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Humanoid Path Planner
hpp-fcl
Commits
e22ba064
Commit
e22ba064
authored
Mar 24, 2020
by
Joseph Mirabel
Browse files
wip GJKSolver
parent
ca8fecc2
Changes
1
Hide whitespace changes
Inline
Side-by-side
src/narrowphase/narrowphase.cpp
View file @
e22ba064
...
...
@@ -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
,
...
...
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