Commit e22ba064 authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

wip GJKSolver

parent ca8fecc2
......@@ -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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