Delete GJKSolver template

include/hpp/fcl/collision.h

@@ -42,6 +42,7 @@
 #include <hpp/fcl/data_types.h>
 #include <hpp/fcl/collision_object.h>
 #include <hpp/fcl/collision_data.h>
+#include <hpp/fcl/narrowphase/narrowphase.h>
 
 namespace hpp
 {
@@ -54,13 +55,22 @@ namespace fcl
 /// Return value is the number of contacts generated between the two objects.
 
 std::size_t collide(const CollisionObject* o1, const CollisionObject* o2,
+                    const GJKSolver* nsolver,
                     const CollisionRequest& request,
                     CollisionResult& result);
 
 std::size_t collide(const CollisionGeometry* o1, const Transform3f& tf1,
                     const CollisionGeometry* o2, const Transform3f& tf2,
+                    const GJKSolver* nsolver_,
                     const CollisionRequest& request,
                     CollisionResult& result);
+
+std::size_t collide(const CollisionObject* o1, const CollisionObject* o2,
+                    const CollisionRequest& request, CollisionResult& result);
+
+std::size_t collide(const CollisionGeometry* o1, const Transform3f& tf1,
+                    const CollisionGeometry* o2, const Transform3f& tf2,
+                    const CollisionRequest& request, CollisionResult& result);
 }
 
 } // namespace hpp

include/hpp/fcl/collision_func_matrix.h

@@ -42,6 +42,7 @@
 
 #include <hpp/fcl/collision_object.h>
 #include <hpp/fcl/collision_data.h>
+#include <hpp/fcl/narrowphase/narrowphase.h>
 
 namespace hpp
 {
@@ -49,7 +50,7 @@ namespace fcl
 {
 
 /// @brief collision matrix stores the functions for collision between different types of objects and provides a uniform call interface
-template<typename GJKSolver>
+
 struct CollisionFunctionMatrix
 {
   /// @brief the uniform call interface for collision: for collision, we need know

include/hpp/fcl/distance.h

@@ -40,6 +40,7 @@
 
 #include <hpp/fcl/collision_object.h>
 #include <hpp/fcl/collision_data.h>
+#include <hpp/fcl/narrowphase/narrowphase.h>
 
 namespace hpp
 {
@@ -50,12 +51,19 @@ namespace fcl
 /// Return value is the minimum distance generated between the two objects.
 
 FCL_REAL distance(const CollisionObject* o1, const CollisionObject* o2,
+                  const GJKSolver* nsolver,
                   const DistanceRequest& request, DistanceResult& result);
 
-FCL_REAL distance(const CollisionGeometry* o1, const Transform3f& tf1,
+FCL_REAL distance(const CollisionGeometry* o1, const Transform3f& tf1, 
                   const CollisionGeometry* o2, const Transform3f& tf2,
+                  const GJKSolver* nsolver_,
                   const DistanceRequest& request, DistanceResult& result);
 
+FCL_REAL distance(const CollisionObject* o1, const CollisionObject* o2, const DistanceRequest& request, DistanceResult& result);
+
+FCL_REAL distance(const CollisionGeometry* o1, const Transform3f& tf1,
+                  const CollisionGeometry* o2, const Transform3f& tf2,
+                  const DistanceRequest& request, DistanceResult& result);
 }
 
 } // namespace hpp

include/hpp/fcl/distance_func_matrix.h

@@ -40,6 +40,7 @@
 
 #include <hpp/fcl/collision_object.h>
 #include <hpp/fcl/collision_data.h>
+#include <hpp/fcl/narrowphase/narrowphase.h>
 
 namespace hpp
 {
@@ -47,7 +48,6 @@ namespace fcl
 {
 
 /// @brief distance matrix stores the functions for distance between different types of objects and provides a uniform call interface
-template<typename GJKSolver>
 struct DistanceFunctionMatrix
 {
   /// @brief the uniform call interface for distance: for distance, we need know

src/collision.cpp

@@ -47,21 +47,18 @@ namespace hpp
 namespace fcl
 {
 
-template<typename GJKSolver>
-CollisionFunctionMatrix<GJKSolver>& getCollisionFunctionLookTable()
+CollisionFunctionMatrix& getCollisionFunctionLookTable()
 {
-  static CollisionFunctionMatrix<GJKSolver> table;
+  static CollisionFunctionMatrix table;
   return table;
 }
 
-template<typename GJKSolver>
 std::size_t collide(const CollisionObject* o1, const CollisionObject* o2,
                     const GJKSolver* nsolver,
                     const CollisionRequest& request,
                     CollisionResult& result)
 {
-  return collide(o1->collisionGeometry().get(), o1->getTransform(), o2->collisionGeometry().get(), o2->getTransform(),
-                 nsolver, request, result);
+  return collide(o1->collisionGeometry().get(), o1->getTransform(), o2->collisionGeometry().get(), o2->getTransform(), nsolver, request, result);
 }
 
 // reorder collision results in the order the call has been made.
@@ -81,7 +78,6 @@ void invertResults(CollisionResult& result)
     }
 }
 
-template<typename GJKSolver>
 std::size_t collide(const CollisionGeometry* o1, const Transform3f& tf1,
                     const CollisionGeometry* o2, const Transform3f& tf2,
                     const GJKSolver* nsolver_,
@@ -92,7 +88,7 @@ std::size_t collide(const CollisionGeometry* o1, const Transform3f& tf1,
   if(!nsolver_)
     nsolver = new GJKSolver();  
 
-  const CollisionFunctionMatrix<GJKSolver>& looktable = getCollisionFunctionLookTable<GJKSolver>();
+  const CollisionFunctionMatrix& looktable = getCollisionFunctionLookTable();
   result.distance_lower_bound = -1;
   std::size_t res; 
   if(request.num_max_contacts == 0)
@@ -146,7 +142,7 @@ std::size_t collide(const CollisionObject* o1, const CollisionObject* o2,
   case GST_INDEP:
     {
       GJKSolver solver;
-      return collide<GJKSolver>(o1, o2, &solver, request, result);
+      return collide(o1, o2, &solver, request, result);
     }
   default:
     return -1; // error
@@ -162,7 +158,7 @@ std::size_t collide(const CollisionGeometry* o1, const Transform3f& tf1,
   case GST_INDEP:
     {
       GJKSolver solver;
-      return collide<GJKSolver>(o1, tf1, o2, tf2, &solver, request, result);
+      return collide(o1, tf1, o2, tf2, &solver, request, result);
     }
   default:
     std::cerr << "Warning! Invalid GJK solver" << std::endl;

src/distance.cpp

@@ -46,22 +46,19 @@ namespace hpp
 namespace fcl
 {
 
-template<typename GJKSolver>
-DistanceFunctionMatrix<GJKSolver>& getDistanceFunctionLookTable()
+DistanceFunctionMatrix& getDistanceFunctionLookTable()
 {
-  static DistanceFunctionMatrix<GJKSolver> table;
+  static DistanceFunctionMatrix table;
   return table;
 }
 
-template<typename GJKSolver>
 FCL_REAL distance(const CollisionObject* o1, const CollisionObject* o2, const GJKSolver* nsolver,
                   const DistanceRequest& request, DistanceResult& result)
 {
-  return distance<GJKSolver>(o1->collisionGeometry().get(), o1->getTransform(), o2->collisionGeometry().get(), o2->getTransform(), nsolver,
+  return distance(o1->collisionGeometry().get(), o1->getTransform(), o2->collisionGeometry().get(), o2->getTransform(), nsolver,
                                      request, result);
 }
 
-template<typename GJKSolver>
 FCL_REAL distance(const CollisionGeometry* o1, const Transform3f& tf1, 
                   const CollisionGeometry* o2, const Transform3f& tf2,
                   const GJKSolver* nsolver_,
@@ -71,7 +68,7 @@ FCL_REAL distance(const CollisionGeometry* o1, const Transform3f& tf1,
   if(!nsolver_) 
     nsolver = new GJKSolver();
 
-  const DistanceFunctionMatrix<GJKSolver>& looktable = getDistanceFunctionLookTable<GJKSolver>();
+  const DistanceFunctionMatrix& looktable = getDistanceFunctionLookTable();
 
   OBJECT_TYPE object_type1 = o1->getObjectType();
   NODE_TYPE node_type1 = o1->getNodeType();
@@ -126,7 +123,7 @@ FCL_REAL distance(const CollisionObject* o1, const CollisionObject* o2, const Di
   case GST_INDEP:
     {
       GJKSolver solver;
-      return distance<GJKSolver>(o1, o2, &solver, request, result);
+      return distance(o1, o2, &solver, request, result);
     }
   default:
     return -1; // error
@@ -142,7 +139,7 @@ FCL_REAL distance(const CollisionGeometry* o1, const Transform3f& tf1,
   case GST_INDEP:
     {
       GJKSolver solver;
-      return distance<GJKSolver>(o1, tf1, o2, tf2, &solver, request, result);
+      return distance(o1, tf1, o2, tf2, &solver, request, result);
     }
   default:
     return -1;

src/distance_box_halfspace.cpp

@@ -49,7 +49,7 @@ namespace fcl {
     class GJKSolver;
 
   template <>
-  FCL_REAL ShapeShapeDistance <Box, Halfspace, GJKSolver>
+  FCL_REAL ShapeShapeDistance <Box, Halfspace>
   (const CollisionGeometry* o1, const Transform3f& tf1,
    const CollisionGeometry* o2, const Transform3f& tf2,
    const GJKSolver*, const DistanceRequest&,
@@ -65,7 +65,7 @@ namespace fcl {
   }
 
   template <>
-  FCL_REAL ShapeShapeDistance <Halfspace, Box, GJKSolver>
+  FCL_REAL ShapeShapeDistance <Halfspace, Box>
   (const CollisionGeometry* o1, const Transform3f& tf1,
    const CollisionGeometry* o2, const Transform3f& tf2,
    const GJKSolver*, const DistanceRequest&,

src/distance_box_plane.cpp

@@ -49,7 +49,7 @@ namespace fcl {
     class GJKSolver;
 
   template <>
-  FCL_REAL ShapeShapeDistance <Box, Plane, GJKSolver>
+  FCL_REAL ShapeShapeDistance <Box, Plane>
   (const CollisionGeometry* o1, const Transform3f& tf1,
    const CollisionGeometry* o2, const Transform3f& tf2,
    const GJKSolver*, const DistanceRequest&,
@@ -65,7 +65,7 @@ namespace fcl {
   }
 
   template <>
-  FCL_REAL ShapeShapeDistance <Plane, Box, GJKSolver>
+  FCL_REAL ShapeShapeDistance <Plane, Box>
   (const CollisionGeometry* o1, const Transform3f& tf1,
    const CollisionGeometry* o2, const Transform3f& tf2,
    const GJKSolver*, const DistanceRequest&,

src/distance_box_sphere.cpp

@@ -49,7 +49,7 @@ namespace fcl {
     class GJKSolver;
 
   template <>
-  FCL_REAL ShapeShapeDistance <Box, Sphere, GJKSolver>
+  FCL_REAL ShapeShapeDistance <Box, Sphere>
   (const CollisionGeometry* o1, const Transform3f& tf1,
    const CollisionGeometry* o2, const Transform3f& tf2,
    const GJKSolver*, const DistanceRequest&,
@@ -65,7 +65,7 @@ namespace fcl {
   }
 
   template <>
-  FCL_REAL ShapeShapeDistance <Sphere, Box, GJKSolver>
+  FCL_REAL ShapeShapeDistance <Sphere, Box>
   (const CollisionGeometry* o1, const Transform3f& tf1,
    const CollisionGeometry* o2, const Transform3f& tf2,
    const GJKSolver*, const DistanceRequest&,

src/distance_capsule_capsule.cpp

@@ -26,7 +26,7 @@ namespace fcl {
   class GJKSolver;
 
   template <>
-  FCL_REAL ShapeShapeDistance <Capsule, Capsule, GJKSolver>
+  FCL_REAL ShapeShapeDistance <Capsule, Capsule>
   (const CollisionGeometry* o1, const Transform3f& tf1,
    const CollisionGeometry* o2, const Transform3f& tf2,
    const GJKSolver*, const DistanceRequest& request,
@@ -321,7 +321,7 @@ namespace fcl {
   }
 
   template <>
-  std::size_t ShapeShapeCollide <Capsule, Capsule, GJKSolver>
+  std::size_t ShapeShapeCollide <Capsule, Capsule>
   (const CollisionGeometry* o1, const Transform3f& tf1,
    const CollisionGeometry* o2, const Transform3f& tf2,
    const GJKSolver*, const CollisionRequest& request,
@@ -331,7 +331,7 @@ namespace fcl {
     DistanceResult distanceResult;
     DistanceRequest distanceRequest (request.enable_contact);
 
-    FCL_REAL distance = ShapeShapeDistance <Capsule, Capsule, GJKSolver>
+    FCL_REAL distance = ShapeShapeDistance <Capsule, Capsule>
       (o1, tf1, o2, tf2, unused, distanceRequest, distanceResult);
 
     if (distance <= 0) {

src/distance_capsule_halfspace.cpp

@@ -49,7 +49,7 @@ namespace fcl {
     class GJKSolver;
 
   template <>
-  FCL_REAL ShapeShapeDistance <Capsule, Halfspace, GJKSolver>
+  FCL_REAL ShapeShapeDistance <Capsule, Halfspace>
   (const CollisionGeometry* o1, const Transform3f& tf1,
    const CollisionGeometry* o2, const Transform3f& tf2,
    const GJKSolver*, const DistanceRequest&,
@@ -65,7 +65,7 @@ namespace fcl {
   }
 
   template <>
-  FCL_REAL ShapeShapeDistance <Halfspace, Capsule, GJKSolver>
+  FCL_REAL ShapeShapeDistance <Halfspace, Capsule>
   (const CollisionGeometry* o1, const Transform3f& tf1,
    const CollisionGeometry* o2, const Transform3f& tf2,
    const GJKSolver*, const DistanceRequest&,

src/distance_capsule_plane.cpp

@@ -49,7 +49,7 @@ namespace fcl {
     class GJKSolver;
 
   template <>
-  FCL_REAL ShapeShapeDistance <Capsule, Plane, GJKSolver>
+  FCL_REAL ShapeShapeDistance <Capsule, Plane>
   (const CollisionGeometry* o1, const Transform3f& tf1,
    const CollisionGeometry* o2, const Transform3f& tf2,
    const GJKSolver*, const DistanceRequest&,
@@ -65,7 +65,7 @@ namespace fcl {
   }
 
   template <>
-  FCL_REAL ShapeShapeDistance <Plane, Capsule, GJKSolver>
+  FCL_REAL ShapeShapeDistance <Plane, Capsule>
   (const CollisionGeometry* o1, const Transform3f& tf1,
    const CollisionGeometry* o2, const Transform3f& tf2,
    const GJKSolver*, const DistanceRequest&,

src/distance_cone_halfspace.cpp

@@ -49,7 +49,7 @@ namespace fcl {
     class GJKSolver;
 
   template <>
-  FCL_REAL ShapeShapeDistance <Cone, Halfspace, GJKSolver>
+  FCL_REAL ShapeShapeDistance <Cone, Halfspace>
   (const CollisionGeometry* o1, const Transform3f& tf1,
    const CollisionGeometry* o2, const Transform3f& tf2,
    const GJKSolver*, const DistanceRequest&,
@@ -65,7 +65,7 @@ namespace fcl {
   }
 
   template <>
-  FCL_REAL ShapeShapeDistance <Halfspace, Cone, GJKSolver>
+  FCL_REAL ShapeShapeDistance <Halfspace, Cone>
   (const CollisionGeometry* o1, const Transform3f& tf1,
    const CollisionGeometry* o2, const Transform3f& tf2,
    const GJKSolver*, const DistanceRequest&,

src/distance_cone_plane.cpp

@@ -49,7 +49,7 @@ namespace fcl {
     class GJKSolver;
 
   template <>
-  FCL_REAL ShapeShapeDistance <Cone, Plane, GJKSolver>
+  FCL_REAL ShapeShapeDistance <Cone, Plane>
   (const CollisionGeometry* o1, const Transform3f& tf1,
    const CollisionGeometry* o2, const Transform3f& tf2,
    const GJKSolver*, const DistanceRequest&,
@@ -65,7 +65,7 @@ namespace fcl {
   }
 
   template <>
-  FCL_REAL ShapeShapeDistance <Plane, Cone, GJKSolver>
+  FCL_REAL ShapeShapeDistance <Plane, Cone>
   (const CollisionGeometry* o1, const Transform3f& tf1,
    const CollisionGeometry* o2, const Transform3f& tf2,
    const GJKSolver*, const DistanceRequest&,

src/distance_cylinder_halfspace.cpp

@@ -49,7 +49,7 @@ namespace fcl {
     class GJKSolver;
 
   template <>
-  FCL_REAL ShapeShapeDistance <Cylinder, Halfspace, GJKSolver>
+  FCL_REAL ShapeShapeDistance <Cylinder, Halfspace>
   (const CollisionGeometry* o1, const Transform3f& tf1,
    const CollisionGeometry* o2, const Transform3f& tf2,
    const GJKSolver*, const DistanceRequest&,
@@ -65,7 +65,7 @@ namespace fcl {
   }
 
   template <>
-  FCL_REAL ShapeShapeDistance <Halfspace, Cylinder, GJKSolver>
+  FCL_REAL ShapeShapeDistance <Halfspace, Cylinder>
   (const CollisionGeometry* o1, const Transform3f& tf1,
    const CollisionGeometry* o2, const Transform3f& tf2,
    const GJKSolver*, const DistanceRequest&,

src/distance_cylinder_plane.cpp

@@ -49,7 +49,7 @@ namespace fcl {
     class GJKSolver;
 
   template <>
-  FCL_REAL ShapeShapeDistance <Cylinder, Plane, GJKSolver>
+  FCL_REAL ShapeShapeDistance <Cylinder, Plane>
   (const CollisionGeometry* o1, const Transform3f& tf1,
    const CollisionGeometry* o2, const Transform3f& tf2,
    const GJKSolver*, const DistanceRequest&,
@@ -65,7 +65,7 @@ namespace fcl {
   }
 
   template <>
-  FCL_REAL ShapeShapeDistance <Plane, Cylinder, GJKSolver>
+  FCL_REAL ShapeShapeDistance <Plane, Cylinder>
   (const CollisionGeometry* o1, const Transform3f& tf1,
    const CollisionGeometry* o2, const Transform3f& tf2,
    const GJKSolver*, const DistanceRequest&,

src/distance_func_matrix.h

@@ -35,18 +35,19 @@
 /** \author Florent Lamiraux */
 
 #include <hpp/fcl/collision_data.h>
+#include <hpp/fcl/narrowphase/narrowphase.h>
 
 namespace hpp
 {
 namespace fcl {
-  template<typename T_SH1, typename T_SH2, typename GJKSolver>
+  template<typename T_SH1, typename T_SH2>
     FCL_REAL ShapeShapeDistance
     (const CollisionGeometry* o1, const Transform3f& tf1,
      const CollisionGeometry* o2, const Transform3f& tf2,
      const GJKSolver* nsolver, const DistanceRequest& request,
      DistanceResult& result);
 
-  template<typename T_SH1, typename T_SH2, typename GJKSolver>
+  template<typename T_SH1, typename T_SH2>
     std::size_t ShapeShapeCollide
     (const CollisionGeometry* o1, const Transform3f& tf1,
      const CollisionGeometry* o2, const Transform3f& tf2, 

src/distance_sphere_cylinder.cpp

@@ -49,7 +49,7 @@ namespace fcl {
     class GJKSolver;
 
   template <>
-  FCL_REAL ShapeShapeDistance <Sphere, Cylinder, GJKSolver>
+  FCL_REAL ShapeShapeDistance <Sphere, Cylinder>
   (const CollisionGeometry* o1, const Transform3f& tf1,
    const CollisionGeometry* o2, const Transform3f& tf2,
    const GJKSolver*, const DistanceRequest&,
@@ -65,7 +65,7 @@ namespace fcl {
   }
 
   template <>
-  FCL_REAL ShapeShapeDistance <Cylinder, Sphere, GJKSolver>
+  FCL_REAL ShapeShapeDistance <Cylinder, Sphere>
   (const CollisionGeometry* o1, const Transform3f& tf1,
    const CollisionGeometry* o2, const Transform3f& tf2,
    const GJKSolver*, const DistanceRequest&,