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Commit 8fbd0cb6 authored by Lucile Remigy's avatar Lucile Remigy
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Rename GJKSolver_indep in GJKSolver, delete include useless in types.h

parent a387f349
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include/hpp/fcl/BV/AABB.h
View file @ 8fbd0cb6
......@@ -133,12 +133,6 @@ public:
return true;
}
/// @brief Volume of the AABB
inline FCL_REAL volume() const
{
return width() * height() * depth();
}
/// @brief Merge the AABB and a point
inline AABB& operator += (const Vec3f& p)
{
......@@ -180,6 +174,12 @@ public:
return max_[2] - min_[2];
}
/// @brief Volume of the AABB
inline FCL_REAL volume() const
{
return width() * height() * depth();
}
/// @brief Size of the AABB (used in BV_Splitter to order two AABBs)
inline FCL_REAL size() const
{
......
include/hpp/fcl/collision_func_matrix.h
View file @ 8fbd0cb6
......@@ -49,7 +49,7 @@ namespace fcl
{
/// @brief collision matrix stores the functions for collision between different types of objects and provides a uniform call interface
template<typename NarrowPhaseSolver>
template<typename GJKSolver>
struct CollisionFunctionMatrix
{
/// @brief the uniform call interface for collision: for collision, we need know
......@@ -57,7 +57,7 @@ struct CollisionFunctionMatrix
/// 2. the solver for narrow phase collision, this is for the collision between geometric shapes;
/// 3. the request setting for collision (e.g., whether need to return normal information, whether need to compute cost);
/// 4. the structure to return collision result
typedef std::size_t (*CollisionFunc)(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const NarrowPhaseSolver* nsolver, const CollisionRequest& request, CollisionResult& result);
typedef std::size_t (*CollisionFunc)(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const GJKSolver* nsolver, const CollisionRequest& request, CollisionResult& result);
/// @brief each item in the collision matrix is a function to handle collision between objects of type1 and type2
CollisionFunc collision_matrix[NODE_COUNT][NODE_COUNT];
......
include/hpp/fcl/collision_object.h
View file @ 8fbd0cb6
......@@ -240,11 +240,7 @@ public:
return t.getRotation();
}
/// @brief get quaternion rotation of the object
inline const Quaternion3f& getQuatRotation() const
{
return t.getQuatRotation();
}
/// @brief get object's transform
inline const Transform3f& getTransform() const
......@@ -264,11 +260,7 @@ public:
t.setTranslation(T);
}
/// @brief set object's quatenrion rotation
void setQuatRotation(const Quaternion3f& q)
{
t.setQuatRotation(q);
}
/// @brief set object's transform
void setTransform(const Matrix3f& R, const Vec3f& T)
......@@ -276,11 +268,7 @@ public:
t.setTransform(R, T);
}
/// @brief set object's transform
void setTransform(const Quaternion3f& q, const Vec3f& T)
{
t.setTransform(q, T);
}
/// @brief set object's transform
void setTransform(const Transform3f& tf)
......
include/hpp/fcl/distance_func_matrix.h
View file @ 8fbd0cb6
......@@ -47,14 +47,14 @@ namespace fcl
{
/// @brief distance matrix stores the functions for distance between different types of objects and provides a uniform call interface
template<typename NarrowPhaseSolver>
template<typename GJKSolver>
struct DistanceFunctionMatrix
{
/// @brief the uniform call interface for distance: for distance, we need know
/// 1. two objects o1 and o2 and their configuration in world coordinate tf1 and tf2;
/// 2. the solver for narrow phase collision, this is for distance computation between geometric shapes;
/// 3. the request setting for distance (e.g., whether need to return nearest points);
typedef FCL_REAL (*DistanceFunc)(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const NarrowPhaseSolver* nsolver,
typedef FCL_REAL (*DistanceFunc)(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const GJKSolver* nsolver,
const DistanceRequest& request, DistanceResult& result);
/// @brief each item in the distance matrix is a function to handle distance between objects of type1 and type2
......
include/hpp/fcl/math/transform.h
View file @ 8fbd0cb6
......@@ -48,6 +48,7 @@ namespace fcl
{
typedef Eigen::Quaternion<FCL_REAL> Quaternion3f;
static inline std::ostream& operator << (std::ostream& o, const Quaternion3f& q)
{
o << "(" << q.w() << " " << q.x() << " " << q.y() << " " << q.z() << ")";
......@@ -258,10 +259,17 @@ public:
{
return !(*this == other);
}
};
using namespace hpp::fcl;
template<typename Derived>
inline Quaternion3f fromAxisAngle(const Eigen::MatrixBase<Derived>& axis, FCL_REAL angle)
{
return Quaternion3f (Eigen::AngleAxis<double>(angle, axis));
}
}
} // namespace hpp
#endif
#endif
\ No newline at end of file
include/hpp/fcl/math/types.h
View file @ 8fbd0cb6
......@@ -42,18 +42,9 @@
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <hpp/fcl/math/tools.h>
#include <cmath>
#include <iostream>
#include <limits>
namespace hpp
{
namespace fcl
{
typedef Eigen::Matrix<FCL_REAL, 3, 1> Vec3f;
}
#ifdef HPP_FCL_HAVE_OCTOMAP
#define OCTOMAP_VERSION_AT_LEAST(x,y,z) \
......@@ -72,6 +63,7 @@ namespace hpp
{
namespace fcl
{
typedef Eigen::Matrix<FCL_REAL, 3, 1> Vec3f;
typedef Eigen::Matrix<FCL_REAL, 3, 3> Matrix3f;
/// @brief Class for variance matrix in 3d
......
include/hpp/fcl/mesh_loader/loader.h
View file @ 8fbd0cb6
......@@ -97,7 +97,7 @@ namespace fcl {
};
typedef std::map <Key, CollisionGeometryPtr_t> Cache_t;
const Cache_t cache () const { return cache_; }
private:
Cache_t cache_;
};
......
include/hpp/fcl/narrowphase/narrowphase.h
View file @ 8fbd0cb6
......@@ -50,7 +50,7 @@ namespace fcl
/// @brief collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the GJK in bullet)
struct GJKSolver_indep
struct GJKSolver
{
/// @brief intersection checking between two shapes
template<typename S1, typename S2>
......@@ -265,7 +265,7 @@ namespace fcl
}
/// @brief default setting for GJK algorithm
GJKSolver_indep()
GJKSolver()
{
gjk_max_iterations = 128;
gjk_tolerance = 1e-6;
......@@ -319,202 +319,202 @@ namespace fcl
/// @brief Fast implementation for sphere-capsule collision
template<>
bool GJKSolver_indep::shapeIntersect<Sphere, Capsule>(const Sphere& s1, const Transform3f& tf1,
bool GJKSolver::shapeIntersect<Sphere, Capsule>(const Sphere& s1, const Transform3f& tf1,
const Capsule& s2, const Transform3f& tf2,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
template<>
bool GJKSolver_indep::shapeIntersect<Capsule, Sphere>(const Capsule &s1, const Transform3f& tf1,
bool GJKSolver::shapeIntersect<Capsule, Sphere>(const Capsule &s1, const Transform3f& tf1,
const Sphere &s2, const Transform3f& tf2,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
/// @brief Fast implementation for sphere-sphere collision
template<>
bool GJKSolver_indep::shapeIntersect<Sphere, Sphere>(const Sphere& s1, const Transform3f& tf1,
bool GJKSolver::shapeIntersect<Sphere, Sphere>(const Sphere& s1, const Transform3f& tf1,
const Sphere& s2, const Transform3f& tf2,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
/// @brief Fast implementation for box-box collision
template<>
bool GJKSolver_indep::shapeIntersect<Box, Box>(const Box& s1, const Transform3f& tf1,
bool GJKSolver::shapeIntersect<Box, Box>(const Box& s1, const Transform3f& tf1,
const Box& s2, const Transform3f& tf2,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
template<>
bool GJKSolver_indep::shapeIntersect<Sphere, Halfspace>(const Sphere& s1, const Transform3f& tf1,
bool GJKSolver::shapeIntersect<Sphere, Halfspace>(const Sphere& s1, const Transform3f& tf1,
const Halfspace& s2, const Transform3f& tf2,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
template<>
bool GJKSolver_indep::shapeIntersect<Halfspace, Sphere>(const Halfspace& s1, const Transform3f& tf1,
bool GJKSolver::shapeIntersect<Halfspace, Sphere>(const Halfspace& s1, const Transform3f& tf1,
const Sphere& s2, const Transform3f& tf2,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
template<>
bool GJKSolver_indep::shapeIntersect<Box, Halfspace>(const Box& s1, const Transform3f& tf1,
bool GJKSolver::shapeIntersect<Box, Halfspace>(const Box& s1, const Transform3f& tf1,
const Halfspace& s2, const Transform3f& tf2,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
template<>
bool GJKSolver_indep::shapeIntersect<Halfspace, Box>(const Halfspace& s1, const Transform3f& tf1,
bool GJKSolver::shapeIntersect<Halfspace, Box>(const Halfspace& s1, const Transform3f& tf1,
const Box& s2, const Transform3f& tf2,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
template<>
bool GJKSolver_indep::shapeIntersect<Capsule, Halfspace>(const Capsule& s1, const Transform3f& tf1,
bool GJKSolver::shapeIntersect<Capsule, Halfspace>(const Capsule& s1, const Transform3f& tf1,
const Halfspace& s2, const Transform3f& tf2,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
template<>
bool GJKSolver_indep::shapeIntersect<Halfspace, Capsule>(const Halfspace& s1, const Transform3f& tf1,
bool GJKSolver::shapeIntersect<Halfspace, Capsule>(const Halfspace& s1, const Transform3f& tf1,
const Capsule& s2, const Transform3f& tf2,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
template<>
bool GJKSolver_indep::shapeIntersect<Cylinder, Halfspace>(const Cylinder& s1, const Transform3f& tf1,
bool GJKSolver::shapeIntersect<Cylinder, Halfspace>(const Cylinder& s1, const Transform3f& tf1,
const Halfspace& s2, const Transform3f& tf2,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
template<>
bool GJKSolver_indep::shapeIntersect<Halfspace, Cylinder>(const Halfspace& s1, const Transform3f& tf1,
bool GJKSolver::shapeIntersect<Halfspace, Cylinder>(const Halfspace& s1, const Transform3f& tf1,
const Cylinder& s2, const Transform3f& tf2,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
template<>
bool GJKSolver_indep::shapeIntersect<Cone, Halfspace>(const Cone& s1, const Transform3f& tf1,
bool GJKSolver::shapeIntersect<Cone, Halfspace>(const Cone& s1, const Transform3f& tf1,
const Halfspace& s2, const Transform3f& tf2,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
template<>
bool GJKSolver_indep::shapeIntersect<Halfspace, Cone>(const Halfspace& s1, const Transform3f& tf1,
bool GJKSolver::shapeIntersect<Halfspace, Cone>(const Halfspace& s1, const Transform3f& tf1,
const Cone& s2, const Transform3f& tf2,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
template<>
bool GJKSolver_indep::shapeIntersect<Halfspace, Halfspace>(const Halfspace& s1, const Transform3f& tf1,
bool GJKSolver::shapeIntersect<Halfspace, Halfspace>(const Halfspace& s1, const Transform3f& tf1,
const Halfspace& s2, const Transform3f& tf2,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
template<>
bool GJKSolver_indep::shapeIntersect<Plane, Halfspace>(const Plane& s1, const Transform3f& tf1,
bool GJKSolver::shapeIntersect<Plane, Halfspace>(const Plane& s1, const Transform3f& tf1,
const Halfspace& s2, const Transform3f& tf2,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
template<>
bool GJKSolver_indep::shapeIntersect<Halfspace, Plane>(const Halfspace& s1, const Transform3f& tf1,
bool GJKSolver::shapeIntersect<Halfspace, Plane>(const Halfspace& s1, const Transform3f& tf1,
const Plane& s2, const Transform3f& tf2,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
template<>
bool GJKSolver_indep::shapeIntersect<Sphere, Plane>(const Sphere& s1, const Transform3f& tf1,
bool GJKSolver::shapeIntersect<Sphere, Plane>(const Sphere& s1, const Transform3f& tf1,
const Plane& s2, const Transform3f& tf2,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
template<>
bool GJKSolver_indep::shapeIntersect<Plane, Sphere>(const Plane& s1, const Transform3f& tf1,
bool GJKSolver::shapeIntersect<Plane, Sphere>(const Plane& s1, const Transform3f& tf1,
const Sphere& s2, const Transform3f& tf2,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
template<>
bool GJKSolver_indep::shapeIntersect<Box, Plane>(const Box& s1, const Transform3f& tf1,
bool GJKSolver::shapeIntersect<Box, Plane>(const Box& s1, const Transform3f& tf1,
const Plane& s2, const Transform3f& tf2,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
template<>
bool GJKSolver_indep::shapeIntersect<Plane, Box>(const Plane& s1, const Transform3f& tf1,
bool GJKSolver::shapeIntersect<Plane, Box>(const Plane& s1, const Transform3f& tf1,
const Box& s2, const Transform3f& tf2,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
template<>
bool GJKSolver_indep::shapeIntersect<Capsule, Plane>(const Capsule& s1, const Transform3f& tf1,
bool GJKSolver::shapeIntersect<Capsule, Plane>(const Capsule& s1, const Transform3f& tf1,
const Plane& s2, const Transform3f& tf2,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
template<>
bool GJKSolver_indep::shapeIntersect<Plane, Capsule>(const Plane& s1, const Transform3f& tf1,
bool GJKSolver::shapeIntersect<Plane, Capsule>(const Plane& s1, const Transform3f& tf1,
const Capsule& s2, const Transform3f& tf2,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
template<>
bool GJKSolver_indep::shapeIntersect<Cylinder, Plane>(const Cylinder& s1, const Transform3f& tf1,
bool GJKSolver::shapeIntersect<Cylinder, Plane>(const Cylinder& s1, const Transform3f& tf1,
const Plane& s2, const Transform3f& tf2,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
template<>
bool GJKSolver_indep::shapeIntersect<Plane, Cylinder>(const Plane& s1, const Transform3f& tf1,
bool GJKSolver::shapeIntersect<Plane, Cylinder>(const Plane& s1, const Transform3f& tf1,
const Cylinder& s2, const Transform3f& tf2,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
template<>
bool GJKSolver_indep::shapeIntersect<Cone, Plane>(const Cone& s1, const Transform3f& tf1,
bool GJKSolver::shapeIntersect<Cone, Plane>(const Cone& s1, const Transform3f& tf1,
const Plane& s2, const Transform3f& tf2,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
template<>
bool GJKSolver_indep::shapeIntersect<Plane, Cone>(const Plane& s1, const Transform3f& tf1,
bool GJKSolver::shapeIntersect<Plane, Cone>(const Plane& s1, const Transform3f& tf1,
const Cone& s2, const Transform3f& tf2,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
template<>
bool GJKSolver_indep::shapeIntersect<Plane, Plane>(const Plane& s1, const Transform3f& tf1,
bool GJKSolver::shapeIntersect<Plane, Plane>(const Plane& s1, const Transform3f& tf1,
const Plane& s2, const Transform3f& tf2,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
/// @brief Fast implementation for sphere-triangle collision
template<>
bool GJKSolver_indep::shapeTriangleInteraction
bool GJKSolver::shapeTriangleInteraction
(const Sphere& s, const Transform3f& tf1, const Vec3f& P1, const Vec3f& P2,
const Vec3f& P3, const Transform3f& tf2, FCL_REAL& distance,
Vec3f& p1, Vec3f& p2, Vec3f& normal) const;
template<>
bool GJKSolver_indep::shapeTriangleInteraction
bool GJKSolver::shapeTriangleInteraction
(const Halfspace& s, const Transform3f& tf1, const Vec3f& P1, const Vec3f& P2,
const Vec3f& P3, const Transform3f& tf2, FCL_REAL& distance,
Vec3f& p1, Vec3f& p2, Vec3f& normal) const;
template<>
bool GJKSolver_indep::shapeTriangleInteraction
bool GJKSolver::shapeTriangleInteraction
(const Plane& s, const Transform3f& tf1, const Vec3f& P1, const Vec3f& P2,
const Vec3f& P3, const Transform3f& tf2, FCL_REAL& distance,
Vec3f& p1, Vec3f& p2, Vec3f& normal) const;
/// @brief Fast implementation for sphere-capsule distance
template<>
bool GJKSolver_indep::shapeDistance<Sphere, Capsule>
bool GJKSolver::shapeDistance<Sphere, Capsule>
(const Sphere& s1, const Transform3f& tf1,
const Capsule& s2, const Transform3f& tf2,
FCL_REAL& dist, Vec3f& p1, Vec3f& p2, Vec3f& normal) const;
template<>
bool GJKSolver_indep::shapeDistance<Capsule, Sphere>
bool GJKSolver::shapeDistance<Capsule, Sphere>
(const Capsule& s1, const Transform3f& tf1,
const Sphere& s2, const Transform3f& tf2,
FCL_REAL& dist, Vec3f& p1, Vec3f& p2, Vec3f& normal) const;
/// @brief Fast implementation for sphere-cylinder distance
template<>
bool GJKSolver_indep::shapeDistance<Sphere, Cylinder>
bool GJKSolver::shapeDistance<Sphere, Cylinder>
(const Sphere& s1, const Transform3f& tf1,
const Cylinder& s2, const Transform3f& tf2,
FCL_REAL& dist, Vec3f& p1, Vec3f& p2, Vec3f& normal) const;
template<>
bool GJKSolver_indep::shapeDistance<Cylinder, Sphere>
bool GJKSolver::shapeDistance<Cylinder, Sphere>
(const Cylinder& s1, const Transform3f& tf1,
const Sphere& s2, const Transform3f& tf2,
FCL_REAL& dist, Vec3f& p1, Vec3f& p2, Vec3f& normal) const;
/// @brief Fast implementation for sphere-sphere distance
template<>
bool GJKSolver_indep::shapeDistance<Sphere, Sphere>
bool GJKSolver::shapeDistance<Sphere, Sphere>
(const Sphere& s1, const Transform3f& tf1,
const Sphere& s2, const Transform3f& tf2,
FCL_REAL& dist, Vec3f& p1, Vec3f& p2, Vec3f& normal) const;
// @brief Computation of the distance result for capsule capsule. Closest points are based on two line-segments.
template<>
bool GJKSolver_indep::shapeDistance<Capsule, Capsule>
bool GJKSolver::shapeDistance<Capsule, Capsule>
(const Capsule& s1, const Transform3f& tf1,
const Capsule& s2, const Transform3f& tf2,
FCL_REAL& dist, Vec3f& p1, Vec3f& p2, Vec3f& normal) const;
......@@ -524,7 +524,7 @@ namespace fcl
// Do not run EPA algorithm to compute penetration depth, use a dedicated
// method.
template<>
bool GJKSolver_indep::shapeDistance<TriangleP, TriangleP>
bool GJKSolver::shapeDistance<TriangleP, TriangleP>
(const TriangleP& s1, const Transform3f& tf1,
const TriangleP& s2, const Transform3f& tf2,
FCL_REAL& dist, Vec3f& p1, Vec3f& p2, Vec3f& normal) const;
......
include/hpp/fcl/traversal/traversal_node_bvh_shape.h
View file @ 8fbd0cb6
......@@ -146,7 +146,7 @@ public:
/// @brief Traversal node for collision between mesh and shape
template<typename BV, typename S, typename NarrowPhaseSolver,
template<typename BV, typename S, typename GJKSolver,
int _Options = RelativeTransformationIsIdentity>
class MeshShapeCollisionTraversalNode : public BVHShapeCollisionTraversalNode<BV, S>
{
......@@ -256,50 +256,50 @@ public:
Vec3f* vertices;
Triangle* tri_indices;
const NarrowPhaseSolver* nsolver;
const GJKSolver* nsolver;
};
/// @brief Traversal node for mesh and shape, when mesh BVH is one of the oriented node (OBB, RSS, OBBRSS, kIOS)
template<typename S, typename NarrowPhaseSolver>
class MeshShapeCollisionTraversalNodeOBB : public MeshShapeCollisionTraversalNode<OBB, S, NarrowPhaseSolver, 0>
template<typename S, typename GJKSolver>
class MeshShapeCollisionTraversalNodeOBB : public MeshShapeCollisionTraversalNode<OBB, S, GJKSolver, 0>
{
public:
MeshShapeCollisionTraversalNodeOBB(const CollisionRequest& request) :
MeshShapeCollisionTraversalNode<OBB, S, NarrowPhaseSolver, 0>
MeshShapeCollisionTraversalNode<OBB, S, GJKSolver, 0>
(request)
{
}
};
template<typename S, typename NarrowPhaseSolver>
class MeshShapeCollisionTraversalNodeRSS : public MeshShapeCollisionTraversalNode<RSS, S, NarrowPhaseSolver, 0>
template<typename S, typename GJKSolver>
class MeshShapeCollisionTraversalNodeRSS : public MeshShapeCollisionTraversalNode<RSS, S, GJKSolver, 0>
{
public:
MeshShapeCollisionTraversalNodeRSS (const CollisionRequest& request):
MeshShapeCollisionTraversalNode<RSS, S, NarrowPhaseSolver, 0>
MeshShapeCollisionTraversalNode<RSS, S, GJKSolver, 0>
(request)
{
}
};
template<typename S, typename NarrowPhaseSolver>
class MeshShapeCollisionTraversalNodekIOS : public MeshShapeCollisionTraversalNode<kIOS, S, NarrowPhaseSolver, 0>
template<typename S, typename GJKSolver>
class MeshShapeCollisionTraversalNodekIOS : public MeshShapeCollisionTraversalNode<kIOS, S, GJKSolver, 0>
{
public:
MeshShapeCollisionTraversalNodekIOS(const CollisionRequest& request):
MeshShapeCollisionTraversalNode<kIOS, S, NarrowPhaseSolver, 0>
MeshShapeCollisionTraversalNode<kIOS, S, GJKSolver, 0>
(request)
{
}
};
template<typename S, typename NarrowPhaseSolver>
class MeshShapeCollisionTraversalNodeOBBRSS : public MeshShapeCollisionTraversalNode<OBBRSS, S, NarrowPhaseSolver, 0>
template<typename S, typename GJKSolver>
class MeshShapeCollisionTraversalNodeOBBRSS : public MeshShapeCollisionTraversalNode<OBBRSS, S, GJKSolver, 0>
{
public:
MeshShapeCollisionTraversalNodeOBBRSS (const CollisionRequest& request) :
MeshShapeCollisionTraversalNode <OBBRSS, S, NarrowPhaseSolver, 0>
MeshShapeCollisionTraversalNode <OBBRSS, S, GJKSolver, 0>
(request)
{
}
......@@ -307,7 +307,7 @@ public:
/// @brief Traversal node for collision between shape and mesh
template<typename S, typename BV, typename NarrowPhaseSolver,
template<typename S, typename BV, typename GJKSolver,
int _Options = RelativeTransformationIsIdentity>
class ShapeMeshCollisionTraversalNode : public ShapeBVHCollisionTraversalNode<S, BV>
{
......@@ -416,45 +416,45 @@ public:
Vec3f* vertices;
Triangle* tri_indices;
const NarrowPhaseSolver* nsolver;
const GJKSolver* nsolver;
};
/// @brief Traversal node for shape and mesh, when mesh BVH is one of the oriented node (OBB, RSS, OBBRSS, kIOS)
template<typename S, typename NarrowPhaseSolver>
class ShapeMeshCollisionTraversalNodeOBB : public ShapeMeshCollisionTraversalNode<S, OBB, NarrowPhaseSolver, 0>
template<typename S, typename GJKSolver>
class ShapeMeshCollisionTraversalNodeOBB : public ShapeMeshCollisionTraversalNode<S, OBB, GJKSolver, 0>
{
public:
ShapeMeshCollisionTraversalNodeOBB() : ShapeMeshCollisionTraversalNode<S, OBB, NarrowPhaseSolver>()
ShapeMeshCollisionTraversalNodeOBB() : ShapeMeshCollisionTraversalNode<S, OBB, GJKSolver>()
{
}
};
template<typename S, typename NarrowPhaseSolver>
class ShapeMeshCollisionTraversalNodeRSS : public ShapeMeshCollisionTraversalNode<S, RSS, NarrowPhaseSolver, 0>
template<typename S, typename GJKSolver>
class ShapeMeshCollisionTraversalNodeRSS : public ShapeMeshCollisionTraversalNode<S, RSS, GJKSolver, 0>
{
public:
ShapeMeshCollisionTraversalNodeRSS() : ShapeMeshCollisionTraversalNode<S, RSS, NarrowPhaseSolver>()
ShapeMeshCollisionTraversalNodeRSS() : ShapeMeshCollisionTraversalNode<S, RSS, GJKSolver>()
{
}
};
template<typename S, typename NarrowPhaseSolver>
class ShapeMeshCollisionTraversalNodekIOS : public ShapeMeshCollisionTraversalNode<S, kIOS, NarrowPhaseSolver, 0>
template<typename S, typename GJKSolver>
class ShapeMeshCollisionTraversalNodekIOS : public ShapeMeshCollisionTraversalNode<S, kIOS, GJKSolver, 0>
{
public:
ShapeMeshCollisionTraversalNodekIOS() : ShapeMeshCollisionTraversalNode<S, kIOS, NarrowPhaseSolver>()
ShapeMeshCollisionTraversalNodekIOS() : ShapeMeshCollisionTraversalNode<S, kIOS, GJKSolver>()
{
}
};
template<typename S, typename NarrowPhaseSolver>
class ShapeMeshCollisionTraversalNodeOBBRSS : public ShapeMeshCollisionTraversalNode<S, OBBRSS, NarrowPhaseSolver, 0>
template<typename S, typename GJKSolver>
class ShapeMeshCollisionTraversalNodeOBBRSS : public ShapeMeshCollisionTraversalNode<S, OBBRSS, GJKSolver, 0>
{
public:
ShapeMeshCollisionTraversalNodeOBBRSS() : ShapeMeshCollisionTraversalNode<S, OBBRSS, NarrowPhaseSolver>()
ShapeMeshCollisionTraversalNodeOBBRSS() : ShapeMeshCollisionTraversalNode<S, OBBRSS, GJKSolver>()
{
}
};
......@@ -557,7 +557,7 @@ public: