts > num_max_contacts)) num_contacts = num_max_contacts;
contacts.resize(num_contacts);
if(!enable_contact)
{
for(int i = 0; i < num_contacts; ++i)
contacts[i] = Contact(obj1, obj2, pairs[i].id1, pairs[i].id2);
}
else
{
for(int i = 0; i < num_contacts; ++i)
contacts[i] = Contact(obj1, obj2, pairs[i].id1, pairs[i].id2, pairs[i].contact_point, pairs[i].normal, pairs[i].penetration_depth);
}
}
return num_contacts;
template<typename T_BVH>
static inline int BVHContactCollection_OBB_and_RSS_and_kIOS(const std::vector<BVHCollisionPair>& pairs, const SimpleTransform& tf1, const BVHModel<T_BVH>* obj1, const BVHModel<T_BVH>* obj2, int num_max_contacts, bool exhaustive, bool enable_contact, std::vector<Contact>& contacts)
int num_contacts = pairs.size();
if(num_contacts > 0)
{
if((!exhaustive) && (num_contacts > num_max_contacts)) num_contacts = num_max_contacts;
contacts.resize(num_contacts);
if(!enable_contact)
{
for(int i = 0; i < num_contacts; ++i)
contacts[i] = Contact(obj1, obj2, pairs[i].id1, pairs[i].id2);
}
else
{
for(int i = 0; i < num_contacts; ++i)
{
Vec3f normal = tf1.getRotation() * pairs[i].normal;
Vec3f contact_point = tf1.transform(pairs[i].contact_point);
contacts[i] = Contact(obj1, obj2, pairs[i].id1, pairs[i].id2, contact_point, normal, pairs[i].penetration_depth);
}
}
}
return num_contacts;
template<typename T_BVH>
int BVHCollide(const CollisionGeometry* o1, const SimpleTransform& tf1, const CollisionGeometry* o2, const SimpleTransform& tf2, int num_max_contacts, bool exhaustive, bool enable_contact, std::vector<Contact>& contacts)
MeshCollisionTraversalNode<T_BVH> node;
const BVHModel<T_BVH>* obj1 = static_cast<const BVHModel<T_BVH>* >(o1);
const BVHModel<T_BVH>* obj2 = static_cast<const BVHModel<T_BVH>* >(o2);
BVHModel<T_BVH>* obj1_tmp = new BVHModel<T_BVH>(*obj1);
jpan
committed
SimpleTransform tf1_tmp = tf1;
BVHModel<T_BVH>* obj2_tmp = new BVHModel<T_BVH>(*obj2);
jpan
committed
SimpleTransform tf2_tmp = tf2;
initialize(node, *obj1_tmp, tf1_tmp, *obj2_tmp, tf2_tmp, num_max_contacts, exhaustive, enable_contact);
collide(&node);
int num_contacts = BVHContactCollection(node.pairs, obj1, obj2, num_max_contacts, exhaustive, enable_contact, contacts);
delete obj1_tmp;
delete obj2_tmp;
return num_contacts;
template<>
int BVHCollide<OBB>(const CollisionGeometry* o1, const SimpleTransform& tf1, const CollisionGeometry* o2, const SimpleTransform& tf2, int num_max_contacts, bool exhaustive, bool enable_contact, std::vector<Contact>& contacts)
const BVHModel<OBB>* obj1 = static_cast<const BVHModel<OBB>* >(o1);
const BVHModel<OBB>* obj2 = static_cast<const BVHModel<OBB>* >(o2);
initialize(node, *obj1, tf1, *obj2, tf2, num_max_contacts, exhaustive, enable_contact);
collide(&node);
return BVHContactCollection_OBB_and_RSS_and_kIOS(node.pairs, tf1, obj1, obj2, num_max_contacts, exhaustive, enable_contact, contacts);
template<>
int BVHCollide<kIOS>(const CollisionGeometry* o1, const SimpleTransform& tf1, const CollisionGeometry* o2, const SimpleTransform& tf2, int num_max_contacts, bool exhaustive, bool enable_contact, std::vector<Contact>& contacts)
MeshCollisionTraversalNodekIOS node;
const BVHModel<kIOS>* obj1 = static_cast<const BVHModel<kIOS>* >(o1);
const BVHModel<kIOS>* obj2 = static_cast<const BVHModel<kIOS>* >(o2);
initialize(node, *obj1, tf1, *obj2, tf2, num_max_contacts, exhaustive, enable_contact);
collide(&node);
return BVHContactCollection_OBB_and_RSS_and_kIOS(node.pairs, tf1, obj1, obj2, num_max_contacts, exhaustive, enable_contact, contacts);
}
CollisionFunctionMatrix::CollisionFunctionMatrix()
{
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collision_matrix[GEOM_BOX][GEOM_BOX] = &ShapeShapeCollide<Box, Box>;
collision_matrix[GEOM_BOX][GEOM_SPHERE] = &ShapeShapeCollide<Box, Sphere>;
collision_matrix[GEOM_BOX][GEOM_CAPSULE] = &ShapeShapeCollide<Box, Capsule>;
collision_matrix[GEOM_BOX][GEOM_CONE] = &ShapeShapeCollide<Box, Cone>;
collision_matrix[GEOM_BOX][GEOM_CYLINDER] = &ShapeShapeCollide<Box, Cylinder>;
collision_matrix[GEOM_BOX][GEOM_CONVEX] = &ShapeShapeCollide<Box, Convex>;
collision_matrix[GEOM_BOX][GEOM_PLANE] = &ShapeShapeCollide<Box, Plane>;
collision_matrix[GEOM_SPHERE][GEOM_BOX] = &ShapeShapeCollide<Sphere, Box>;
collision_matrix[GEOM_SPHERE][GEOM_SPHERE] = &ShapeShapeCollide<Sphere, Sphere>;
collision_matrix[GEOM_SPHERE][GEOM_CAPSULE] = &ShapeShapeCollide<Sphere, Capsule>;
collision_matrix[GEOM_SPHERE][GEOM_CONE] = &ShapeShapeCollide<Sphere, Cone>;
collision_matrix[GEOM_SPHERE][GEOM_CYLINDER] = &ShapeShapeCollide<Sphere, Cylinder>;
collision_matrix[GEOM_SPHERE][GEOM_CONVEX] = &ShapeShapeCollide<Sphere, Convex>;
collision_matrix[GEOM_SPHERE][GEOM_PLANE] = &ShapeShapeCollide<Sphere, Plane>;
collision_matrix[GEOM_CAPSULE][GEOM_BOX] = &ShapeShapeCollide<Capsule, Box>;
collision_matrix[GEOM_CAPSULE][GEOM_SPHERE] = &ShapeShapeCollide<Capsule, Sphere>;
collision_matrix[GEOM_CAPSULE][GEOM_CAPSULE] = &ShapeShapeCollide<Capsule, Capsule>;
collision_matrix[GEOM_CAPSULE][GEOM_CONE] = &ShapeShapeCollide<Capsule, Cone>;
collision_matrix[GEOM_CAPSULE][GEOM_CYLINDER] = &ShapeShapeCollide<Capsule, Cylinder>;
collision_matrix[GEOM_CAPSULE][GEOM_CONVEX] = &ShapeShapeCollide<Capsule, Convex>;
collision_matrix[GEOM_CAPSULE][GEOM_PLANE] = &ShapeShapeCollide<Capsule, Plane>;
collision_matrix[GEOM_CONE][GEOM_BOX] = &ShapeShapeCollide<Cone, Box>;
collision_matrix[GEOM_CONE][GEOM_SPHERE] = &ShapeShapeCollide<Cone, Sphere>;
collision_matrix[GEOM_CONE][GEOM_CAPSULE] = &ShapeShapeCollide<Cone, Capsule>;
collision_matrix[GEOM_CONE][GEOM_CONE] = &ShapeShapeCollide<Cone, Cone>;
collision_matrix[GEOM_CONE][GEOM_CYLINDER] = &ShapeShapeCollide<Cone, Cylinder>;
collision_matrix[GEOM_CONE][GEOM_CONVEX] = &ShapeShapeCollide<Cone, Convex>;
collision_matrix[GEOM_CONE][GEOM_PLANE] = &ShapeShapeCollide<Cone, Plane>;
collision_matrix[GEOM_CYLINDER][GEOM_BOX] = &ShapeShapeCollide<Cylinder, Box>;
collision_matrix[GEOM_CYLINDER][GEOM_SPHERE] = &ShapeShapeCollide<Cylinder, Sphere>;
collision_matrix[GEOM_CYLINDER][GEOM_CAPSULE] = &ShapeShapeCollide<Cylinder, Capsule>;
collision_matrix[GEOM_CYLINDER][GEOM_CONE] = &ShapeShapeCollide<Cylinder, Cone>;
collision_matrix[GEOM_CYLINDER][GEOM_CYLINDER] = &ShapeShapeCollide<Cylinder, Cylinder>;
collision_matrix[GEOM_CYLINDER][GEOM_CONVEX] = &ShapeShapeCollide<Cylinder, Convex>;
collision_matrix[GEOM_CYLINDER][GEOM_PLANE] = &ShapeShapeCollide<Cylinder, Plane>;
collision_matrix[GEOM_CONVEX][GEOM_BOX] = &ShapeShapeCollide<Convex, Box>;
collision_matrix[GEOM_CONVEX][GEOM_SPHERE] = &ShapeShapeCollide<Convex, Sphere>;
collision_matrix[GEOM_CONVEX][GEOM_CAPSULE] = &ShapeShapeCollide<Convex, Capsule>;
collision_matrix[GEOM_CONVEX][GEOM_CONE] = &ShapeShapeCollide<Convex, Cone>;
collision_matrix[GEOM_CONVEX][GEOM_CYLINDER] = &ShapeShapeCollide<Convex, Cylinder>;
collision_matrix[GEOM_CONVEX][GEOM_CONVEX] = &ShapeShapeCollide<Convex, Convex>;
collision_matrix[GEOM_CONVEX][GEOM_PLANE] = &ShapeShapeCollide<Convex, Plane>;
collision_matrix[GEOM_PLANE][GEOM_BOX] = &ShapeShapeCollide<Plane, Box>;
collision_matrix[GEOM_PLANE][GEOM_SPHERE] = &ShapeShapeCollide<Plane, Sphere>;
collision_matrix[GEOM_PLANE][GEOM_CAPSULE] = &ShapeShapeCollide<Plane, Capsule>;
collision_matrix[GEOM_PLANE][GEOM_CONE] = &ShapeShapeCollide<Plane, Cone>;
collision_matrix[GEOM_PLANE][GEOM_CYLINDER] = &ShapeShapeCollide<Plane, Cylinder>;
collision_matrix[GEOM_PLANE][GEOM_CONVEX] = &ShapeShapeCollide<Plane, Convex>;
collision_matrix[GEOM_PLANE][GEOM_PLANE] = &ShapeShapeCollide<Plane, Plane>;
collision_matrix[BV_AABB][GEOM_BOX] = &BVHShapeCollider<AABB, Box>::collide;
collision_matrix[BV_AABB][GEOM_SPHERE] = &BVHShapeCollider<AABB, Sphere>::collide;
collision_matrix[BV_AABB][GEOM_CAPSULE] = &BVHShapeCollider<AABB, Capsule>::collide;
collision_matrix[BV_AABB][GEOM_CONE] = &BVHShapeCollider<AABB, Cone>::collide;
collision_matrix[BV_AABB][GEOM_CYLINDER] = &BVHShapeCollider<AABB, Cylinder>::collide;
collision_matrix[BV_AABB][GEOM_CONVEX] = &BVHShapeCollider<AABB, Convex>::collide;
collision_matrix[BV_AABB][GEOM_PLANE] = &BVHShapeCollider<AABB, Plane>::collide;
collision_matrix[BV_OBB][GEOM_BOX] = &BVHShapeCollider<OBB, Box>::collide;
collision_matrix[BV_OBB][GEOM_SPHERE] = &BVHShapeCollider<OBB, Sphere>::collide;
collision_matrix[BV_OBB][GEOM_CAPSULE] = &BVHShapeCollider<OBB, Capsule>::collide;
collision_matrix[BV_OBB][GEOM_CONE] = &BVHShapeCollider<OBB, Cone>::collide;
collision_matrix[BV_OBB][GEOM_CYLINDER] = &BVHShapeCollider<OBB, Cylinder>::collide;
collision_matrix[BV_OBB][GEOM_CONVEX] = &BVHShapeCollider<OBB, Convex>::collide;
collision_matrix[BV_OBB][GEOM_PLANE] = &BVHShapeCollider<OBB, Plane>::collide;
collision_matrix[BV_RSS][GEOM_BOX] = &BVHShapeCollider<RSS, Box>::collide;
collision_matrix[BV_RSS][GEOM_SPHERE] = &BVHShapeCollider<RSS, Sphere>::collide;
collision_matrix[BV_RSS][GEOM_CAPSULE] = &BVHShapeCollider<RSS, Capsule>::collide;
collision_matrix[BV_RSS][GEOM_CONE] = &BVHShapeCollider<RSS, Cone>::collide;
collision_matrix[BV_RSS][GEOM_CYLINDER] = &BVHShapeCollider<RSS, Cylinder>::collide;
collision_matrix[BV_RSS][GEOM_CONVEX] = &BVHShapeCollider<RSS, Convex>::collide;
collision_matrix[BV_RSS][GEOM_PLANE] = &BVHShapeCollider<RSS, Plane>::collide;
collision_matrix[BV_KDOP16][GEOM_BOX] = &BVHShapeCollider<KDOP<16>, Box>::collide;
collision_matrix[BV_KDOP16][GEOM_SPHERE] = &BVHShapeCollider<KDOP<16>, Sphere>::collide;
collision_matrix[BV_KDOP16][GEOM_CAPSULE] = &BVHShapeCollider<KDOP<16>, Capsule>::collide;
collision_matrix[BV_KDOP16][GEOM_CONE] = &BVHShapeCollider<KDOP<16>, Cone>::collide;
collision_matrix[BV_KDOP16][GEOM_CYLINDER] = &BVHShapeCollider<KDOP<16>, Cylinder>::collide;
collision_matrix[BV_KDOP16][GEOM_CONVEX] = &BVHShapeCollider<KDOP<16>, Convex>::collide;
collision_matrix[BV_KDOP16][GEOM_PLANE] = &BVHShapeCollider<KDOP<16>, Plane>::collide;
collision_matrix[BV_KDOP18][GEOM_BOX] = &BVHShapeCollider<KDOP<18>, Box>::collide;
collision_matrix[BV_KDOP18][GEOM_SPHERE] = &BVHShapeCollider<KDOP<18>, Sphere>::collide;
collision_matrix[BV_KDOP18][GEOM_CAPSULE] = &BVHShapeCollider<KDOP<18>, Capsule>::collide;
collision_matrix[BV_KDOP18][GEOM_CONE] = &BVHShapeCollider<KDOP<18>, Cone>::collide;
collision_matrix[BV_KDOP18][GEOM_CYLINDER] = &BVHShapeCollider<KDOP<18>, Cylinder>::collide;
collision_matrix[BV_KDOP18][GEOM_CONVEX] = &BVHShapeCollider<KDOP<18>, Convex>::collide;
collision_matrix[BV_KDOP18][GEOM_PLANE] = &BVHShapeCollider<KDOP<18>, Plane>::collide;
collision_matrix[BV_KDOP24][GEOM_BOX] = &BVHShapeCollider<KDOP<24>, Box>::collide;
collision_matrix[BV_KDOP24][GEOM_SPHERE] = &BVHShapeCollider<KDOP<24>, Sphere>::collide;
collision_matrix[BV_KDOP24][GEOM_CAPSULE] = &BVHShapeCollider<KDOP<24>, Capsule>::collide;
collision_matrix[BV_KDOP24][GEOM_CONE] = &BVHShapeCollider<KDOP<24>, Cone>::collide;
collision_matrix[BV_KDOP24][GEOM_CYLINDER] = &BVHShapeCollider<KDOP<24>, Cylinder>::collide;
collision_matrix[BV_KDOP24][GEOM_CONVEX] = &BVHShapeCollider<KDOP<24>, Convex>::collide;
collision_matrix[BV_KDOP24][GEOM_PLANE] = &BVHShapeCollider<KDOP<24>, Plane>::collide;
collision_matrix[BV_kIOS][GEOM_BOX] = &BVHShapeCollider<kIOS, Box>::collide;
collision_matrix[BV_kIOS][GEOM_SPHERE] = &BVHShapeCollider<kIOS, Sphere>::collide;
collision_matrix[BV_kIOS][GEOM_CAPSULE] = &BVHShapeCollider<kIOS, Capsule>::collide;
collision_matrix[BV_kIOS][GEOM_CONE] = &BVHShapeCollider<kIOS, Cone>::collide;
collision_matrix[BV_kIOS][GEOM_CYLINDER] = &BVHShapeCollider<kIOS, Cylinder>::collide;
collision_matrix[BV_kIOS][GEOM_CONVEX] = &BVHShapeCollider<kIOS, Convex>::collide;
collision_matrix[BV_kIOS][GEOM_PLANE] = &BVHShapeCollider<kIOS, Plane>::collide;
collision_matrix[BV_AABB][BV_AABB] = &BVHCollide<AABB>;
collision_matrix[BV_OBB][BV_OBB] = &BVHCollide<OBB>;
collision_matrix[BV_RSS][BV_RSS] = &BVHCollide<RSS>;
collision_matrix[BV_KDOP16][BV_KDOP16] = &BVHCollide<KDOP<16> >;
collision_matrix[BV_KDOP18][BV_KDOP18] = &BVHCollide<KDOP<18> >;
collision_matrix[BV_KDOP24][BV_KDOP24] = &BVHCollide<KDOP<24> >;
collision_matrix[BV_kIOS][BV_kIOS] = &BVHCollide<kIOS>;