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Guilhem Saurel
hpp-fcl
Commits
4a155e8b
Commit
4a155e8b
authored
May 04, 2020
by
Joseph Mirabel
Browse files
Fix usage of GJK guess in GJKSolver.
parent
a9943a27
Changes
2
Hide whitespace changes
Inline
Side-by-side
include/hpp/fcl/narrowphase/narrowphase.h
View file @
4a155e8b
...
@@ -74,7 +74,7 @@ namespace fcl
...
@@ -74,7 +74,7 @@ namespace fcl
shape
.
set
(
&
s1
,
&
s2
,
tf1
,
tf2
);
shape
.
set
(
&
s1
,
&
s2
,
tf1
,
tf2
);
details
::
GJK
gjk
((
unsigned
int
)
gjk_max_iterations
,
gjk_tolerance
);
details
::
GJK
gjk
((
unsigned
int
)
gjk_max_iterations
,
gjk_tolerance
);
details
::
GJK
::
Status
gjk_status
=
gjk
.
evaluate
(
shape
,
-
guess
,
support_hint
);
details
::
GJK
::
Status
gjk_status
=
gjk
.
evaluate
(
shape
,
guess
,
support_hint
);
if
(
enable_cached_guess
)
{
if
(
enable_cached_guess
)
{
cached_guess
=
gjk
.
getGuessFromSimplex
();
cached_guess
=
gjk
.
getGuessFromSimplex
();
support_func_cached_guess
=
gjk
.
support_hint
;
support_func_cached_guess
=
gjk
.
support_hint
;
...
@@ -148,7 +148,7 @@ namespace fcl
...
@@ -148,7 +148,7 @@ namespace fcl
shape
.
set
(
&
s
,
&
tri
);
shape
.
set
(
&
s
,
&
tri
);
details
::
GJK
gjk
((
unsigned
int
)
gjk_max_iterations
,
gjk_tolerance
);
details
::
GJK
gjk
((
unsigned
int
)
gjk_max_iterations
,
gjk_tolerance
);
details
::
GJK
::
Status
gjk_status
=
gjk
.
evaluate
(
shape
,
-
guess
,
support_hint
);
details
::
GJK
::
Status
gjk_status
=
gjk
.
evaluate
(
shape
,
guess
,
support_hint
);
if
(
enable_cached_guess
)
{
if
(
enable_cached_guess
)
{
cached_guess
=
gjk
.
getGuessFromSimplex
();
cached_guess
=
gjk
.
getGuessFromSimplex
();
support_func_cached_guess
=
gjk
.
support_hint
;
support_func_cached_guess
=
gjk
.
support_hint
;
...
@@ -226,7 +226,7 @@ namespace fcl
...
@@ -226,7 +226,7 @@ namespace fcl
shape
.
set
(
&
s1
,
&
s2
,
tf1
,
tf2
);
shape
.
set
(
&
s1
,
&
s2
,
tf1
,
tf2
);
details
::
GJK
gjk
((
unsigned
int
)
gjk_max_iterations
,
gjk_tolerance
);
details
::
GJK
gjk
((
unsigned
int
)
gjk_max_iterations
,
gjk_tolerance
);
details
::
GJK
::
Status
gjk_status
=
gjk
.
evaluate
(
shape
,
-
guess
,
support_hint
);
details
::
GJK
::
Status
gjk_status
=
gjk
.
evaluate
(
shape
,
guess
,
support_hint
);
if
(
enable_cached_guess
)
{
if
(
enable_cached_guess
)
{
cached_guess
=
gjk
.
getGuessFromSimplex
();
cached_guess
=
gjk
.
getGuessFromSimplex
();
support_func_cached_guess
=
gjk
.
support_hint
;
support_func_cached_guess
=
gjk
.
support_hint
;
...
...
src/narrowphase/narrowphase.cpp
View file @
4a155e8b
...
@@ -510,7 +510,7 @@ bool GJKSolver::shapeDistance<Capsule, Capsule>
...
@@ -510,7 +510,7 @@ bool GJKSolver::shapeDistance<Capsule, Capsule>
shape
.
set
(
&
t1
,
&
t2
);
shape
.
set
(
&
t1
,
&
t2
);
details
::
GJK
gjk
((
unsigned
int
)
gjk_max_iterations
,
gjk_tolerance
);
details
::
GJK
gjk
((
unsigned
int
)
gjk_max_iterations
,
gjk_tolerance
);
details
::
GJK
::
Status
gjk_status
=
gjk
.
evaluate
(
shape
,
-
guess
,
support_hint
);
details
::
GJK
::
Status
gjk_status
=
gjk
.
evaluate
(
shape
,
guess
,
support_hint
);
if
(
enable_cached_guess
)
{
if
(
enable_cached_guess
)
{
cached_guess
=
gjk
.
getGuessFromSimplex
();
cached_guess
=
gjk
.
getGuessFromSimplex
();
support_func_cached_guess
=
gjk
.
support_hint
;
support_func_cached_guess
=
gjk
.
support_hint
;
...
...
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