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Guilhem Saurel
hpp-fcl
Commits
3d5d0e93
Commit
3d5d0e93
authored
Jul 03, 2015
by
Steve Tonneau
Committed by
Florent Lamiraux
Jul 04, 2015
Browse files
fix build with octomap
parent
0ea409f8
Changes
3
Hide whitespace changes
Inline
Side-by-side
CMakeLists.txt
View file @
3d5d0e93
...
...
@@ -53,6 +53,14 @@ set(BOOST_COMPONENTS
search_for_boost
()
# Optional dependencies
add_optional_dependency
(
"octomap >= 1.6"
)
if
(
OCTOMAP_INCLUDE_DIRS AND OCTOMAP_LIBRARY_DIRS
)
include_directories
(
${
OCTOMAP_INCLUDE_DIRS
}
)
link_directories
(
${
OCTOMAP_LIBRARY_DIRS
}
)
set
(
FCL_HAVE_OCTOMAP 1
)
message
(
STATUS
"FCL uses Octomap"
)
else
()
message
(
STATUS
"FCL does not use Octomap"
)
endif
()
# flann package ill defined: comment.
# add_optional_dependency("flann >= 1.7")
# if (${FLANN_FOUND})
...
...
include/hpp/fcl/traversal/traversal_node_octree.h
View file @
3d5d0e93
...
...
@@ -1041,6 +1041,11 @@ public:
return
false
;
}
bool
BVTesting
(
int
,
int
,
FCL_REAL
&
)
const
{
return
false
;
}
void
leafTesting
(
int
,
int
,
FCL_REAL
&
)
const
{
otsolver
->
OcTreeIntersect
(
model1
,
model2
,
tf1
,
tf2
,
request
,
*
result
);
...
...
@@ -1073,6 +1078,11 @@ public:
return
-
1
;
}
bool
BVTesting
(
int
,
int
,
FCL_REAL
&
)
const
{
return
false
;
}
void
leafTesting
(
int
,
int
)
const
{
otsolver
->
OcTreeDistance
(
model1
,
model2
,
tf1
,
tf2
,
request
,
*
result
);
...
...
@@ -1102,6 +1112,11 @@ public:
return
false
;
}
bool
BVTesting
(
int
,
int
,
FCL_REAL
&
)
const
{
return
false
;
}
void
leafTesting
(
int
,
int
,
FCL_REAL
&
)
const
{
otsolver
->
OcTreeShapeIntersect
(
model2
,
*
model1
,
tf2
,
tf1
,
request
,
*
result
);
...
...
@@ -1133,6 +1148,11 @@ public:
return
false
;
}
bool
BVTesting
(
int
,
int
,
fcl
::
FCL_REAL
&
)
const
{
return
false
;
}
void
leafTesting
(
int
,
int
,
FCL_REAL
&
)
const
{
otsolver
->
OcTreeShapeIntersect
(
model1
,
*
model2
,
tf1
,
tf2
,
request
,
*
result
);
...
...
@@ -1222,6 +1242,11 @@ public:
return
false
;
}
bool
BVTesting
(
int
,
int
,
FCL_REAL
&
)
const
{
return
false
;
}
void
leafTesting
(
int
,
int
,
FCL_REAL
&
)
const
{
otsolver
->
OcTreeMeshIntersect
(
model2
,
model1
,
tf2
,
tf1
,
request
,
*
result
);
...
...
@@ -1253,6 +1278,11 @@ public:
return
false
;
}
bool
BVTesting
(
int
,
int
,
FCL_REAL
&
)
const
{
return
false
;
}
void
leafTesting
(
int
,
int
,
FCL_REAL
&
)
const
{
otsolver
->
OcTreeMeshIntersect
(
model1
,
model2
,
tf1
,
tf2
,
request
,
*
result
);
...
...
src/collision_func_matrix.cpp
View file @
3d5d0e93
...
...
@@ -60,7 +60,8 @@ std::size_t ShapeOcTreeCollide(const CollisionGeometry* o1, const Transform3f& t
OcTreeSolver
<
NarrowPhaseSolver
>
otsolver
(
nsolver
);
initialize
(
node
,
*
obj1
,
tf1
,
*
obj2
,
tf2
,
&
otsolver
,
request
,
result
);
collide
(
&
node
);
FCL_REAL
sqrDistance
=
0
;
collide
(
&
node
,
sqrDistance
);
return
result
.
numContacts
();
}
...
...
@@ -78,12 +79,13 @@ std::size_t OcTreeShapeCollide(const CollisionGeometry* o1, const Transform3f& t
OcTreeSolver
<
NarrowPhaseSolver
>
otsolver
(
nsolver
);
initialize
(
node
,
*
obj1
,
tf1
,
*
obj2
,
tf2
,
&
otsolver
,
request
,
result
);
collide
(
&
node
);
FCL_REAL
sqrDistance
=
0
;
collide
(
&
node
,
sqrDistance
);
return
result
.
numContacts
();
}
e
template
<
typename
NarrowPhaseSolver
>
template
<
typename
NarrowPhaseSolver
>
std
::
size_t
OcTreeCollide
(
const
CollisionGeometry
*
o1
,
const
Transform3f
&
tf1
,
const
CollisionGeometry
*
o2
,
const
Transform3f
&
tf2
,
const
NarrowPhaseSolver
*
nsolver
,
const
CollisionRequest
&
request
,
CollisionResult
&
result
)
...
...
@@ -96,7 +98,8 @@ std::size_t OcTreeCollide(const CollisionGeometry* o1, const Transform3f& tf1, c
OcTreeSolver
<
NarrowPhaseSolver
>
otsolver
(
nsolver
);
initialize
(
node
,
*
obj1
,
tf1
,
*
obj2
,
tf2
,
&
otsolver
,
request
,
result
);
collide
(
&
node
);
FCL_REAL
sqrDistance
=
0
;
collide
(
&
node
,
sqrDistance
);
return
result
.
numContacts
();
}
...
...
@@ -119,7 +122,8 @@ std::size_t OcTreeBVHCollide(const CollisionGeometry* o1, const Transform3f& tf1
OcTreeSolver
<
NarrowPhaseSolver
>
otsolver
(
nsolver
);
initialize
(
node
,
*
obj1
,
tf1
,
*
obj2
,
tf2
,
&
otsolver
,
no_cost_request
,
result
);
collide
(
&
node
);
FCL_REAL
sqrDistance
=
0
;
collide
(
&
node
,
sqrDistance
);
Box
box
;
Transform3f
box_tf
;
...
...
@@ -140,7 +144,8 @@ std::size_t OcTreeBVHCollide(const CollisionGeometry* o1, const Transform3f& tf1
OcTreeSolver
<
NarrowPhaseSolver
>
otsolver
(
nsolver
);
initialize
(
node
,
*
obj1
,
tf1
,
*
obj2
,
tf2
,
&
otsolver
,
request
,
result
);
collide
(
&
node
);
FCL_REAL
sqrDistance
=
0
;
collide
(
&
node
,
sqrDistance
);
}
return
result
.
numContacts
();
...
...
@@ -164,7 +169,8 @@ std::size_t BVHOcTreeCollide(const CollisionGeometry* o1, const Transform3f& tf1
OcTreeSolver
<
NarrowPhaseSolver
>
otsolver
(
nsolver
);
initialize
(
node
,
*
obj1
,
tf1
,
*
obj2
,
tf2
,
&
otsolver
,
no_cost_request
,
result
);
collide
(
&
node
);
FCL_REAL
sqrDistance
=
0
;
collide
(
&
node
,
sqrDistance
);
Box
box
;
Transform3f
box_tf
;
...
...
@@ -185,7 +191,8 @@ std::size_t BVHOcTreeCollide(const CollisionGeometry* o1, const Transform3f& tf1
OcTreeSolver
<
NarrowPhaseSolver
>
otsolver
(
nsolver
);
initialize
(
node
,
*
obj1
,
tf1
,
*
obj2
,
tf2
,
&
otsolver
,
request
,
result
);
collide
(
&
node
);
FCL_REAL
sqrDistance
=
0
;
collide
(
&
node
,
sqrDistance
);
}
return
result
.
numContacts
();
...
...
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