Commit 46c42b31 authored by Lucile Remigy's avatar Lucile Remigy
Browse files

RE: Remplace narrowphasesolver by gjksolver

parent dc6065d0
This diff is collapsed.
......@@ -746,11 +746,11 @@ public:
};
template<typename S, typename NarrowPhaseSolver>
class MeshShapeDistanceTraversalNodeOBBRSS : public MeshShapeDistanceTraversalNode<OBBRSS, S, NarrowPhaseSolver>
template<typename S, typename GJKSolver>
class MeshShapeDistanceTraversalNodeOBBRSS : public MeshShapeDistanceTraversalNode<OBBRSS, S, GJKSolver>
{
public:
MeshShapeDistanceTraversalNodeOBBRSS() : MeshShapeDistanceTraversalNode<OBBRSS, S, NarrowPhaseSolver>()
MeshShapeDistanceTraversalNodeOBBRSS() : MeshShapeDistanceTraversalNode<OBBRSS, S, GJKSolver>()
{
}
......@@ -780,7 +780,7 @@ public:
};
/// @brief Traversal node for distance between shape and mesh
template<typename S, typename BV, typename NarrowPhaseSolver>
template<typename S, typename BV, typename GJKSolver>
class ShapeMeshDistanceTraversalNode : public ShapeBVHDistanceTraversalNode<S, BV>
{
public:
......@@ -835,14 +835,14 @@ public:
FCL_REAL rel_err;
FCL_REAL abs_err;
const NarrowPhaseSolver* nsolver;
const GJKSolver* nsolver;
};
template<typename S, typename NarrowPhaseSolver>
class ShapeMeshDistanceTraversalNodeRSS : public ShapeMeshDistanceTraversalNode<S, RSS, NarrowPhaseSolver>
template<typename S, typename GJKSolver>
class ShapeMeshDistanceTraversalNodeRSS : public ShapeMeshDistanceTraversalNode<S, RSS, GJKSolver>
{
public:
ShapeMeshDistanceTraversalNodeRSS() : ShapeMeshDistanceTraversalNode<S, RSS, NarrowPhaseSolver>()
ShapeMeshDistanceTraversalNodeRSS() : ShapeMeshDistanceTraversalNode<S, RSS, GJKSolver>()
{
}
......@@ -870,11 +870,11 @@ public:
};
template<typename S, typename NarrowPhaseSolver>
class ShapeMeshDistanceTraversalNodekIOS : public ShapeMeshDistanceTraversalNode<S, kIOS, NarrowPhaseSolver>
template<typename S, typename GJKSolver>
class ShapeMeshDistanceTraversalNodekIOS : public ShapeMeshDistanceTraversalNode<S, kIOS, GJKSolver>
{
public:
ShapeMeshDistanceTraversalNodekIOS() : ShapeMeshDistanceTraversalNode<S, kIOS, NarrowPhaseSolver>()
ShapeMeshDistanceTraversalNodekIOS() : ShapeMeshDistanceTraversalNode<S, kIOS, GJKSolver>()
{
}
......@@ -902,11 +902,11 @@ public:
};
template<typename S, typename NarrowPhaseSolver>
class ShapeMeshDistanceTraversalNodeOBBRSS : public ShapeMeshDistanceTraversalNode<S, OBBRSS, NarrowPhaseSolver>
template<typename S, typename GJKSolver>
class ShapeMeshDistanceTraversalNodeOBBRSS : public ShapeMeshDistanceTraversalNode<S, OBBRSS, GJKSolver>
{
public:
ShapeMeshDistanceTraversalNodeOBBRSS() : ShapeMeshDistanceTraversalNode<S, OBBRSS, NarrowPhaseSolver>()
ShapeMeshDistanceTraversalNodeOBBRSS() : ShapeMeshDistanceTraversalNode<S, OBBRSS, GJKSolver>()
{
}
......
......@@ -51,11 +51,11 @@ namespace fcl
{
/// @brief Algorithms for collision related with octree
template<typename NarrowPhaseSolver>
template<typename GJKSolver>
class OcTreeSolver
{
private:
const NarrowPhaseSolver* solver;
const GJKSolver* solver;
mutable const CollisionRequest* crequest;
mutable const DistanceRequest* drequest;
......@@ -64,7 +64,7 @@ private:
mutable DistanceResult* dresult;
public:
OcTreeSolver(const NarrowPhaseSolver* solver_) : solver(solver_),
OcTreeSolver(const GJKSolver* solver_) : solver(solver_),
crequest(NULL),
drequest(NULL),
cresult(NULL),
......@@ -890,7 +890,7 @@ private:
/// @brief Traversal node for octree collision
template<typename NarrowPhaseSolver>
template<typename GJKSolver>
class OcTreeCollisionTraversalNode : public CollisionTraversalNodeBase
{
public:
......@@ -923,11 +923,11 @@ public:
Transform3f tf1, tf2;
const OcTreeSolver<NarrowPhaseSolver>* otsolver;
const OcTreeSolver<GJKSolver>* otsolver;
};
/// @brief Traversal node for octree distance
template<typename NarrowPhaseSolver>
template<typename GJKSolver>
class OcTreeDistanceTraversalNode : public DistanceTraversalNodeBase
{
public:
......@@ -958,11 +958,11 @@ public:
const OcTree* model1;
const OcTree* model2;
const OcTreeSolver<NarrowPhaseSolver>* otsolver;
const OcTreeSolver<GJKSolver>* otsolver;
};
/// @brief Traversal node for shape-octree collision
template<typename S, typename NarrowPhaseSolver>
template<typename S, typename GJKSolver>
class ShapeOcTreeCollisionTraversalNode : public CollisionTraversalNodeBase
{
public:
......@@ -995,11 +995,11 @@ public:
Transform3f tf1, tf2;
const OcTreeSolver<NarrowPhaseSolver>* otsolver;
const OcTreeSolver<GJKSolver>* otsolver;
};
/// @brief Traversal node for octree-shape collision
template<typename S, typename NarrowPhaseSolver>
template<typename S, typename GJKSolver>
class OcTreeShapeCollisionTraversalNode : public CollisionTraversalNodeBase
{
public:
......@@ -1032,11 +1032,11 @@ public:
Transform3f tf1, tf2;
const OcTreeSolver<NarrowPhaseSolver>* otsolver;
const OcTreeSolver<GJKSolver>* otsolver;
};
/// @brief Traversal node for shape-octree distance
template<typename S, typename NarrowPhaseSolver>
template<typename S, typename GJKSolver>
class ShapeOcTreeDistanceTraversalNode : public DistanceTraversalNodeBase
{
public:
......@@ -1061,11 +1061,11 @@ public:
const S* model1;
const OcTree* model2;
const OcTreeSolver<NarrowPhaseSolver>* otsolver;
const OcTreeSolver<GJKSolver>* otsolver;
};
/// @brief Traversal node for octree-shape distance
template<typename S, typename NarrowPhaseSolver>
template<typename S, typename GJKSolver>
class OcTreeShapeDistanceTraversalNode : public DistanceTraversalNodeBase
{
public:
......@@ -1090,11 +1090,11 @@ public:
const OcTree* model1;
const S* model2;
const OcTreeSolver<NarrowPhaseSolver>* otsolver;
const OcTreeSolver<GJKSolver>* otsolver;
};
/// @brief Traversal node for mesh-octree collision
template<typename BV, typename NarrowPhaseSolver>
template<typename BV, typename GJKSolver>
class MeshOcTreeCollisionTraversalNode : public CollisionTraversalNodeBase
{
public:
......@@ -1127,11 +1127,11 @@ public:
Transform3f tf1, tf2;
const OcTreeSolver<NarrowPhaseSolver>* otsolver;
const OcTreeSolver<GJKSolver>* otsolver;
};
/// @brief Traversal node for octree-mesh collision
template<typename BV, typename NarrowPhaseSolver>
template<typename BV, typename GJKSolver>
class OcTreeMeshCollisionTraversalNode : public CollisionTraversalNodeBase
{
public:
......@@ -1164,11 +1164,11 @@ public:
Transform3f tf1, tf2;
const OcTreeSolver<NarrowPhaseSolver>* otsolver;
const OcTreeSolver<GJKSolver>* otsolver;
};
/// @brief Traversal node for mesh-octree distance
template<typename BV, typename NarrowPhaseSolver>
template<typename BV, typename GJKSolver>
class MeshOcTreeDistanceTraversalNode : public DistanceTraversalNodeBase
{
public:
......@@ -1193,12 +1193,12 @@ public:
const BVHModel<BV>* model1;
const OcTree* model2;
const OcTreeSolver<NarrowPhaseSolver>* otsolver;
const OcTreeSolver<GJKSolver>* otsolver;
};
/// @brief Traversal node for octree-mesh distance
template<typename BV, typename NarrowPhaseSolver>
template<typename BV, typename GJKSolver>
class OcTreeMeshDistanceTraversalNode : public DistanceTraversalNodeBase
{
public:
......@@ -1223,7 +1223,7 @@ public:
const OcTree* model1;
const BVHModel<BV>* model2;
const OcTreeSolver<NarrowPhaseSolver>* otsolver;
const OcTreeSolver<GJKSolver>* otsolver;
};
......
This diff is collapsed.
......@@ -53,7 +53,7 @@ namespace fcl
/// @brief Traversal node for collision between two shapes
template<typename S1, typename S2, typename NarrowPhaseSolver>
template<typename S1, typename S2, typename GJKSolver>
class ShapeCollisionTraversalNode : public CollisionTraversalNodeBase
{
public:
......@@ -111,11 +111,11 @@ public:
const S1* model1;
const S2* model2;
const NarrowPhaseSolver* nsolver;
const GJKSolver* nsolver;
};
/// @brief Traversal node for distance between two shapes
template<typename S1, typename S2, typename NarrowPhaseSolver>
template<typename S1, typename S2, typename GJKSolver>
class ShapeDistanceTraversalNode : public DistanceTraversalNodeBase
{
public:
......@@ -147,7 +147,7 @@ public:
const S1* model1;
const S2* model2;
const NarrowPhaseSolver* nsolver;
const GJKSolver* nsolver;
};
}
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment