wip GJKSolver

src/narrowphase/narrowphase.cpp

@@ -563,16 +563,6 @@ bool GJKSolver::shapeDistance<Capsule, Sphere>
   return details::sphereCapsuleDistance(s2, tf2, s1, tf1, dist, p2, p1, normal);
 }
 
-template<>
-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
-{
-  return details::sphereCylinderDistance
-    (s1, tf1, s2, tf2, dist, p1, p2, normal);
-}
-
 template<>
 bool GJKSolver::shapeDistance<Box, Sphere>
 (const Box   & s1, const Transform3f& tf1,
@@ -593,6 +583,16 @@ bool GJKSolver::shapeDistance<Sphere, Box>
   return !collide;
 }
 
+template<>
+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
+{
+  return details::sphereCylinderDistance
+    (s1, tf1, s2, tf2, dist, p1, p2, normal);
+}
+
 template<>
 bool GJKSolver::shapeDistance<Cylinder, Sphere>
 (const Cylinder& s1, const Transform3f& tf1,