Commit 9b101416 authored by Florent Lamiraux's avatar Florent Lamiraux Committed by Florent Lamiraux florent@laas.fr
Browse files

Modify overlap methods of bounding volumes.

  - overlap method without sqrDistLowerBound as an argument call the method
    with sqrDistLowerBound as an argument.
parent a4560d10
......@@ -95,9 +95,11 @@ public:
}
/// Not implemented
inline bool overlap(const AABB&, const CollisionRequest&, FCL_REAL&) const
inline bool overlap(const AABB& other, const CollisionRequest&,
FCL_REAL& sqrDistLowerBound) const
{
throw std::runtime_error ("Not implemented");
sqrDistLowerBound = sqrt (-1);
return overlap (other);
}
/// @brief Check whether the AABB contains another AABB
......
......@@ -68,11 +68,11 @@ public:
bool overlap(const RSS& other) const;
/// Not implemented
bool overlap(const RSS& /*other*/, const CollisionRequest&,
FCL_REAL& /*sqrDistLowerBound*/) const
bool overlap(const RSS& other, const CollisionRequest&,
FCL_REAL& sqrDistLowerBound) const
{
throw std::runtime_error ("Not implemented.");
return false;
sqrDistLowerBound = sqrt (-1);
return overlap (other);
}
/// @brief Check collision between two RSS and return the overlap part.
......
......@@ -98,10 +98,11 @@ public:
bool overlap(const KDOP<N>& other) const;
/// Not implemented
bool overlap(const KDOP<N>& /*other*/, const CollisionRequest&,
FCL_REAL&) const
bool overlap(const KDOP<N>& other, const CollisionRequest&,
FCL_REAL& sqrDistLowerBound) const
{
throw std::runtime_error ("Not implemented");
sqrDistLowerBound = sqrt (-1);
return overlap (other);
}
//// @brief Check whether one point is inside the KDOP
......
......@@ -63,10 +63,11 @@ bool kIOS::overlap(const kIOS& other) const
return true;
}
bool kIOS::overlap(const kIOS& /*other*/, const CollisionRequest&,
FCL_REAL& /*sqrDistLowerBound*/) const
bool kIOS::overlap(const kIOS& other, const CollisionRequest&,
FCL_REAL& sqrDistLowerBound) const
{
throw std::runtime_error ("Not implemented yet.");
sqrDistLowerBound = sqrt (-1);
return overlap (other);
}
......
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