Verified Commit 47be80b9 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

core: add virtualisation for inheritance

parent 448bd881
Pipeline #13852 passed with stage
in 46 minutes and 38 seconds
...@@ -136,6 +136,8 @@ public: ...@@ -136,6 +136,8 @@ public:
return res; return res;
} }
virtual ~ComputeCollision() {};
protected: protected:
CollisionGeometry const *o1, *o2; CollisionGeometry const *o1, *o2;
GJKSolver solver; GJKSolver solver;
...@@ -143,8 +145,8 @@ protected: ...@@ -143,8 +145,8 @@ protected:
CollisionFunctionMatrix::CollisionFunc func; CollisionFunctionMatrix::CollisionFunc func;
bool swap_geoms; bool swap_geoms;
std::size_t run(const Transform3f& tf1, const Transform3f& tf2, virtual std::size_t run(const Transform3f& tf1, const Transform3f& tf2,
const CollisionRequest& request, CollisionResult& result) const; const CollisionRequest& request, CollisionResult& result) const;
}; };
......
...@@ -127,6 +127,8 @@ public: ...@@ -127,6 +127,8 @@ public:
request.updateGuess (result); request.updateGuess (result);
return res; return res;
} }
virtual ~ComputeDistance() {};
protected: protected:
CollisionGeometry const *o1, *o2; CollisionGeometry const *o1, *o2;
...@@ -135,8 +137,8 @@ protected: ...@@ -135,8 +137,8 @@ protected:
DistanceFunctionMatrix::DistanceFunc func; DistanceFunctionMatrix::DistanceFunc func;
bool swap_geoms; bool swap_geoms;
FCL_REAL run(const Transform3f& tf1, const Transform3f& tf2, virtual FCL_REAL run(const Transform3f& tf1, const Transform3f& tf2,
const DistanceRequest& request, DistanceResult& result) const; const DistanceRequest& request, DistanceResult& result) const;
}; };
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment