file for collision_func_matrix.cpp, one mother function

src/traits_traversal.h

+/*
+ * 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
+ *  are met:
+ *
+ *   * 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
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/** \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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