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Guilhem Saurel
hpp-fcl
Commits
2cf8da3c
Commit
2cf8da3c
authored
Oct 15, 2019
by
Lucile Remigy
Browse files
add something which was deleted
parent
83444dbc
Changes
3
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Inline
Side-by-side
src/traversal/traversal_node_octree.h
View file @
2cf8da3c
...
...
@@ -926,6 +926,40 @@ public:
const
OcTreeSolver
*
otsolver
;
};
/// @brief Traversal node for octree distance
class
OcTreeDistanceTraversalNode
:
public
DistanceTraversalNodeBase
{
public:
OcTreeDistanceTraversalNode
()
{
model1
=
NULL
;
model2
=
NULL
;
otsolver
=
NULL
;
}
FCL_REAL
BVDistanceLowerBound
(
int
,
int
)
const
{
return
-
1
;
}
bool
BVDistanceLowerBound
(
int
,
int
,
FCL_REAL
&
)
const
{
return
false
;
}
void
leafComputeDistance
(
int
,
int
)
const
{
otsolver
->
OcTreeDistance
(
model1
,
model2
,
tf1
,
tf2
,
request
,
*
result
);
}
const
OcTree
*
model1
;
const
OcTree
*
model2
;
const
OcTreeSolver
*
otsolver
;
};
/// @brief Traversal node for shape-octree collision
template
<
typename
S
>
class
ShapeOcTreeCollisionTraversalNode
:
public
CollisionTraversalNodeBase
...
...
src/traversal/traversal_node_setup.h
View file @
2cf8da3c
...
...
@@ -62,7 +62,7 @@ inline bool initialize(OcTreeCollisionTraversalNode& node,
const
OcTree
&
model2
,
const
Transform3f
&
tf2
,
const
OcTreeSolver
*
otsolver
,
CollisionResult
&
result
)
{
node
.
result
=
&
result
;
node
.
model1
=
&
model1
;
...
...
@@ -77,7 +77,7 @@ inline bool initialize(OcTreeCollisionTraversalNode& node,
}
/// @brief Initialize traversal node for distance between two octrees, given current object transform
inline
bool
initialize
(
OcTreeDistanceTraversalNode
&
node
,
bool
initialize
(
OcTreeDistanceTraversalNode
&
node
,
const
OcTree
&
model1
,
const
Transform3f
&
tf1
,
const
OcTree
&
model2
,
const
Transform3f
&
tf2
,
const
OcTreeSolver
*
otsolver
,
...
...
src/traversal/traversal_recurse.cpp
View file @
2cf8da3c
...
...
@@ -89,7 +89,6 @@ void collisionRecurse(CollisionTraversalNodeBase* node, int b1, int b2,
collisionRecurse
(
node
,
b1
,
c2
,
front_list
,
sqrDistLowerBound2
);
sqrDistLowerBound
=
std
::
min
(
sqrDistLowerBound1
,
sqrDistLowerBound2
);
}
return
;
}
void
collisionNonRecurse
(
CollisionTraversalNodeBase
*
node
,
...
...
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