Commit 83444dbc authored by Lucile Remigy's avatar Lucile Remigy
Browse files

file for collision_func_matrix.cpp, one mother function

parent 9d6a9e11
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2014, CNRS-LAAS
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
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*
* * 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
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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/** \author Florent Lamiraux */
#include <hpp/fcl/collision_func_matrix.h>
#include "traversal/traversal_node_setup.h"
#include <../src/collision_node.h>
#include <hpp/fcl/narrowphase/narrowphase.h>
#include "distance_func_matrix.h"
namespace hpp
{
namespace fcl
{
template <typename TypeA, typename TypeB>
struct TraversalTraits
{
};
template <typename T_SH>
struct TraversalTraits <T_SH, OcTree>
{
typedef ShapeOcTreeCollisionTraversalNode<T_SH, GJKSolver> CollisionTraversal_t;
};
template <typename T_SH>
struct TraversalTraits <OcTree, T_SH>
{
typedef OcTreeShapeCollisionTraversalNode<T_SH, GJKSolver> CollisionTraversal_t;
};
template <>
struct TraversalTraits <OcTree, OcTree>
{
typedef OcTreeCollisionTraversalNode<GJKSolver> CollisionTraversal_t;
};
template <typename T_BVH>
struct TraversalTraits <OcTree, BVHModel<T_BVH>>
{
typedef OcTreeMeshCollisionTraversalNode<T_BVH, GJKSolver> CollisionTraversal_t;
};
template <typename T_BVH>
struct TraversalTraits <BVHModel<T_BVH>, OcTree>
{
typedef MeshOcTreeCollisionTraversalNode<T_BVH, GJKSolver> CollisionTraversal_t;
};
}
} //hpp
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