diff --git a/CMakeLists.txt b/CMakeLists.txt
index aff3da82302e70a73b76c5c19294631db608ad76..3340fe2e9f94d54c8da5249bd6ae052d779edd60 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -126,7 +126,6 @@ SET(${PROJECT_NAME}_HEADERS
include/hpp/fcl/math/matrix_3f.h
include/hpp/fcl/math/vec_3f.h
include/hpp/fcl/math/types.h
- include/hpp/fcl/math/tools.h
include/hpp/fcl/math/transform.h
include/hpp/fcl/traversal/details/traversal.h
include/hpp/fcl/traversal/traversal_node_shapes.h
diff --git a/include/hpp/fcl/BV/AABB.h b/include/hpp/fcl/BV/AABB.h
index c720f37a616f53625392fdc1ba04dde4cf9eb069..05859d25b1f359ebe000ecfa9d3ac9768af4e932 100644
--- a/include/hpp/fcl/BV/AABB.h
+++ b/include/hpp/fcl/BV/AABB.h
@@ -81,6 +81,30 @@ public:
{
}
+
+
+
+
+
+
+
+
+
+//start API in common test
+ /// @name Bounding volume API
+ /// Common API to BVs.
+ /// @{
+
+ /// @brief Check whether the AABB contains a point
+ inline bool contain(const Vec3f& p) const
+ {
+ if(p[0] < min_[0] || p[0] > max_[0]) return false;
+ if(p[1] < min_[1] || p[1] > max_[1]) return false;
+ if(p[2] < min_[2] || p[2] > max_[2]) return false;
+
+ return true;
+ }
+
/// @brief Check whether two AABB are overlap
inline bool overlap(const AABB& other) const
{
@@ -99,35 +123,11 @@ public:
bool overlap(const AABB& other, const CollisionRequest& request,
FCL_REAL& sqrDistLowerBound) const;
- /// @brief Check whether the AABB contains another AABB
- inline bool contain(const AABB& other) const
- {
- return (other.min_[0] >= min_[0]) && (other.max_[0] <= max_[0]) && (other.min_[1] >= min_[1]) && (other.max_[1] <= max_[1]) && (other.min_[2] >= min_[2]) && (other.max_[2] <= max_[2]);
- }
-
- /// @brief Check whether two AABB are overlap and return the overlap part
- inline bool overlap(const AABB& other, AABB& overlap_part) const
- {
- if(!overlap(other))
- {
- return false;
- }
-
- overlap_part.min_ = min_.cwiseMax(other.min_);
- overlap_part.max_ = max_.cwiseMin(other.max_);
- return true;
- }
-
-
- /// @brief Check whether the AABB contains a point
- inline bool contain(const Vec3f& p) const
- {
- if(p[0] < min_[0] || p[0] > max_[0]) return false;
- if(p[1] < min_[1] || p[1] > max_[1]) return false;
- if(p[2] < min_[2] || p[2] > max_[2]) return false;
+ /// @brief Distance between two AABBs
+ FCL_REAL distance(const AABB& other) const;
- return true;
- }
+ /// @brief Distance between two AABBs; P and Q, should not be NULL, return the nearest points
+ FCL_REAL distance(const AABB& other, Vec3f* P, Vec3f* Q) const;
/// @brief Merge the AABB and a point
inline AABB& operator += (const Vec3f& p)
@@ -152,6 +152,18 @@ public:
return res += other;
}
+ /// @brief Size of the AABB (used in BV_Splitter to order two AABBs)
+ inline FCL_REAL size() const
+ {
+ return (max_ - min_).squaredNorm();
+ }
+
+ /// @brief Center of the AABB
+ inline Vec3f center() const
+ {
+ return (min_ + max_) * 0.5;
+ }
+
/// @brief Width of the AABB
inline FCL_REAL width() const
{
@@ -174,26 +186,42 @@ public:
inline FCL_REAL volume() const
{
return width() * height() * depth();
- }
+ }
- /// @brief Size of the AABB (used in BV_Splitter to order two AABBs)
- inline FCL_REAL size() const
+ /// @}
+//End API in common test
+
+
+
+
+
+
+
+
+
+
+
+
+
+ /// @brief Check whether the AABB contains another AABB
+ inline bool contain(const AABB& other) const
{
- return (max_ - min_).squaredNorm();
+ return (other.min_[0] >= min_[0]) && (other.max_[0] <= max_[0]) && (other.min_[1] >= min_[1]) && (other.max_[1] <= max_[1]) && (other.min_[2] >= min_[2]) && (other.max_[2] <= max_[2]);
}
- /// @brief Center of the AABB
- inline Vec3f center() const
+ /// @brief Check whether two AABB are overlap and return the overlap part
+ inline bool overlap(const AABB& other, AABB& overlap_part) const
{
- return (min_ + max_) * 0.5;
+ if(!overlap(other))
+ {
+ return false;
+ }
+
+ overlap_part.min_ = min_.cwiseMax(other.min_);
+ overlap_part.max_ = max_.cwiseMin(other.max_);
+ return true;
}
- /// @brief Distance between two AABBs; P and Q, should not be NULL, return the nearest points
- FCL_REAL distance(const AABB& other, Vec3f* P, Vec3f* Q) const;
-
- /// @brief Distance between two AABBs
- FCL_REAL distance(const AABB& other) const;
-
/// @brief expand the half size of the AABB by delta, and keep the center unchanged.
inline AABB& expand(const Vec3f& delta)
{
@@ -241,7 +269,6 @@ bool overlap(const Matrix3f& R0, const Vec3f& T0, const AABB& b1, const AABB& b2
bool overlap(const Matrix3f& R0, const Vec3f& T0, const AABB& b1,
const AABB& b2, const CollisionRequest& request,
FCL_REAL& sqrDistLowerBound);
-
}
} // namespace hpp
diff --git a/include/hpp/fcl/BV/OBB.h b/include/hpp/fcl/BV/OBB.h
index 437f65957ff952380157b893a705782accd70999..3b1cb3f5dc09785c116e233256760c6234a50cbb 100644
--- a/include/hpp/fcl/BV/OBB.h
+++ b/include/hpp/fcl/BV/OBB.h
@@ -60,6 +60,12 @@ public:
/// @brief Half dimensions of OBB
Vec3f extent;
+
+
+
+ /// @brief Check whether the OBB contains a point.
+ bool contain(const Vec3f& p) const;
+
/// Check collision between two OBB
/// \return true if collision happens.
bool overlap(const OBB& other) const;
@@ -71,8 +77,8 @@ public:
bool overlap(const OBB& other, const CollisionRequest& request,
FCL_REAL& sqrDistLowerBound) const;
- /// @brief Check whether the OBB contains a point.
- bool contain(const Vec3f& p) const;
+ /// @brief Distance between two OBBs, not implemented.
+ FCL_REAL distance(const OBB& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;
/// @brief A simple way to merge the OBB and a point (the result is not compact).
OBB& operator += (const Vec3f& p);
@@ -87,6 +93,18 @@ public:
/// @brief Return the merged OBB of current OBB and the other one (the result is not compact).
OBB operator + (const OBB& other) const;
+ /// @brief Size of the OBB (used in BV_Splitter to order two OBBs)
+ inline FCL_REAL size() const
+ {
+ return extent.squaredNorm();
+ }
+
+ /// @brief Center of the OBB
+ inline const Vec3f& center() const
+ {
+ return To;
+ }
+
/// @brief Width of the OBB.
inline FCL_REAL width() const
{
@@ -110,22 +128,6 @@ public:
{
return width() * height() * depth();
}
-
- /// @brief Size of the OBB (used in BV_Splitter to order two OBBs)
- inline FCL_REAL size() const
- {
- return extent.squaredNorm();
- }
-
- /// @brief Center of the OBB
- inline const Vec3f& center() const
- {
- return To;
- }
-
-
- /// @brief Distance between two OBBs, not implemented.
- FCL_REAL distance(const OBB& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;
};
diff --git a/include/hpp/fcl/BV/OBBRSS.h b/include/hpp/fcl/BV/OBBRSS.h
index 74fb3bffaaa60a8600bd8475594605d20f6d60f7..cb6ed77bd9307edb6b5173546feff655c6e0b516 100644
--- a/include/hpp/fcl/BV/OBBRSS.h
+++ b/include/hpp/fcl/BV/OBBRSS.h
@@ -59,6 +59,16 @@ public:
/// @brief RSS member, for distance
RSS rss;
+
+
+
+
+/// @brief Check whether the OBBRSS contains a point
+ inline bool contain(const Vec3f& p) const
+ {
+ return obb.contain(p);
+ }
+
/// @brief Check collision between two OBBRSS
bool overlap(const OBBRSS& other) const
{
@@ -74,10 +84,10 @@ public:
return obb.overlap(other.obb, request, sqrDistLowerBound);
}
-/// @brief Check whether the OBBRSS contains a point
- inline bool contain(const Vec3f& p) const
+ /// @brief Distance between two OBBRSS; P and Q , is not NULL, returns the nearest points
+ FCL_REAL distance(const OBBRSS& other, Vec3f* P = NULL, Vec3f* Q = NULL) const
{
- return obb.contain(p);
+ return rss.distance(other.rss, P, Q);
}
/// @brief Merge the OBBRSS and a point
@@ -104,6 +114,18 @@ public:
return result;
}
+ /// @brief Size of the OBBRSS (used in BV_Splitter to order two OBBRSS)
+ inline FCL_REAL size() const
+ {
+ return obb.size();
+ }
+
+ /// @brief Center of the OBBRSS
+ inline const Vec3f& center() const
+ {
+ return obb.center();
+ }
+
/// @brief Width of the OBRSS
inline FCL_REAL width() const
{
@@ -127,25 +149,12 @@ public:
{
return obb.volume();
}
+};
+
+
- /// @brief Size of the OBBRSS (used in BV_Splitter to order two OBBRSS)
- inline FCL_REAL size() const
- {
- return obb.size();
- }
- /// @brief Center of the OBBRSS
- inline const Vec3f& center() const
- {
- return obb.center();
- }
- /// @brief Distance between two OBBRSS; P and Q , is not NULL, returns the nearest points
- FCL_REAL distance(const OBBRSS& other, Vec3f* P = NULL, Vec3f* Q = NULL) const
- {
- return rss.distance(other.rss, P, Q);
- }
-};
/// @brief Check collision between two OBBRSS, b1 is in configuration (R0, T0) and b2 is in indentity
inline bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1, const OBBRSS& b2)
diff --git a/include/hpp/fcl/BV/RSS.h b/include/hpp/fcl/BV/RSS.h
index a2c0111da817b431e877aeb690a2f0533678d8b3..e158d5cc7fd80cb7a482d4b579959101f9652cb7 100644
--- a/include/hpp/fcl/BV/RSS.h
+++ b/include/hpp/fcl/BV/RSS.h
@@ -65,6 +65,10 @@ public:
/// @brief Radius of sphere summed with rectangle to form RSS
FCL_REAL r;
+
+ /// @brief Check whether the RSS contains a point
+ inline bool contain(const Vec3f& p) const;
+
/// @brief Check collision between two RSS
bool overlap(const RSS& other) const;
@@ -76,15 +80,8 @@ public:
return overlap (other);
}
- /// @brief Check collision between two RSS and return the overlap part.
- /// For RSS, we return nothing, as the overlap part of two RSSs usually is not a RSS.
- bool overlap(const RSS& other, RSS& /*overlap_part*/) const
- {
- return overlap(other);
- }
-
- /// @brief Check whether the RSS contains a point
- inline bool contain(const Vec3f& p) const;
+ /// @brief the distance between two RSS; P and Q, if not NULL, return the nearest points
+ FCL_REAL distance(const RSS& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;
/// @brief A simple way to merge the RSS and a point, not compact.
/// @todo This function may have some bug.
@@ -100,6 +97,19 @@ public:
/// @brief Return the merged RSS of current RSS and the other one
RSS operator + (const RSS& other) const;
+
+ /// @brief Size of the RSS (used in BV_Splitter to order two RSSs)
+ inline FCL_REAL size() const
+ {
+ return (std::sqrt(l[0] * l[0] + l[1] * l[1]) + 2 * r);
+ }
+
+ /// @brief The RSS center
+ inline const Vec3f& center() const
+ {
+ return Tr;
+ }
+
/// @brief Width of the RSS
inline FCL_REAL width() const
{
@@ -124,21 +134,12 @@ public:
return (l[0] * l[1] * 2 * r + 4 * boost::math::constants::pi<FCL_REAL>() * r * r * r);
}
- /// @brief Size of the RSS (used in BV_Splitter to order two RSSs)
- inline FCL_REAL size() const
- {
- return (std::sqrt(l[0] * l[0] + l[1] * l[1]) + 2 * r);
- }
-
- /// @brief The RSS center
- inline const Vec3f& center() const
+ /// @brief Check collision between two RSS and return the overlap part.
+ /// For RSS, we return nothing, as the overlap part of two RSSs usually is not a RSS.
+ bool overlap(const RSS& other, RSS& /*overlap_part*/) const
{
- return Tr;
+ return overlap(other);
}
-
- /// @brief the distance between two RSS; P and Q, if not NULL, return the nearest points
- FCL_REAL distance(const RSS& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;
-
};
/// @brief distance between two RSS bounding volumes
diff --git a/include/hpp/fcl/BV/kDOP.h b/include/hpp/fcl/BV/kDOP.h
index 43c6db0972d0a52e58b45bee08b82be8a1765c5b..00af0f813c477e9780c23c49be5b0061bd6062ab 100644
--- a/include/hpp/fcl/BV/kDOP.h
+++ b/include/hpp/fcl/BV/kDOP.h
@@ -111,8 +111,8 @@ public:
return overlap (other);
}
- //// @brief Check whether one point is inside the KDOP
- bool inside(const Vec3f& p) const;
+ /// @brief The distance between two KDOP<N>. Not implemented.
+ FCL_REAL distance(const KDOP<N>& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;
/// @brief Merge the point and the KDOP
KDOP<N>& operator += (const Vec3f& p);
@@ -123,6 +123,19 @@ public:
/// @brief Create a KDOP by mergin two KDOPs
KDOP<N> operator + (const KDOP<N>& other) const;
+ /// @brief Size of the kDOP (used in BV_Splitter to order two kDOPs)
+ inline FCL_REAL size() const
+ {
+ return width() * width() + height() * height() + depth() * depth();
+ }
+
+ /// @brief The (AABB) center
+ inline Vec3f center() const
+ {
+ return Vec3f(dist_[0] + dist_[N / 2], dist_[1] + dist_[N / 2 + 1], dist_[2] + dist_[N / 2 + 2]) * 0.5;
+ }
+
+
/// @brief The (AABB) width
inline FCL_REAL width() const
{
@@ -147,21 +160,6 @@ public:
return width() * height() * depth();
}
- /// @brief Size of the kDOP (used in BV_Splitter to order two kDOPs)
- inline FCL_REAL size() const
- {
- return width() * width() + height() * height() + depth() * depth();
- }
-
- /// @brief The (AABB) center
- inline Vec3f center() const
- {
- return Vec3f(dist_[0] + dist_[N / 2], dist_[1] + dist_[N / 2 + 1], dist_[2] + dist_[N / 2 + 2]) * 0.5;
- }
-
- /// @brief The distance between two KDOP<N>. Not implemented.
- FCL_REAL distance(const KDOP<N>& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;
-
inline FCL_REAL dist(std::size_t i) const
{
return dist_[i];
@@ -172,6 +170,8 @@ public:
return dist_[i];
}
+ //// @brief Check whether one point is inside the KDOP
+ bool inside(const Vec3f& p) const;
};
diff --git a/include/hpp/fcl/BV/kIOS.h b/include/hpp/fcl/BV/kIOS.h
index 77ab3e45124ef9ce6e0b39f23490786ba3ee5d11..2227c9754a9b07707534cfaba04ab898bf7f56bb 100644
--- a/include/hpp/fcl/BV/kIOS.h
+++ b/include/hpp/fcl/BV/kIOS.h
@@ -93,6 +93,9 @@ public:
/// @ OBB related with kIOS
OBB obb;
+ /// @brief Check whether the kIOS contains a point
+ inline bool contain(const Vec3f& p) const;
+
/// @brief Check collision between two kIOS
bool overlap(const kIOS& other) const;
@@ -100,8 +103,8 @@ public:
bool overlap(const kIOS& other, const CollisionRequest&,
FCL_REAL& sqrDistLowerBound) const;
- /// @brief Check whether the kIOS contains a point
- inline bool contain(const Vec3f& p) const;
+ /// @brief The distance between two kIOS
+ FCL_REAL distance(const kIOS& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;
/// @brief A simple way to merge the kIOS and a point
kIOS& operator += (const Vec3f& p);
@@ -116,6 +119,9 @@ public:
/// @brief Return the merged kIOS of current kIOS and the other one
kIOS operator + (const kIOS& other) const;
+ /// @brief size of the kIOS (used in BV_Splitter to order two kIOSs)
+ FCL_REAL size() const;
+
/// @brief Center of the kIOS
const Vec3f& center() const
{
@@ -133,12 +139,6 @@ public:
/// @brief Volume of the kIOS
FCL_REAL volume() const;
-
- /// @brief size of the kIOS (used in BV_Splitter to order two kIOSs)
- FCL_REAL size() const;
-
- /// @brief The distance between two kIOS
- FCL_REAL distance(const kIOS& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;
};
diff --git a/include/hpp/fcl/traversal/traversal_node_bvh_shape.h b/include/hpp/fcl/traversal/traversal_node_bvh_shape.h
index 0ae2c53c5f3a307c5f51e58cf268c01eee16557d..d1f4f007b12e094c6becd3be1daf756a2ca4f73d 100644
--- a/include/hpp/fcl/traversal/traversal_node_bvh_shape.h
+++ b/include/hpp/fcl/traversal/traversal_node_bvh_shape.h
@@ -746,11 +746,11 @@ public:
};
-template<typename S, typename NarrowPhaseSolver>
-class MeshShapeDistanceTraversalNodeOBBRSS : public MeshShapeDistanceTraversalNode<OBBRSS, S, NarrowPhaseSolver>
+template<typename S, typename GJKSolver>
+class MeshShapeDistanceTraversalNodeOBBRSS : public MeshShapeDistanceTraversalNode<OBBRSS, S, GJKSolver>
{
public:
- MeshShapeDistanceTraversalNodeOBBRSS() : MeshShapeDistanceTraversalNode<OBBRSS, S, NarrowPhaseSolver>()
+ MeshShapeDistanceTraversalNodeOBBRSS() : MeshShapeDistanceTraversalNode<OBBRSS, S, GJKSolver>()
{
}
@@ -780,7 +780,7 @@ public:
};
/// @brief Traversal node for distance between shape and mesh
-template<typename S, typename BV, typename NarrowPhaseSolver>
+template<typename S, typename BV, typename GJKSolver>
class ShapeMeshDistanceTraversalNode : public ShapeBVHDistanceTraversalNode<S, BV>
{
public:
@@ -835,14 +835,14 @@ public:
FCL_REAL rel_err;
FCL_REAL abs_err;
- const NarrowPhaseSolver* nsolver;
+ const GJKSolver* nsolver;
};
-template<typename S, typename NarrowPhaseSolver>
-class ShapeMeshDistanceTraversalNodeRSS : public ShapeMeshDistanceTraversalNode<S, RSS, NarrowPhaseSolver>
+template<typename S, typename GJKSolver>
+class ShapeMeshDistanceTraversalNodeRSS : public ShapeMeshDistanceTraversalNode<S, RSS, GJKSolver>
{
public:
- ShapeMeshDistanceTraversalNodeRSS() : ShapeMeshDistanceTraversalNode<S, RSS, NarrowPhaseSolver>()
+ ShapeMeshDistanceTraversalNodeRSS() : ShapeMeshDistanceTraversalNode<S, RSS, GJKSolver>()
{
}
@@ -870,11 +870,11 @@ public:
};
-template<typename S, typename NarrowPhaseSolver>
-class ShapeMeshDistanceTraversalNodekIOS : public ShapeMeshDistanceTraversalNode<S, kIOS, NarrowPhaseSolver>
+template<typename S, typename GJKSolver>
+class ShapeMeshDistanceTraversalNodekIOS : public ShapeMeshDistanceTraversalNode<S, kIOS, GJKSolver>
{
public:
- ShapeMeshDistanceTraversalNodekIOS() : ShapeMeshDistanceTraversalNode<S, kIOS, NarrowPhaseSolver>()
+ ShapeMeshDistanceTraversalNodekIOS() : ShapeMeshDistanceTraversalNode<S, kIOS, GJKSolver>()
{
}
@@ -902,11 +902,11 @@ public:
};
-template<typename S, typename NarrowPhaseSolver>
-class ShapeMeshDistanceTraversalNodeOBBRSS : public ShapeMeshDistanceTraversalNode<S, OBBRSS, NarrowPhaseSolver>
+template<typename S, typename GJKSolver>
+class ShapeMeshDistanceTraversalNodeOBBRSS : public ShapeMeshDistanceTraversalNode<S, OBBRSS, GJKSolver>
{
public:
- ShapeMeshDistanceTraversalNodeOBBRSS() : ShapeMeshDistanceTraversalNode<S, OBBRSS, NarrowPhaseSolver>()
+ ShapeMeshDistanceTraversalNodeOBBRSS() : ShapeMeshDistanceTraversalNode<S, OBBRSS, GJKSolver>()
{
}
diff --git a/include/hpp/fcl/traversal/traversal_node_octree.h b/include/hpp/fcl/traversal/traversal_node_octree.h
index b9c47c07afb8f37ac7a8be75cb4a53e95e33a7e8..5473ff5149ef7b6700dbffa02e71f02ac614bc89 100644
--- a/include/hpp/fcl/traversal/traversal_node_octree.h
+++ b/include/hpp/fcl/traversal/traversal_node_octree.h
@@ -51,11 +51,11 @@ namespace fcl
{
/// @brief Algorithms for collision related with octree
-template<typename NarrowPhaseSolver>
+template<typename GJKSolver>
class OcTreeSolver
{
private:
- const NarrowPhaseSolver* solver;
+ const GJKSolver* solver;
mutable const CollisionRequest* crequest;
mutable const DistanceRequest* drequest;
@@ -64,7 +64,7 @@ private:
mutable DistanceResult* dresult;
public:
- OcTreeSolver(const NarrowPhaseSolver* solver_) : solver(solver_),
+ OcTreeSolver(const GJKSolver* solver_) : solver(solver_),
crequest(NULL),
drequest(NULL),
cresult(NULL),
@@ -890,7 +890,7 @@ private:
/// @brief Traversal node for octree collision
-template<typename NarrowPhaseSolver>
+template<typename GJKSolver>
class OcTreeCollisionTraversalNode : public CollisionTraversalNodeBase
{
public:
@@ -923,11 +923,11 @@ public:
Transform3f tf1, tf2;
- const OcTreeSolver<NarrowPhaseSolver>* otsolver;
+ const OcTreeSolver<GJKSolver>* otsolver;
};
/// @brief Traversal node for octree distance
-template<typename NarrowPhaseSolver>
+template<typename GJKSolver>
class OcTreeDistanceTraversalNode : public DistanceTraversalNodeBase
{
public:
@@ -958,11 +958,11 @@ public:
const OcTree* model1;
const OcTree* model2;
- const OcTreeSolver<NarrowPhaseSolver>* otsolver;
+ const OcTreeSolver<GJKSolver>* otsolver;
};
/// @brief Traversal node for shape-octree collision
-template<typename S, typename NarrowPhaseSolver>
+template<typename S, typename GJKSolver>
class ShapeOcTreeCollisionTraversalNode : public CollisionTraversalNodeBase
{
public:
@@ -995,11 +995,11 @@ public:
Transform3f tf1, tf2;
- const OcTreeSolver<NarrowPhaseSolver>* otsolver;
+ const OcTreeSolver<GJKSolver>* otsolver;
};
/// @brief Traversal node for octree-shape collision
-template<typename S, typename NarrowPhaseSolver>
+template<typename S, typename GJKSolver>
class OcTreeShapeCollisionTraversalNode : public CollisionTraversalNodeBase
{
public:
@@ -1032,11 +1032,11 @@ public:
Transform3f tf1, tf2;
- const OcTreeSolver<NarrowPhaseSolver>* otsolver;
+ const OcTreeSolver<GJKSolver>* otsolver;
};
/// @brief Traversal node for shape-octree distance
-template<typename S, typename NarrowPhaseSolver>
+template<typename S, typename GJKSolver>
class ShapeOcTreeDistanceTraversalNode : public DistanceTraversalNodeBase
{
public:
@@ -1061,11 +1061,11 @@ public:
const S* model1;
const OcTree* model2;
- const OcTreeSolver<NarrowPhaseSolver>* otsolver;
+ const OcTreeSolver<GJKSolver>* otsolver;
};
/// @brief Traversal node for octree-shape distance
-template<typename S, typename NarrowPhaseSolver>
+template<typename S, typename GJKSolver>
class OcTreeShapeDistanceTraversalNode : public DistanceTraversalNodeBase
{
public:
@@ -1090,11 +1090,11 @@ public:
const OcTree* model1;
const S* model2;
- const OcTreeSolver<NarrowPhaseSolver>* otsolver;
+ const OcTreeSolver<GJKSolver>* otsolver;
};
/// @brief Traversal node for mesh-octree collision
-template<typename BV, typename NarrowPhaseSolver>
+template<typename BV, typename GJKSolver>
class MeshOcTreeCollisionTraversalNode : public CollisionTraversalNodeBase
{
public:
@@ -1127,11 +1127,11 @@ public:
Transform3f tf1, tf2;
- const OcTreeSolver<NarrowPhaseSolver>* otsolver;
+ const OcTreeSolver<GJKSolver>* otsolver;
};
/// @brief Traversal node for octree-mesh collision
-template<typename BV, typename NarrowPhaseSolver>
+template<typename BV, typename GJKSolver>
class OcTreeMeshCollisionTraversalNode : public CollisionTraversalNodeBase
{
public:
@@ -1164,11 +1164,11 @@ public:
Transform3f tf1, tf2;
- const OcTreeSolver<NarrowPhaseSolver>* otsolver;
+ const OcTreeSolver<GJKSolver>* otsolver;
};
/// @brief Traversal node for mesh-octree distance
-template<typename BV, typename NarrowPhaseSolver>
+template<typename BV, typename GJKSolver>
class MeshOcTreeDistanceTraversalNode : public DistanceTraversalNodeBase
{
public:
@@ -1193,12 +1193,12 @@ public:
const BVHModel<BV>* model1;
const OcTree* model2;
- const OcTreeSolver<NarrowPhaseSolver>* otsolver;
+ const OcTreeSolver<GJKSolver>* otsolver;
};
/// @brief Traversal node for octree-mesh distance
-template<typename BV, typename NarrowPhaseSolver>
+template<typename BV, typename GJKSolver>
class OcTreeMeshDistanceTraversalNode : public DistanceTraversalNodeBase
{
public:
@@ -1223,7 +1223,7 @@ public:
const OcTree* model1;
const BVHModel<BV>* model2;
- const OcTreeSolver<NarrowPhaseSolver>* otsolver;
+ const OcTreeSolver<GJKSolver>* otsolver;
};
diff --git a/include/hpp/fcl/traversal/traversal_node_setup.h b/include/hpp/fcl/traversal/traversal_node_setup.h
index 0912c231d15a567b242911d9e8ee60780ff5fc87..b5afcdd5f36650fc787ee3846d2cefb1171380b2 100644
--- a/include/hpp/fcl/traversal/traversal_node_setup.h
+++ b/include/hpp/fcl/traversal/traversal_node_setup.h
@@ -56,11 +56,11 @@ namespace fcl
#ifdef HPP_FCL_HAVE_OCTOMAP
/// @brief Initialize traversal node for collision between two octrees, given current object transform
-template<typename NarrowPhaseSolver>
-bool initialize(OcTreeCollisionTraversalNode<NarrowPhaseSolver>& node,
+template<typename GJKSolver>
+bool initialize(OcTreeCollisionTraversalNode<GJKSolver>& node,
const OcTree& model1, const Transform3f& tf1,
const OcTree& model2, const Transform3f& tf2,
- const OcTreeSolver<NarrowPhaseSolver>* otsolver,
+ const OcTreeSolver<GJKSolver>* otsolver,
CollisionResult& result)
{
node.result = &result;
@@ -77,11 +77,11 @@ bool initialize(OcTreeCollisionTraversalNode<NarrowPhaseSolver>& node,
}
/// @brief Initialize traversal node for distance between two octrees, given current object transform
-template<typename NarrowPhaseSolver>
-bool initialize(OcTreeDistanceTraversalNode<NarrowPhaseSolver>& node,
+template<typename GJKSolver>
+bool initialize(OcTreeDistanceTraversalNode<GJKSolver>& node,
const OcTree& model1, const Transform3f& tf1,
const OcTree& model2, const Transform3f& tf2,
- const OcTreeSolver<NarrowPhaseSolver>* otsolver,
+ const OcTreeSolver<GJKSolver>* otsolver,
const DistanceRequest& request,
DistanceResult& result)
{
@@ -100,11 +100,11 @@ bool initialize(OcTreeDistanceTraversalNode<NarrowPhaseSolver>& node,
}
/// @brief Initialize traversal node for collision between one shape and one octree, given current object transform
-template<typename S, typename NarrowPhaseSolver>
-bool initialize(ShapeOcTreeCollisionTraversalNode<S, NarrowPhaseSolver>& node,
+template<typename S, typename GJKSolver>
+bool initialize(ShapeOcTreeCollisionTraversalNode<S, GJKSolver>& node,
const S& model1, const Transform3f& tf1,
const OcTree& model2, const Transform3f& tf2,
- const OcTreeSolver<NarrowPhaseSolver>* otsolver,
+ const OcTreeSolver<GJKSolver>* otsolver,
CollisionResult& result)
{
node.result = &result;
@@ -121,11 +121,11 @@ bool initialize(ShapeOcTreeCollisionTraversalNode<S, NarrowPhaseSolver>& node,
}
/// @brief Initialize traversal node for collision between one octree and one shape, given current object transform
-template<typename S, typename NarrowPhaseSolver>
-bool initialize(OcTreeShapeCollisionTraversalNode<S, NarrowPhaseSolver>& node,
+template<typename S, typename GJKSolver>
+bool initialize(OcTreeShapeCollisionTraversalNode<S, GJKSolver>& node,
const OcTree& model1, const Transform3f& tf1,
const S& model2, const Transform3f& tf2,
- const OcTreeSolver<NarrowPhaseSolver>* otsolver,
+ const OcTreeSolver<GJKSolver>* otsolver,
CollisionResult& result)
{
node.result = &result;
@@ -142,11 +142,11 @@ bool initialize(OcTreeShapeCollisionTraversalNode<S, NarrowPhaseSolver>& node,
}
/// @brief Initialize traversal node for distance between one shape and one octree, given current object transform
-template<typename S, typename NarrowPhaseSolver>
-bool initialize(ShapeOcTreeDistanceTraversalNode<S, NarrowPhaseSolver>& node,
+template<typename S, typename GJKSolver>
+bool initialize(ShapeOcTreeDistanceTraversalNode<S, GJKSolver>& node,
const S& model1, const Transform3f& tf1,
const OcTree& model2, const Transform3f& tf2,
- const OcTreeSolver<NarrowPhaseSolver>* otsolver,
+ const OcTreeSolver<GJKSolver>* otsolver,
const DistanceRequest& request,
DistanceResult& result)
{
@@ -165,11 +165,11 @@ bool initialize(ShapeOcTreeDistanceTraversalNode<S, NarrowPhaseSolver>& node,
}
/// @brief Initialize traversal node for distance between one octree and one shape, given current object transform
-template<typename S, typename NarrowPhaseSolver>
-bool initialize(OcTreeShapeDistanceTraversalNode<S, NarrowPhaseSolver>& node,
+template<typename S, typename GJKSolver>
+bool initialize(OcTreeShapeDistanceTraversalNode<S, GJKSolver>& node,
const OcTree& model1, const Transform3f& tf1,
const S& model2, const Transform3f& tf2,
- const OcTreeSolver<NarrowPhaseSolver>* otsolver,
+ const OcTreeSolver<GJKSolver>* otsolver,
const DistanceRequest& request,
DistanceResult& result)
{
@@ -188,11 +188,11 @@ bool initialize(OcTreeShapeDistanceTraversalNode<S, NarrowPhaseSolver>& node,
}
/// @brief Initialize traversal node for collision between one mesh and one octree, given current object transform
-template<typename BV, typename NarrowPhaseSolver>
-bool initialize(MeshOcTreeCollisionTraversalNode<BV, NarrowPhaseSolver>& node,
+template<typename BV, typename GJKSolver>
+bool initialize(MeshOcTreeCollisionTraversalNode<BV, GJKSolver>& node,
const BVHModel<BV>& model1, const Transform3f& tf1,
const OcTree& model2, const Transform3f& tf2,
- const OcTreeSolver<NarrowPhaseSolver>* otsolver,
+ const OcTreeSolver<GJKSolver>* otsolver,
CollisionResult& result)
{
node.result = &result;
@@ -209,11 +209,11 @@ bool initialize(MeshOcTreeCollisionTraversalNode<BV, NarrowPhaseSolver>& node,
}
/// @brief Initialize traversal node for collision between one octree and one mesh, given current object transform
-template<typename BV, typename NarrowPhaseSolver>
-bool initialize(OcTreeMeshCollisionTraversalNode<BV, NarrowPhaseSolver>& node,
+template<typename BV, typename GJKSolver>
+bool initialize(OcTreeMeshCollisionTraversalNode<BV, GJKSolver>& node,
const OcTree& model1, const Transform3f& tf1,
const BVHModel<BV>& model2, const Transform3f& tf2,
- const OcTreeSolver<NarrowPhaseSolver>* otsolver,
+ const OcTreeSolver<GJKSolver>* otsolver,
CollisionResult& result)
{
node.result = &result;
@@ -230,11 +230,11 @@ bool initialize(OcTreeMeshCollisionTraversalNode<BV, NarrowPhaseSolver>& node,
}
/// @brief Initialize traversal node for distance between one mesh and one octree, given current object transform
-template<typename BV, typename NarrowPhaseSolver>
-bool initialize(MeshOcTreeDistanceTraversalNode<BV, NarrowPhaseSolver>& node,
+template<typename BV, typename GJKSolver>
+bool initialize(MeshOcTreeDistanceTraversalNode<BV, GJKSolver>& node,
const BVHModel<BV>& model1, const Transform3f& tf1,
const OcTree& model2, const Transform3f& tf2,
- const OcTreeSolver<NarrowPhaseSolver>* otsolver,
+ const OcTreeSolver<GJKSolver>* otsolver,
const DistanceRequest& request,
DistanceResult& result)
{
@@ -253,11 +253,11 @@ bool initialize(MeshOcTreeDistanceTraversalNode<BV, NarrowPhaseSolver>& node,
}
/// @brief Initialize traversal node for collision between one octree and one mesh, given current object transform
-template<typename BV, typename NarrowPhaseSolver>
-bool initialize(OcTreeMeshDistanceTraversalNode<BV, NarrowPhaseSolver>& node,
+template<typename BV, typename GJKSolver>
+bool initialize(OcTreeMeshDistanceTraversalNode<BV, GJKSolver>& node,
const OcTree& model1, const Transform3f& tf1,
const BVHModel<BV>& model2, const Transform3f& tf2,
- const OcTreeSolver<NarrowPhaseSolver>* otsolver,
+ const OcTreeSolver<GJKSolver>* otsolver,
const DistanceRequest& request,
DistanceResult& result)
{
@@ -279,11 +279,11 @@ bool initialize(OcTreeMeshDistanceTraversalNode<BV, NarrowPhaseSolver>& node,
/// @brief Initialize traversal node for collision between two geometric shapes, given current object transform
-template<typename S1, typename S2, typename NarrowPhaseSolver>
-bool initialize(ShapeCollisionTraversalNode<S1, S2, NarrowPhaseSolver>& node,
+template<typename S1, typename S2, typename GJKSolver>
+bool initialize(ShapeCollisionTraversalNode<S1, S2, GJKSolver>& node,
const S1& shape1, const Transform3f& tf1,
const S2& shape2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
CollisionResult& result)
{
node.model1 = &shape1;
@@ -298,11 +298,11 @@ bool initialize(ShapeCollisionTraversalNode<S1, S2, NarrowPhaseSolver>& node,
}
/// @brief Initialize traversal node for collision between one mesh and one shape, given current object transform
-template<typename BV, typename S, typename NarrowPhaseSolver>
-bool initialize(MeshShapeCollisionTraversalNode<BV, S, NarrowPhaseSolver>& node,
+template<typename BV, typename S, typename GJKSolver>
+bool initialize(MeshShapeCollisionTraversalNode<BV, S, GJKSolver>& node,
BVHModel<BV>& model1, Transform3f& tf1,
const S& model2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
CollisionResult& result,
bool use_refit = false, bool refit_bottomup = false)
{
@@ -344,11 +344,11 @@ bool initialize(MeshShapeCollisionTraversalNode<BV, S, NarrowPhaseSolver>& node,
/// @brief Initialize traversal node for collision between one mesh and one shape, given current object transform
-template<typename S, typename BV, typename NarrowPhaseSolver>
-bool initialize(ShapeMeshCollisionTraversalNode<S, BV, NarrowPhaseSolver>& node,
+template<typename S, typename BV, typename GJKSolver>
+bool initialize(ShapeMeshCollisionTraversalNode<S, BV, GJKSolver>& node,
const S& model1, const Transform3f& tf1,
BVHModel<BV>& model2, Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
CollisionResult& result,
bool use_refit = false, bool refit_bottomup = false)
{
@@ -392,11 +392,11 @@ bool initialize(ShapeMeshCollisionTraversalNode<S, BV, NarrowPhaseSolver>& node,
namespace details
{
-template<typename BV, typename S, typename NarrowPhaseSolver, template<typename, typename> class OrientedNode>
-static inline bool setupMeshShapeCollisionOrientedNode(OrientedNode<S, NarrowPhaseSolver>& node,
+template<typename BV, typename S, typename GJKSolver, template<typename, typename> class OrientedNode>
+static inline bool setupMeshShapeCollisionOrientedNode(OrientedNode<S, GJKSolver>& node,
const BVHModel<BV>& model1, const Transform3f& tf1,
const S& model2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
CollisionResult& result)
{
if(model1.getModelType() != BVH_MODEL_TRIANGLES)
@@ -424,44 +424,44 @@ static inline bool setupMeshShapeCollisionOrientedNode(OrientedNode<S, NarrowPha
/// @brief Initialize the traversal node for collision between one mesh and one shape, specialized for OBB type
-template<typename S, typename NarrowPhaseSolver>
-bool initialize(MeshShapeCollisionTraversalNodeOBB<S, NarrowPhaseSolver>& node,
+template<typename S, typename GJKSolver>
+bool initialize(MeshShapeCollisionTraversalNodeOBB<S, GJKSolver>& node,
const BVHModel<OBB>& model1, const Transform3f& tf1,
const S& model2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
CollisionResult& result)
{
return details::setupMeshShapeCollisionOrientedNode(node, model1, tf1, model2, tf2, nsolver, result);
}
/// @brief Initialize the traversal node for collision between one mesh and one shape, specialized for RSS type
-template<typename S, typename NarrowPhaseSolver>
-bool initialize(MeshShapeCollisionTraversalNodeRSS<S, NarrowPhaseSolver>& node,
+template<typename S, typename GJKSolver>
+bool initialize(MeshShapeCollisionTraversalNodeRSS<S, GJKSolver>& node,
const BVHModel<RSS>& model1, const Transform3f& tf1,
const S& model2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
CollisionResult& result)
{
return details::setupMeshShapeCollisionOrientedNode(node, model1, tf1, model2, tf2, nsolver, result);
}
/// @brief Initialize the traversal node for collision between one mesh and one shape, specialized for kIOS type
-template<typename S, typename NarrowPhaseSolver>
-bool initialize(MeshShapeCollisionTraversalNodekIOS<S, NarrowPhaseSolver>& node,
+template<typename S, typename GJKSolver>
+bool initialize(MeshShapeCollisionTraversalNodekIOS<S, GJKSolver>& node,
const BVHModel<kIOS>& model1, const Transform3f& tf1,
const S& model2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
CollisionResult& result)
{
return details::setupMeshShapeCollisionOrientedNode(node, model1, tf1, model2, tf2, nsolver, result);
}
/// @brief Initialize the traversal node for collision between one mesh and one shape, specialized for OBBRSS type
-template<typename S, typename NarrowPhaseSolver>
-bool initialize(MeshShapeCollisionTraversalNodeOBBRSS<S, NarrowPhaseSolver>& node,
+template<typename S, typename GJKSolver>
+bool initialize(MeshShapeCollisionTraversalNodeOBBRSS<S, GJKSolver>& node,
const BVHModel<OBBRSS>& model1, const Transform3f& tf1,
const S& model2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
CollisionResult& result)
{
return details::setupMeshShapeCollisionOrientedNode(node, model1, tf1, model2, tf2, nsolver, result);
@@ -471,11 +471,11 @@ bool initialize(MeshShapeCollisionTraversalNodeOBBRSS<S, NarrowPhaseSolver>& nod
/// @cond IGNORE
namespace details
{
-template<typename S, typename BV, typename NarrowPhaseSolver, template<typename, typename> class OrientedNode>
-static inline bool setupShapeMeshCollisionOrientedNode(OrientedNode<S, NarrowPhaseSolver>& node,
+template<typename S, typename BV, typename GJKSolver, template<typename, typename> class OrientedNode>
+static inline bool setupShapeMeshCollisionOrientedNode(OrientedNode<S, GJKSolver>& node,
const S& model1, const Transform3f& tf1,
const BVHModel<BV>& model2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
CollisionResult& result)
{
if(model2.getModelType() != BVH_MODEL_TRIANGLES)
@@ -500,44 +500,44 @@ static inline bool setupShapeMeshCollisionOrientedNode(OrientedNode<S, NarrowPha
/// @endcond
/// @brief Initialize the traversal node for collision between one mesh and one shape, specialized for OBB type
-template<typename S, typename NarrowPhaseSolver>
-bool initialize(ShapeMeshCollisionTraversalNodeOBB<S, NarrowPhaseSolver>& node,
+template<typename S, typename GJKSolver>
+bool initialize(ShapeMeshCollisionTraversalNodeOBB<S, GJKSolver>& node,
const S& model1, const Transform3f& tf1,
const BVHModel<OBB>& model2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
CollisionResult& result)
{
return details::setupShapeMeshCollisionOrientedNode(node, model1, tf1, model2, tf2, nsolver, result);
}
/// @brief Initialize the traversal node for collision between one mesh and one shape, specialized for RSS type
-template<typename S, typename NarrowPhaseSolver>
-bool initialize(ShapeMeshCollisionTraversalNodeRSS<S, NarrowPhaseSolver>& node,
+template<typename S, typename GJKSolver>
+bool initialize(ShapeMeshCollisionTraversalNodeRSS<S, GJKSolver>& node,
const S& model1, const Transform3f& tf1,
const BVHModel<RSS>& model2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
CollisionResult& result)
{
return details::setupShapeMeshCollisionOrientedNode(node, model1, tf1, model2, tf2, nsolver, result);
}
/// @brief Initialize the traversal node for collision between one mesh and one shape, specialized for kIOS type
-template<typename S, typename NarrowPhaseSolver>
-bool initialize(ShapeMeshCollisionTraversalNodekIOS<S, NarrowPhaseSolver>& node,
+template<typename S, typename GJKSolver>
+bool initialize(ShapeMeshCollisionTraversalNodekIOS<S, GJKSolver>& node,
const S& model1, const Transform3f& tf1,
const BVHModel<kIOS>& model2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
CollisionResult& result)
{
return details::setupShapeMeshCollisionOrientedNode(node, model1, tf1, model2, tf2, nsolver, result);
}
/// @brief Initialize the traversal node for collision between one mesh and one shape, specialized for OBBRSS type
-template<typename S, typename NarrowPhaseSolver>
-bool initialize(ShapeMeshCollisionTraversalNodeOBBRSS<S, NarrowPhaseSolver>& node,
+template<typename S, typename GJKSolver>
+bool initialize(ShapeMeshCollisionTraversalNodeOBBRSS<S, GJKSolver>& node,
const S& model1, const Transform3f& tf1,
const BVHModel<OBBRSS>& model2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
CollisionResult& result)
{
return details::setupShapeMeshCollisionOrientedNode(node, model1, tf1, model2, tf2, nsolver, result);
@@ -636,11 +636,11 @@ bool initialize(MeshCollisionTraversalNode<BV, 0>& node,
}
/// @brief Initialize traversal node for distance between two geometric shapes
-template<typename S1, typename S2, typename NarrowPhaseSolver>
-bool initialize(ShapeDistanceTraversalNode<S1, S2, NarrowPhaseSolver>& node,
+template<typename S1, typename S2, typename GJKSolver>
+bool initialize(ShapeDistanceTraversalNode<S1, S2, GJKSolver>& node,
const S1& shape1, const Transform3f& tf1,
const S2& shape2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
const DistanceRequest& request,
DistanceResult& result)
{
@@ -742,11 +742,11 @@ bool initialize(MeshDistanceTraversalNodeOBBRSS& node,
DistanceResult& result);
/// @brief Initialize traversal node for distance computation between one mesh and one shape, given the current transforms
-template<typename BV, typename S, typename NarrowPhaseSolver>
-bool initialize(MeshShapeDistanceTraversalNode<BV, S, NarrowPhaseSolver>& node,
+template<typename BV, typename S, typename GJKSolver>
+bool initialize(MeshShapeDistanceTraversalNode<BV, S, GJKSolver>& node,
BVHModel<BV>& model1, Transform3f& tf1,
const S& model2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
const DistanceRequest& request,
DistanceResult& result,
bool use_refit = false, bool refit_bottomup = false)
@@ -789,11 +789,11 @@ bool initialize(MeshShapeDistanceTraversalNode<BV, S, NarrowPhaseSolver>& node,
}
/// @brief Initialize traversal node for distance computation between one shape and one mesh, given the current transforms
-template<typename S, typename BV, typename NarrowPhaseSolver>
-bool initialize(ShapeMeshDistanceTraversalNode<S, BV, NarrowPhaseSolver>& node,
+template<typename S, typename BV, typename GJKSolver>
+bool initialize(ShapeMeshDistanceTraversalNode<S, BV, GJKSolver>& node,
const S& model1, const Transform3f& tf1,
BVHModel<BV>& model2, Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
const DistanceRequest& request,
DistanceResult& result,
bool use_refit = false, bool refit_bottomup = false)
@@ -839,11 +839,11 @@ bool initialize(ShapeMeshDistanceTraversalNode<S, BV, NarrowPhaseSolver>& node,
namespace details
{
-template<typename BV, typename S, typename NarrowPhaseSolver, template<typename, typename> class OrientedNode>
-static inline bool setupMeshShapeDistanceOrientedNode(OrientedNode<S, NarrowPhaseSolver>& node,
+template<typename BV, typename S, typename GJKSolver, template<typename, typename> class OrientedNode>
+static inline bool setupMeshShapeDistanceOrientedNode(OrientedNode<S, GJKSolver>& node,
const BVHModel<BV>& model1, const Transform3f& tf1,
const S& model2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
const DistanceRequest& request,
DistanceResult& result)
{
@@ -870,11 +870,11 @@ static inline bool setupMeshShapeDistanceOrientedNode(OrientedNode<S, NarrowPhas
/// @endcond
/// @brief Initialize traversal node for distance computation between one mesh and one shape, specialized for RSS type
-template<typename S, typename NarrowPhaseSolver>
-bool initialize(MeshShapeDistanceTraversalNodeRSS<S, NarrowPhaseSolver>& node,
+template<typename S, typename GJKSolver>
+bool initialize(MeshShapeDistanceTraversalNodeRSS<S, GJKSolver>& node,
const BVHModel<RSS>& model1, const Transform3f& tf1,
const S& model2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
const DistanceRequest& request,
DistanceResult& result)
{
@@ -882,11 +882,11 @@ bool initialize(MeshShapeDistanceTraversalNodeRSS<S, NarrowPhaseSolver>& node,
}
/// @brief Initialize traversal node for distance computation between one mesh and one shape, specialized for kIOS type
-template<typename S, typename NarrowPhaseSolver>
-bool initialize(MeshShapeDistanceTraversalNodekIOS<S, NarrowPhaseSolver>& node,
+template<typename S, typename GJKSolver>
+bool initialize(MeshShapeDistanceTraversalNodekIOS<S, GJKSolver>& node,
const BVHModel<kIOS>& model1, const Transform3f& tf1,
const S& model2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
const DistanceRequest& request,
DistanceResult& result)
{
@@ -894,11 +894,11 @@ bool initialize(MeshShapeDistanceTraversalNodekIOS<S, NarrowPhaseSolver>& node,
}
/// @brief Initialize traversal node for distance computation between one mesh and one shape, specialized for OBBRSS type
-template<typename S, typename NarrowPhaseSolver>
-bool initialize(MeshShapeDistanceTraversalNodeOBBRSS<S, NarrowPhaseSolver>& node,
+template<typename S, typename GJKSolver>
+bool initialize(MeshShapeDistanceTraversalNodeOBBRSS<S, GJKSolver>& node,
const BVHModel<OBBRSS>& model1, const Transform3f& tf1,
const S& model2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
const DistanceRequest& request,
DistanceResult& result)
{
@@ -908,11 +908,11 @@ bool initialize(MeshShapeDistanceTraversalNodeOBBRSS<S, NarrowPhaseSolver>& node
namespace details
{
-template<typename S, typename BV, typename NarrowPhaseSolver, template<typename, typename> class OrientedNode>
-static inline bool setupShapeMeshDistanceOrientedNode(OrientedNode<S, NarrowPhaseSolver>& node,
+template<typename S, typename BV, typename GJKSolver, template<typename, typename> class OrientedNode>
+static inline bool setupShapeMeshDistanceOrientedNode(OrientedNode<S, GJKSolver>& node,
const S& model1, const Transform3f& tf1,
const BVHModel<BV>& model2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
const DistanceRequest& request,
DistanceResult& result)
{
@@ -941,11 +941,11 @@ static inline bool setupShapeMeshDistanceOrientedNode(OrientedNode<S, NarrowPhas
/// @brief Initialize traversal node for distance computation between one shape and one mesh, specialized for RSS type
-template<typename S, typename NarrowPhaseSolver>
-bool initialize(ShapeMeshDistanceTraversalNodeRSS<S, NarrowPhaseSolver>& node,
+template<typename S, typename GJKSolver>
+bool initialize(ShapeMeshDistanceTraversalNodeRSS<S, GJKSolver>& node,
const S& model1, const Transform3f& tf1,
const BVHModel<RSS>& model2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
const DistanceRequest& request,
DistanceResult& result)
{
@@ -953,11 +953,11 @@ bool initialize(ShapeMeshDistanceTraversalNodeRSS<S, NarrowPhaseSolver>& node,
}
/// @brief Initialize traversal node for distance computation between one shape and one mesh, specialized for kIOS type
-template<typename S, typename NarrowPhaseSolver>
-bool initialize(ShapeMeshDistanceTraversalNodekIOS<S, NarrowPhaseSolver>& node,
+template<typename S, typename GJKSolver>
+bool initialize(ShapeMeshDistanceTraversalNodekIOS<S, GJKSolver>& node,
const S& model1, const Transform3f& tf1,
const BVHModel<kIOS>& model2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
const DistanceRequest& request,
DistanceResult& result)
{
@@ -965,11 +965,11 @@ bool initialize(ShapeMeshDistanceTraversalNodekIOS<S, NarrowPhaseSolver>& node,
}
/// @brief Initialize traversal node for distance computation between one shape and one mesh, specialized for OBBRSS type
-template<typename S, typename NarrowPhaseSolver>
-bool initialize(ShapeMeshDistanceTraversalNodeOBBRSS<S, NarrowPhaseSolver>& node,
+template<typename S, typename GJKSolver>
+bool initialize(ShapeMeshDistanceTraversalNodeOBBRSS<S, GJKSolver>& node,
const S& model1, const Transform3f& tf1,
const BVHModel<OBBRSS>& model2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
const DistanceRequest& request,
DistanceResult& result)
{
diff --git a/include/hpp/fcl/traversal/traversal_node_shapes.h b/include/hpp/fcl/traversal/traversal_node_shapes.h
index 5180e9dcb43fe097e3be7730be259ee6e2feea8a..9ed5e4e7041288df079055f62aaab991bbb2edaf 100644
--- a/include/hpp/fcl/traversal/traversal_node_shapes.h
+++ b/include/hpp/fcl/traversal/traversal_node_shapes.h
@@ -53,7 +53,7 @@ namespace fcl
/// @brief Traversal node for collision between two shapes
-template<typename S1, typename S2, typename NarrowPhaseSolver>
+template<typename S1, typename S2, typename GJKSolver>
class ShapeCollisionTraversalNode : public CollisionTraversalNodeBase
{
public:
@@ -111,11 +111,11 @@ public:
const S1* model1;
const S2* model2;
- const NarrowPhaseSolver* nsolver;
+ const GJKSolver* nsolver;
};
/// @brief Traversal node for distance between two shapes
-template<typename S1, typename S2, typename NarrowPhaseSolver>
+template<typename S1, typename S2, typename GJKSolver>
class ShapeDistanceTraversalNode : public DistanceTraversalNodeBase
{
public:
@@ -147,7 +147,7 @@ public:
const S1* model1;
const S2* model2;
- const NarrowPhaseSolver* nsolver;
+ const GJKSolver* nsolver;
};
}
diff --git a/src/BV/OBB.cpp b/src/BV/OBB.cpp
index 1106c965d68b9e89559aa80a3cdbc39e99878530..d089a77bad653a27a575db85411aaa67f20af01c 100644
--- a/src/BV/OBB.cpp
+++ b/src/BV/OBB.cpp
@@ -39,7 +39,7 @@
#include <hpp/fcl/BVH/BVH_utility.h>
#include <hpp/fcl/math/transform.h>
#include <hpp/fcl/collision_data.h>
-#include <hpp/fcl/math/tools.h>
+#include "../math/tools.h"
#include <iostream>
#include <limits>
diff --git a/src/BV/RSS.cpp b/src/BV/RSS.cpp
index 75dd554d812c12a1864d1816315c924f678b58ea..ff3563cc29bf3ab591cbcdd65d5bfedd508a56d8 100644
--- a/src/BV/RSS.cpp
+++ b/src/BV/RSS.cpp
@@ -38,7 +38,7 @@
#include <hpp/fcl/BV/RSS.h>
#include <hpp/fcl/BVH/BVH_utility.h>
#include <iostream>
-#include <hpp/fcl/math/tools.h>
+#include "../math/tools.h"
namespace hpp
{
namespace fcl
diff --git a/src/BVH/BV_fitter.cpp b/src/BVH/BV_fitter.cpp
index 3ef215079e236f369b65522293f76fbc1eaf4c91..d04481fb84f451b065881f26c5a4d9060fc83249 100644
--- a/src/BVH/BV_fitter.cpp
+++ b/src/BVH/BV_fitter.cpp
@@ -38,7 +38,7 @@
#include <hpp/fcl/BVH/BV_fitter.h>
#include <hpp/fcl/BVH/BVH_utility.h>
#include <limits>
-#include <hpp/fcl/math/tools.h>
+#include "../math/tools.h"
namespace hpp
{
diff --git a/src/collision.cpp b/src/collision.cpp
index c5405037d4e9cd41d46acf2596467c5d48efcd01..b6a45e8301499083696e1cb48ff2e4aa51671f86 100644
--- a/src/collision.cpp
+++ b/src/collision.cpp
@@ -54,9 +54,9 @@ CollisionFunctionMatrix<GJKSolver>& getCollisionFunctionLookTable()
return table;
}
-template<typename NarrowPhaseSolver>
+template<typename GJKSolver>
std::size_t collide(const CollisionObject* o1, const CollisionObject* o2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
const CollisionRequest& request,
CollisionResult& result)
{
@@ -81,18 +81,18 @@ void invertResults(CollisionResult& result)
}
}
-template<typename NarrowPhaseSolver>
+template<typename GJKSolver>
std::size_t collide(const CollisionGeometry* o1, const Transform3f& tf1,
const CollisionGeometry* o2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver_,
+ const GJKSolver* nsolver_,
const CollisionRequest& request,
CollisionResult& result)
{
- const NarrowPhaseSolver* nsolver = nsolver_;
+ const GJKSolver* nsolver = nsolver_;
if(!nsolver_)
- nsolver = new NarrowPhaseSolver();
+ nsolver = new GJKSolver();
- const CollisionFunctionMatrix<NarrowPhaseSolver>& looktable = getCollisionFunctionLookTable<NarrowPhaseSolver>();
+ const CollisionFunctionMatrix<GJKSolver>& looktable = getCollisionFunctionLookTable<GJKSolver>();
result.distance_lower_bound = -1;
std::size_t res;
if(request.num_max_contacts == 0)
diff --git a/src/collision_func_matrix.cpp b/src/collision_func_matrix.cpp
index 69b01a281455a764e4fedbdb3414c52405b22313..fec09ba751cbc1ebac88f4ab03487bd803b04d38 100644
--- a/src/collision_func_matrix.cpp
+++ b/src/collision_func_matrix.cpp
@@ -49,17 +49,17 @@ namespace fcl
{
#ifdef HPP_FCL_HAVE_OCTOMAP
-template<typename T_SH, typename NarrowPhaseSolver>
+template<typename T_SH, typename GJKSolver>
std::size_t ShapeOcTreeCollide(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
const CollisionRequest& request, CollisionResult& result)
{
if(request.isSatisfied(result)) return result.numContacts();
- ShapeOcTreeCollisionTraversalNode<T_SH, NarrowPhaseSolver> node (request);
+ ShapeOcTreeCollisionTraversalNode<T_SH, GJKSolver> node (request);
const T_SH* obj1 = static_cast<const T_SH*>(o1);
const OcTree* obj2 = static_cast<const OcTree*>(o2);
- OcTreeSolver<NarrowPhaseSolver> otsolver(nsolver);
+ OcTreeSolver<GJKSolver> otsolver(nsolver);
initialize(node, *obj1, tf1, *obj2, tf2, &otsolver, result);
collide(&node, request, result);
@@ -67,17 +67,17 @@ std::size_t ShapeOcTreeCollide(const CollisionGeometry* o1, const Transform3f& t
return result.numContacts();
}
-template<typename T_SH, typename NarrowPhaseSolver>
+template<typename T_SH, typename GJKSolver>
std::size_t OcTreeShapeCollide(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
const CollisionRequest& request, CollisionResult& result)
{
if(request.isSatisfied(result)) return result.numContacts();
- OcTreeShapeCollisionTraversalNode<T_SH, NarrowPhaseSolver> node (request);
+ OcTreeShapeCollisionTraversalNode<T_SH, GJKSolver> node (request);
const OcTree* obj1 = static_cast<const OcTree*>(o1);
const T_SH* obj2 = static_cast<const T_SH*>(o2);
- OcTreeSolver<NarrowPhaseSolver> otsolver(nsolver);
+ OcTreeSolver<GJKSolver> otsolver(nsolver);
initialize(node, *obj1, tf1, *obj2, tf2, &otsolver, result);
collide(&node, request, result);
@@ -85,17 +85,17 @@ std::size_t OcTreeShapeCollide(const CollisionGeometry* o1, const Transform3f& t
return result.numContacts();
}
-template<typename NarrowPhaseSolver>
+template<typename GJKSolver>
std::size_t OcTreeCollide(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
const CollisionRequest& request, CollisionResult& result)
{
if(request.isSatisfied(result)) return result.numContacts();
- OcTreeCollisionTraversalNode<NarrowPhaseSolver> node (request);
+ OcTreeCollisionTraversalNode<GJKSolver> node (request);
const OcTree* obj1 = static_cast<const OcTree*>(o1);
const OcTree* obj2 = static_cast<const OcTree*>(o2);
- OcTreeSolver<NarrowPhaseSolver> otsolver(nsolver);
+ OcTreeSolver<GJKSolver> otsolver(nsolver);
initialize(node, *obj1, tf1, *obj2, tf2, &otsolver, result);
collide(&node, request, result);
@@ -103,34 +103,34 @@ std::size_t OcTreeCollide(const CollisionGeometry* o1, const Transform3f& tf1, c
return result.numContacts();
}
-template<typename T_BVH, typename NarrowPhaseSolver>
+template<typename T_BVH, typename GJKSolver>
std::size_t OcTreeBVHCollide(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
const CollisionRequest& request, CollisionResult& result)
{
if(request.isSatisfied(result)) return result.numContacts();
- OcTreeMeshCollisionTraversalNode<T_BVH, NarrowPhaseSolver> node (request);
+ OcTreeMeshCollisionTraversalNode<T_BVH, GJKSolver> node (request);
const OcTree* obj1 = static_cast<const OcTree*>(o1);
const BVHModel<T_BVH>* obj2 = static_cast<const BVHModel<T_BVH>*>(o2);
- OcTreeSolver<NarrowPhaseSolver> otsolver(nsolver);
+ OcTreeSolver<GJKSolver> otsolver(nsolver);
initialize(node, *obj1, tf1, *obj2, tf2, &otsolver, result);
collide(&node, request, result);
return result.numContacts();
}
-template<typename T_BVH, typename NarrowPhaseSolver>
+template<typename T_BVH, typename GJKSolver>
std::size_t BVHOcTreeCollide(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
const CollisionRequest& request, CollisionResult& result)
{
if(request.isSatisfied(result)) return result.numContacts();
- MeshOcTreeCollisionTraversalNode<T_BVH, NarrowPhaseSolver> node (request);
+ MeshOcTreeCollisionTraversalNode<T_BVH, GJKSolver> node (request);
const BVHModel<T_BVH>* obj1 = static_cast<const BVHModel<T_BVH>*>(o1);
const OcTree* obj2 = static_cast<const OcTree*>(o2);
- OcTreeSolver<NarrowPhaseSolver> otsolver(nsolver);
+ OcTreeSolver<GJKSolver> otsolver(nsolver);
initialize(node, *obj1, tf1, *obj2, tf2, &otsolver, result);
collide(&node, request, result);
@@ -139,16 +139,16 @@ std::size_t BVHOcTreeCollide(const CollisionGeometry* o1, const Transform3f& tf1
#endif
-template<typename T_SH1, typename T_SH2, typename NarrowPhaseSolver>
+template<typename T_SH1, typename T_SH2, typename GJKSolver>
std::size_t ShapeShapeCollide(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
const CollisionRequest& request, CollisionResult& result)
{
if(request.isSatisfied(result)) return result.numContacts();
DistanceResult distanceResult;
DistanceRequest distanceRequest (request.enable_contact);
- FCL_REAL distance = ShapeShapeDistance <T_SH1, T_SH2, NarrowPhaseSolver>
+ FCL_REAL distance = ShapeShapeDistance <T_SH1, T_SH2, GJKSolver>
(o1, tf1, o2, tf2, nsolver, distanceRequest, distanceResult);
if (distance <= 0) {
@@ -179,16 +179,16 @@ std::size_t ShapeShapeCollide(const CollisionGeometry* o1, const Transform3f& tf
return 0;
}
-template<typename T_BVH, typename T_SH, typename NarrowPhaseSolver>
+template<typename T_BVH, typename T_SH, typename GJKSolver>
struct BVHShapeCollider
{
static std::size_t collide(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
const CollisionRequest& request, CollisionResult& result)
{
if(request.isSatisfied(result)) return result.numContacts();
- MeshShapeCollisionTraversalNode<T_BVH, T_SH, NarrowPhaseSolver> node (request);
+ MeshShapeCollisionTraversalNode<T_BVH, T_SH, GJKSolver> node (request);
const BVHModel<T_BVH>* obj1 = static_cast<const BVHModel<T_BVH>* >(o1);
BVHModel<T_BVH>* obj1_tmp = new BVHModel<T_BVH>(*obj1);
Transform3f tf1_tmp = tf1;
@@ -205,9 +205,9 @@ struct BVHShapeCollider
namespace details
{
-template<typename OrientMeshShapeCollisionTraveralNode, typename T_BVH, typename T_SH, typename NarrowPhaseSolver>
+template<typename OrientMeshShapeCollisionTraveralNode, typename T_BVH, typename T_SH, typename GJKSolver>
std::size_t orientedBVHShapeCollide(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
const CollisionRequest& request, CollisionResult& result)
{
if(request.isSatisfied(result)) return result.numContacts();
@@ -224,50 +224,50 @@ std::size_t orientedBVHShapeCollide(const CollisionGeometry* o1, const Transform
}
-template<typename T_SH, typename NarrowPhaseSolver>
-struct BVHShapeCollider<OBB, T_SH, NarrowPhaseSolver>
+template<typename T_SH, typename GJKSolver>
+struct BVHShapeCollider<OBB, T_SH, GJKSolver>
{
static std::size_t collide(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
const CollisionRequest& request, CollisionResult& result)
{
- return details::orientedBVHShapeCollide<MeshShapeCollisionTraversalNodeOBB<T_SH, NarrowPhaseSolver>, OBB, T_SH, NarrowPhaseSolver>(o1, tf1, o2, tf2, nsolver, request, result);
+ return details::orientedBVHShapeCollide<MeshShapeCollisionTraversalNodeOBB<T_SH, GJKSolver>, OBB, T_SH, GJKSolver>(o1, tf1, o2, tf2, nsolver, request, result);
}
};
-template<typename T_SH, typename NarrowPhaseSolver>
-struct BVHShapeCollider<RSS, T_SH, NarrowPhaseSolver>
+template<typename T_SH, typename GJKSolver>
+struct BVHShapeCollider<RSS, T_SH, GJKSolver>
{
static std::size_t collide(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
const CollisionRequest& request, CollisionResult& result)
{
- return details::orientedBVHShapeCollide<MeshShapeCollisionTraversalNodeRSS<T_SH, NarrowPhaseSolver>, RSS, T_SH, NarrowPhaseSolver>(o1, tf1, o2, tf2, nsolver, request, result);
+ return details::orientedBVHShapeCollide<MeshShapeCollisionTraversalNodeRSS<T_SH, GJKSolver>, RSS, T_SH, GJKSolver>(o1, tf1, o2, tf2, nsolver, request, result);
}
};
-template<typename T_SH, typename NarrowPhaseSolver>
-struct BVHShapeCollider<kIOS, T_SH, NarrowPhaseSolver>
+template<typename T_SH, typename GJKSolver>
+struct BVHShapeCollider<kIOS, T_SH, GJKSolver>
{
static std::size_t collide(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
const CollisionRequest& request, CollisionResult& result)
{
- return details::orientedBVHShapeCollide<MeshShapeCollisionTraversalNodekIOS<T_SH, NarrowPhaseSolver>, kIOS, T_SH, NarrowPhaseSolver>(o1, tf1, o2, tf2, nsolver, request, result);
+ return details::orientedBVHShapeCollide<MeshShapeCollisionTraversalNodekIOS<T_SH, GJKSolver>, kIOS, T_SH, GJKSolver>(o1, tf1, o2, tf2, nsolver, request, result);
}
};
-template<typename T_SH, typename NarrowPhaseSolver>
-struct BVHShapeCollider<OBBRSS, T_SH, NarrowPhaseSolver>
+template<typename T_SH, typename GJKSolver>
+struct BVHShapeCollider<OBBRSS, T_SH, GJKSolver>
{
static std::size_t collide(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const GJKSolver* nsolver,
const CollisionRequest& request, CollisionResult& result)
{
- return details::orientedBVHShapeCollide<MeshShapeCollisionTraversalNodeOBBRSS<T_SH, NarrowPhaseSolver>, OBBRSS, T_SH, NarrowPhaseSolver>(o1, tf1, o2, tf2, nsolver, request, result);
+ return details::orientedBVHShapeCollide<MeshShapeCollisionTraversalNodeOBBRSS<T_SH, GJKSolver>, OBBRSS, T_SH, GJKSolver>(o1, tf1, o2, tf2, nsolver, request, result);
}
};
@@ -333,17 +333,17 @@ std::size_t BVHCollide<kIOS>(const CollisionGeometry* o1, const Transform3f& tf1
}
-template<typename T_BVH, typename NarrowPhaseSolver>
+template<typename T_BVH, typename GJKSolver>
std::size_t BVHCollide(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2,
- const NarrowPhaseSolver* /*nsolver*/,
+ const GJKSolver* /*nsolver*/,
const CollisionRequest& request, CollisionResult& result)
{
return BVHCollide<T_BVH>(o1, tf1, o2, tf2, request, result);
}
-template<typename NarrowPhaseSolver>
-CollisionFunctionMatrix<NarrowPhaseSolver>::CollisionFunctionMatrix()
+template<typename GJKSolver>
+CollisionFunctionMatrix<GJKSolver>::CollisionFunctionMatrix()
{
for(int i = 0; i < NODE_COUNT; ++i)
{
@@ -351,197 +351,197 @@ CollisionFunctionMatrix<NarrowPhaseSolver>::CollisionFunctionMatrix()
collision_matrix[i][j] = NULL;
}
- collision_matrix[GEOM_BOX][GEOM_BOX] = &ShapeShapeCollide<Box, Box, NarrowPhaseSolver>;
- collision_matrix[GEOM_BOX][GEOM_SPHERE] = &ShapeShapeCollide<Box, Sphere, NarrowPhaseSolver>;
- collision_matrix[GEOM_BOX][GEOM_CAPSULE] = &ShapeShapeCollide<Box, Capsule, NarrowPhaseSolver>;
- collision_matrix[GEOM_BOX][GEOM_CONE] = &ShapeShapeCollide<Box, Cone, NarrowPhaseSolver>;
- collision_matrix[GEOM_BOX][GEOM_CYLINDER] = &ShapeShapeCollide<Box, Cylinder, NarrowPhaseSolver>;
- collision_matrix[GEOM_BOX][GEOM_CONVEX] = &ShapeShapeCollide<Box, Convex, NarrowPhaseSolver>;
- collision_matrix[GEOM_BOX][GEOM_PLANE] = &ShapeShapeCollide<Box, Plane, NarrowPhaseSolver>;
- collision_matrix[GEOM_BOX][GEOM_HALFSPACE] = &ShapeShapeCollide<Box, Halfspace, NarrowPhaseSolver>;
-
- collision_matrix[GEOM_SPHERE][GEOM_BOX] = &ShapeShapeCollide<Sphere, Box, NarrowPhaseSolver>;
- collision_matrix[GEOM_SPHERE][GEOM_SPHERE] = &ShapeShapeCollide<Sphere, Sphere, NarrowPhaseSolver>;
- collision_matrix[GEOM_SPHERE][GEOM_CAPSULE] = &ShapeShapeCollide<Sphere, Capsule, NarrowPhaseSolver>;
- collision_matrix[GEOM_SPHERE][GEOM_CONE] = &ShapeShapeCollide<Sphere, Cone, NarrowPhaseSolver>;
- collision_matrix[GEOM_SPHERE][GEOM_CYLINDER] = &ShapeShapeCollide<Sphere, Cylinder, NarrowPhaseSolver>;
- collision_matrix[GEOM_SPHERE][GEOM_CONVEX] = &ShapeShapeCollide<Sphere, Convex, NarrowPhaseSolver>;
- collision_matrix[GEOM_SPHERE][GEOM_PLANE] = &ShapeShapeCollide<Sphere, Plane, NarrowPhaseSolver>;
- collision_matrix[GEOM_SPHERE][GEOM_HALFSPACE] = &ShapeShapeCollide<Sphere, Halfspace, NarrowPhaseSolver>;
-
- collision_matrix[GEOM_CAPSULE][GEOM_BOX] = &ShapeShapeCollide<Capsule, Box, NarrowPhaseSolver>;
- collision_matrix[GEOM_CAPSULE][GEOM_SPHERE] = &ShapeShapeCollide<Capsule, Sphere, NarrowPhaseSolver>;
- collision_matrix[GEOM_CAPSULE][GEOM_CAPSULE] = &ShapeShapeCollide<Capsule, Capsule, NarrowPhaseSolver>;
- collision_matrix[GEOM_CAPSULE][GEOM_CONE] = &ShapeShapeCollide<Capsule, Cone, NarrowPhaseSolver>;
- collision_matrix[GEOM_CAPSULE][GEOM_CYLINDER] = &ShapeShapeCollide<Capsule, Cylinder, NarrowPhaseSolver>;
- collision_matrix[GEOM_CAPSULE][GEOM_CONVEX] = &ShapeShapeCollide<Capsule, Convex, NarrowPhaseSolver>;
- collision_matrix[GEOM_CAPSULE][GEOM_PLANE] = &ShapeShapeCollide<Capsule, Plane, NarrowPhaseSolver>;
- collision_matrix[GEOM_CAPSULE][GEOM_HALFSPACE] = &ShapeShapeCollide<Capsule, Halfspace, NarrowPhaseSolver>;
-
- collision_matrix[GEOM_CONE][GEOM_BOX] = &ShapeShapeCollide<Cone, Box, NarrowPhaseSolver>;
- collision_matrix[GEOM_CONE][GEOM_SPHERE] = &ShapeShapeCollide<Cone, Sphere, NarrowPhaseSolver>;
- collision_matrix[GEOM_CONE][GEOM_CAPSULE] = &ShapeShapeCollide<Cone, Capsule, NarrowPhaseSolver>;
- collision_matrix[GEOM_CONE][GEOM_CONE] = &ShapeShapeCollide<Cone, Cone, NarrowPhaseSolver>;
- collision_matrix[GEOM_CONE][GEOM_CYLINDER] = &ShapeShapeCollide<Cone, Cylinder, NarrowPhaseSolver>;
- collision_matrix[GEOM_CONE][GEOM_CONVEX] = &ShapeShapeCollide<Cone, Convex, NarrowPhaseSolver>;
- collision_matrix[GEOM_CONE][GEOM_PLANE] = &ShapeShapeCollide<Cone, Plane, NarrowPhaseSolver>;
- collision_matrix[GEOM_CONE][GEOM_HALFSPACE] = &ShapeShapeCollide<Cone, Halfspace, NarrowPhaseSolver>;
-
- collision_matrix[GEOM_CYLINDER][GEOM_BOX] = &ShapeShapeCollide<Cylinder, Box, NarrowPhaseSolver>;
- collision_matrix[GEOM_CYLINDER][GEOM_SPHERE] = &ShapeShapeCollide<Cylinder, Sphere, NarrowPhaseSolver>;
- collision_matrix[GEOM_CYLINDER][GEOM_CAPSULE] = &ShapeShapeCollide<Cylinder, Capsule, NarrowPhaseSolver>;
- collision_matrix[GEOM_CYLINDER][GEOM_CONE] = &ShapeShapeCollide<Cylinder, Cone, NarrowPhaseSolver>;
- collision_matrix[GEOM_CYLINDER][GEOM_CYLINDER] = &ShapeShapeCollide<Cylinder, Cylinder, NarrowPhaseSolver>;
- collision_matrix[GEOM_CYLINDER][GEOM_CONVEX] = &ShapeShapeCollide<Cylinder, Convex, NarrowPhaseSolver>;
- collision_matrix[GEOM_CYLINDER][GEOM_PLANE] = &ShapeShapeCollide<Cylinder, Plane, NarrowPhaseSolver>;
- collision_matrix[GEOM_CYLINDER][GEOM_HALFSPACE] = &ShapeShapeCollide<Cylinder, Halfspace, NarrowPhaseSolver>;
-
- collision_matrix[GEOM_CONVEX][GEOM_BOX] = &ShapeShapeCollide<Convex, Box, NarrowPhaseSolver>;
- collision_matrix[GEOM_CONVEX][GEOM_SPHERE] = &ShapeShapeCollide<Convex, Sphere, NarrowPhaseSolver>;
- collision_matrix[GEOM_CONVEX][GEOM_CAPSULE] = &ShapeShapeCollide<Convex, Capsule, NarrowPhaseSolver>;
- collision_matrix[GEOM_CONVEX][GEOM_CONE] = &ShapeShapeCollide<Convex, Cone, NarrowPhaseSolver>;
- collision_matrix[GEOM_CONVEX][GEOM_CYLINDER] = &ShapeShapeCollide<Convex, Cylinder, NarrowPhaseSolver>;
- collision_matrix[GEOM_CONVEX][GEOM_CONVEX] = &ShapeShapeCollide<Convex, Convex, NarrowPhaseSolver>;
- collision_matrix[GEOM_CONVEX][GEOM_PLANE] = &ShapeShapeCollide<Convex, Plane, NarrowPhaseSolver>;
- collision_matrix[GEOM_CONVEX][GEOM_HALFSPACE] = &ShapeShapeCollide<Convex, Halfspace, NarrowPhaseSolver>;
-
- collision_matrix[GEOM_PLANE][GEOM_BOX] = &ShapeShapeCollide<Plane, Box, NarrowPhaseSolver>;
- collision_matrix[GEOM_PLANE][GEOM_SPHERE] = &ShapeShapeCollide<Plane, Sphere, NarrowPhaseSolver>;
- collision_matrix[GEOM_PLANE][GEOM_CAPSULE] = &ShapeShapeCollide<Plane, Capsule, NarrowPhaseSolver>;
- collision_matrix[GEOM_PLANE][GEOM_CONE] = &ShapeShapeCollide<Plane, Cone, NarrowPhaseSolver>;
- collision_matrix[GEOM_PLANE][GEOM_CYLINDER] = &ShapeShapeCollide<Plane, Cylinder, NarrowPhaseSolver>;
- collision_matrix[GEOM_PLANE][GEOM_CONVEX] = &ShapeShapeCollide<Plane, Convex, NarrowPhaseSolver>;
- collision_matrix[GEOM_PLANE][GEOM_PLANE] = &ShapeShapeCollide<Plane, Plane, NarrowPhaseSolver>;
- collision_matrix[GEOM_PLANE][GEOM_HALFSPACE] = &ShapeShapeCollide<Plane, Halfspace, NarrowPhaseSolver>;
-
- collision_matrix[GEOM_HALFSPACE][GEOM_BOX] = &ShapeShapeCollide<Halfspace, Box, NarrowPhaseSolver>;
- collision_matrix[GEOM_HALFSPACE][GEOM_SPHERE] = &ShapeShapeCollide<Halfspace, Sphere, NarrowPhaseSolver>;
- collision_matrix[GEOM_HALFSPACE][GEOM_CAPSULE] = &ShapeShapeCollide<Halfspace, Capsule, NarrowPhaseSolver>;
- collision_matrix[GEOM_HALFSPACE][GEOM_CONE] = &ShapeShapeCollide<Halfspace, Cone, NarrowPhaseSolver>;
- collision_matrix[GEOM_HALFSPACE][GEOM_CYLINDER] = &ShapeShapeCollide<Halfspace, Cylinder, NarrowPhaseSolver>;
- collision_matrix[GEOM_HALFSPACE][GEOM_CONVEX] = &ShapeShapeCollide<Halfspace, Convex, NarrowPhaseSolver>;
- collision_matrix[GEOM_HALFSPACE][GEOM_PLANE] = &ShapeShapeCollide<Halfspace, Plane, NarrowPhaseSolver>;
- collision_matrix[GEOM_HALFSPACE][GEOM_HALFSPACE] = &ShapeShapeCollide<Halfspace, Halfspace, NarrowPhaseSolver>;
-
- collision_matrix[BV_AABB][GEOM_BOX] = &BVHShapeCollider<AABB, Box, NarrowPhaseSolver>::collide;
- collision_matrix[BV_AABB][GEOM_SPHERE] = &BVHShapeCollider<AABB, Sphere, NarrowPhaseSolver>::collide;
- collision_matrix[BV_AABB][GEOM_CAPSULE] = &BVHShapeCollider<AABB, Capsule, NarrowPhaseSolver>::collide;
- collision_matrix[BV_AABB][GEOM_CONE] = &BVHShapeCollider<AABB, Cone, NarrowPhaseSolver>::collide;
- collision_matrix[BV_AABB][GEOM_CYLINDER] = &BVHShapeCollider<AABB, Cylinder, NarrowPhaseSolver>::collide;
- collision_matrix[BV_AABB][GEOM_CONVEX] = &BVHShapeCollider<AABB, Convex, NarrowPhaseSolver>::collide;
- collision_matrix[BV_AABB][GEOM_PLANE] = &BVHShapeCollider<AABB, Plane, NarrowPhaseSolver>::collide;
- collision_matrix[BV_AABB][GEOM_HALFSPACE] = &BVHShapeCollider<AABB, Halfspace, NarrowPhaseSolver>::collide;
-
- collision_matrix[BV_OBB][GEOM_BOX] = &BVHShapeCollider<OBB, Box, NarrowPhaseSolver>::collide;
- collision_matrix[BV_OBB][GEOM_SPHERE] = &BVHShapeCollider<OBB, Sphere, NarrowPhaseSolver>::collide;
- collision_matrix[BV_OBB][GEOM_CAPSULE] = &BVHShapeCollider<OBB, Capsule, NarrowPhaseSolver>::collide;
- collision_matrix[BV_OBB][GEOM_CONE] = &BVHShapeCollider<OBB, Cone, NarrowPhaseSolver>::collide;
- collision_matrix[BV_OBB][GEOM_CYLINDER] = &BVHShapeCollider<OBB, Cylinder, NarrowPhaseSolver>::collide;
- collision_matrix[BV_OBB][GEOM_CONVEX] = &BVHShapeCollider<OBB, Convex, NarrowPhaseSolver>::collide;
- collision_matrix[BV_OBB][GEOM_PLANE] = &BVHShapeCollider<OBB, Plane, NarrowPhaseSolver>::collide;
- collision_matrix[BV_OBB][GEOM_HALFSPACE] = &BVHShapeCollider<OBB, Halfspace, NarrowPhaseSolver>::collide;
-
- collision_matrix[BV_RSS][GEOM_BOX] = &BVHShapeCollider<RSS, Box, NarrowPhaseSolver>::collide;
- collision_matrix[BV_RSS][GEOM_SPHERE] = &BVHShapeCollider<RSS, Sphere, NarrowPhaseSolver>::collide;
- collision_matrix[BV_RSS][GEOM_CAPSULE] = &BVHShapeCollider<RSS, Capsule, NarrowPhaseSolver>::collide;
- collision_matrix[BV_RSS][GEOM_CONE] = &BVHShapeCollider<RSS, Cone, NarrowPhaseSolver>::collide;
- collision_matrix[BV_RSS][GEOM_CYLINDER] = &BVHShapeCollider<RSS, Cylinder, NarrowPhaseSolver>::collide;
- collision_matrix[BV_RSS][GEOM_CONVEX] = &BVHShapeCollider<RSS, Convex, NarrowPhaseSolver>::collide;
- collision_matrix[BV_RSS][GEOM_PLANE] = &BVHShapeCollider<RSS, Plane, NarrowPhaseSolver>::collide;
- collision_matrix[BV_RSS][GEOM_HALFSPACE] = &BVHShapeCollider<RSS, Halfspace, NarrowPhaseSolver>::collide;
-
- collision_matrix[BV_KDOP16][GEOM_BOX] = &BVHShapeCollider<KDOP<16>, Box, NarrowPhaseSolver>::collide;
- collision_matrix[BV_KDOP16][GEOM_SPHERE] = &BVHShapeCollider<KDOP<16>, Sphere, NarrowPhaseSolver>::collide;
- collision_matrix[BV_KDOP16][GEOM_CAPSULE] = &BVHShapeCollider<KDOP<16>, Capsule, NarrowPhaseSolver>::collide;
- collision_matrix[BV_KDOP16][GEOM_CONE] = &BVHShapeCollider<KDOP<16>, Cone, NarrowPhaseSolver>::collide;
- collision_matrix[BV_KDOP16][GEOM_CYLINDER] = &BVHShapeCollider<KDOP<16>, Cylinder, NarrowPhaseSolver>::collide;
- collision_matrix[BV_KDOP16][GEOM_CONVEX] = &BVHShapeCollider<KDOP<16>, Convex, NarrowPhaseSolver>::collide;
- collision_matrix[BV_KDOP16][GEOM_PLANE] = &BVHShapeCollider<KDOP<16>, Plane, NarrowPhaseSolver>::collide;
- collision_matrix[BV_KDOP16][GEOM_HALFSPACE] = &BVHShapeCollider<KDOP<16>, Halfspace, NarrowPhaseSolver>::collide;
-
- collision_matrix[BV_KDOP18][GEOM_BOX] = &BVHShapeCollider<KDOP<18>, Box, NarrowPhaseSolver>::collide;
- collision_matrix[BV_KDOP18][GEOM_SPHERE] = &BVHShapeCollider<KDOP<18>, Sphere, NarrowPhaseSolver>::collide;
- collision_matrix[BV_KDOP18][GEOM_CAPSULE] = &BVHShapeCollider<KDOP<18>, Capsule, NarrowPhaseSolver>::collide;
- collision_matrix[BV_KDOP18][GEOM_CONE] = &BVHShapeCollider<KDOP<18>, Cone, NarrowPhaseSolver>::collide;
- collision_matrix[BV_KDOP18][GEOM_CYLINDER] = &BVHShapeCollider<KDOP<18>, Cylinder, NarrowPhaseSolver>::collide;
- collision_matrix[BV_KDOP18][GEOM_CONVEX] = &BVHShapeCollider<KDOP<18>, Convex, NarrowPhaseSolver>::collide;
- collision_matrix[BV_KDOP18][GEOM_PLANE] = &BVHShapeCollider<KDOP<18>, Plane, NarrowPhaseSolver>::collide;
- collision_matrix[BV_KDOP18][GEOM_HALFSPACE] = &BVHShapeCollider<KDOP<18>, Halfspace, NarrowPhaseSolver>::collide;
-
- collision_matrix[BV_KDOP24][GEOM_BOX] = &BVHShapeCollider<KDOP<24>, Box, NarrowPhaseSolver>::collide;
- collision_matrix[BV_KDOP24][GEOM_SPHERE] = &BVHShapeCollider<KDOP<24>, Sphere, NarrowPhaseSolver>::collide;
- collision_matrix[BV_KDOP24][GEOM_CAPSULE] = &BVHShapeCollider<KDOP<24>, Capsule, NarrowPhaseSolver>::collide;
- collision_matrix[BV_KDOP24][GEOM_CONE] = &BVHShapeCollider<KDOP<24>, Cone, NarrowPhaseSolver>::collide;
- collision_matrix[BV_KDOP24][GEOM_CYLINDER] = &BVHShapeCollider<KDOP<24>, Cylinder, NarrowPhaseSolver>::collide;
- collision_matrix[BV_KDOP24][GEOM_CONVEX] = &BVHShapeCollider<KDOP<24>, Convex, NarrowPhaseSolver>::collide;
- collision_matrix[BV_KDOP24][GEOM_PLANE] = &BVHShapeCollider<KDOP<24>, Plane, NarrowPhaseSolver>::collide;
- collision_matrix[BV_KDOP24][GEOM_HALFSPACE] = &BVHShapeCollider<KDOP<24>, Halfspace, NarrowPhaseSolver>::collide;
-
- collision_matrix[BV_kIOS][GEOM_BOX] = &BVHShapeCollider<kIOS, Box, NarrowPhaseSolver>::collide;
- collision_matrix[BV_kIOS][GEOM_SPHERE] = &BVHShapeCollider<kIOS, Sphere, NarrowPhaseSolver>::collide;
- collision_matrix[BV_kIOS][GEOM_CAPSULE] = &BVHShapeCollider<kIOS, Capsule, NarrowPhaseSolver>::collide;
- collision_matrix[BV_kIOS][GEOM_CONE] = &BVHShapeCollider<kIOS, Cone, NarrowPhaseSolver>::collide;
- collision_matrix[BV_kIOS][GEOM_CYLINDER] = &BVHShapeCollider<kIOS, Cylinder, NarrowPhaseSolver>::collide;
- collision_matrix[BV_kIOS][GEOM_CONVEX] = &BVHShapeCollider<kIOS, Convex, NarrowPhaseSolver>::collide;
- collision_matrix[BV_kIOS][GEOM_PLANE] = &BVHShapeCollider<kIOS, Plane, NarrowPhaseSolver>::collide;
- collision_matrix[BV_kIOS][GEOM_HALFSPACE] = &BVHShapeCollider<kIOS, Halfspace, NarrowPhaseSolver>::collide;
-
- collision_matrix[BV_OBBRSS][GEOM_BOX] = &BVHShapeCollider<OBBRSS, Box, NarrowPhaseSolver>::collide;
- collision_matrix[BV_OBBRSS][GEOM_SPHERE] = &BVHShapeCollider<OBBRSS, Sphere, NarrowPhaseSolver>::collide;
- collision_matrix[BV_OBBRSS][GEOM_CAPSULE] = &BVHShapeCollider<OBBRSS, Capsule, NarrowPhaseSolver>::collide;
- collision_matrix[BV_OBBRSS][GEOM_CONE] = &BVHShapeCollider<OBBRSS, Cone, NarrowPhaseSolver>::collide;
- collision_matrix[BV_OBBRSS][GEOM_CYLINDER] = &BVHShapeCollider<OBBRSS, Cylinder, NarrowPhaseSolver>::collide;
- collision_matrix[BV_OBBRSS][GEOM_CONVEX] = &BVHShapeCollider<OBBRSS, Convex, NarrowPhaseSolver>::collide;
- collision_matrix[BV_OBBRSS][GEOM_PLANE] = &BVHShapeCollider<OBBRSS, Plane, NarrowPhaseSolver>::collide;
- collision_matrix[BV_OBBRSS][GEOM_HALFSPACE] = &BVHShapeCollider<OBBRSS, Halfspace, NarrowPhaseSolver>::collide;
-
- collision_matrix[BV_AABB][BV_AABB] = &BVHCollide<AABB, NarrowPhaseSolver>;
- collision_matrix[BV_OBB][BV_OBB] = &BVHCollide<OBB, NarrowPhaseSolver>;
- collision_matrix[BV_RSS][BV_RSS] = &BVHCollide<RSS, NarrowPhaseSolver>;
- collision_matrix[BV_KDOP16][BV_KDOP16] = &BVHCollide<KDOP<16>, NarrowPhaseSolver>;
- collision_matrix[BV_KDOP18][BV_KDOP18] = &BVHCollide<KDOP<18>, NarrowPhaseSolver>;
- collision_matrix[BV_KDOP24][BV_KDOP24] = &BVHCollide<KDOP<24>, NarrowPhaseSolver>;
- collision_matrix[BV_kIOS][BV_kIOS] = &BVHCollide<kIOS, NarrowPhaseSolver>;
- collision_matrix[BV_OBBRSS][BV_OBBRSS] = &BVHCollide<OBBRSS, NarrowPhaseSolver>;
+ collision_matrix[GEOM_BOX][GEOM_BOX] = &ShapeShapeCollide<Box, Box, GJKSolver>;
+ collision_matrix[GEOM_BOX][GEOM_SPHERE] = &ShapeShapeCollide<Box, Sphere, GJKSolver>;
+ collision_matrix[GEOM_BOX][GEOM_CAPSULE] = &ShapeShapeCollide<Box, Capsule, GJKSolver>;
+ collision_matrix[GEOM_BOX][GEOM_CONE] = &ShapeShapeCollide<Box, Cone, GJKSolver>;
+ collision_matrix[GEOM_BOX][GEOM_CYLINDER] = &ShapeShapeCollide<Box, Cylinder, GJKSolver>;
+ collision_matrix[GEOM_BOX][GEOM_CONVEX] = &ShapeShapeCollide<Box, Convex, GJKSolver>;
+ collision_matrix[GEOM_BOX][GEOM_PLANE] = &ShapeShapeCollide<Box, Plane, GJKSolver>;
+ collision_matrix[GEOM_BOX][GEOM_HALFSPACE] = &ShapeShapeCollide<Box, Halfspace, GJKSolver>;
+
+ collision_matrix[GEOM_SPHERE][GEOM_BOX] = &ShapeShapeCollide<Sphere, Box, GJKSolver>;
+ collision_matrix[GEOM_SPHERE][GEOM_SPHERE] = &ShapeShapeCollide<Sphere, Sphere, GJKSolver>;
+ collision_matrix[GEOM_SPHERE][GEOM_CAPSULE] = &ShapeShapeCollide<Sphere, Capsule, GJKSolver>;
+ collision_matrix[GEOM_SPHERE][GEOM_CONE] = &ShapeShapeCollide<Sphere, Cone, GJKSolver>;
+ collision_matrix[GEOM_SPHERE][GEOM_CYLINDER] = &ShapeShapeCollide<Sphere, Cylinder, GJKSolver>;
+ collision_matrix[GEOM_SPHERE][GEOM_CONVEX] = &ShapeShapeCollide<Sphere, Convex, GJKSolver>;
+ collision_matrix[GEOM_SPHERE][GEOM_PLANE] = &ShapeShapeCollide<Sphere, Plane, GJKSolver>;
+ collision_matrix[GEOM_SPHERE][GEOM_HALFSPACE] = &ShapeShapeCollide<Sphere, Halfspace, GJKSolver>;
+
+ collision_matrix[GEOM_CAPSULE][GEOM_BOX] = &ShapeShapeCollide<Capsule, Box, GJKSolver>;
+ collision_matrix[GEOM_CAPSULE][GEOM_SPHERE] = &ShapeShapeCollide<Capsule, Sphere, GJKSolver>;
+ collision_matrix[GEOM_CAPSULE][GEOM_CAPSULE] = &ShapeShapeCollide<Capsule, Capsule, GJKSolver>;
+ collision_matrix[GEOM_CAPSULE][GEOM_CONE] = &ShapeShapeCollide<Capsule, Cone, GJKSolver>;
+ collision_matrix[GEOM_CAPSULE][GEOM_CYLINDER] = &ShapeShapeCollide<Capsule, Cylinder, GJKSolver>;
+ collision_matrix[GEOM_CAPSULE][GEOM_CONVEX] = &ShapeShapeCollide<Capsule, Convex, GJKSolver>;
+ collision_matrix[GEOM_CAPSULE][GEOM_PLANE] = &ShapeShapeCollide<Capsule, Plane, GJKSolver>;
+ collision_matrix[GEOM_CAPSULE][GEOM_HALFSPACE] = &ShapeShapeCollide<Capsule, Halfspace, GJKSolver>;
+
+ collision_matrix[GEOM_CONE][GEOM_BOX] = &ShapeShapeCollide<Cone, Box, GJKSolver>;
+ collision_matrix[GEOM_CONE][GEOM_SPHERE] = &ShapeShapeCollide<Cone, Sphere, GJKSolver>;
+ collision_matrix[GEOM_CONE][GEOM_CAPSULE] = &ShapeShapeCollide<Cone, Capsule, GJKSolver>;
+ collision_matrix[GEOM_CONE][GEOM_CONE] = &ShapeShapeCollide<Cone, Cone, GJKSolver>;
+ collision_matrix[GEOM_CONE][GEOM_CYLINDER] = &ShapeShapeCollide<Cone, Cylinder, GJKSolver>;
+ collision_matrix[GEOM_CONE][GEOM_CONVEX] = &ShapeShapeCollide<Cone, Convex, GJKSolver>;
+ collision_matrix[GEOM_CONE][GEOM_PLANE] = &ShapeShapeCollide<Cone, Plane, GJKSolver>;
+ collision_matrix[GEOM_CONE][GEOM_HALFSPACE] = &ShapeShapeCollide<Cone, Halfspace, GJKSolver>;
+
+ collision_matrix[GEOM_CYLINDER][GEOM_BOX] = &ShapeShapeCollide<Cylinder, Box, GJKSolver>;
+ collision_matrix[GEOM_CYLINDER][GEOM_SPHERE] = &ShapeShapeCollide<Cylinder, Sphere, GJKSolver>;
+ collision_matrix[GEOM_CYLINDER][GEOM_CAPSULE] = &ShapeShapeCollide<Cylinder, Capsule, GJKSolver>;
+ collision_matrix[GEOM_CYLINDER][GEOM_CONE] = &ShapeShapeCollide<Cylinder, Cone, GJKSolver>;
+ collision_matrix[GEOM_CYLINDER][GEOM_CYLINDER] = &ShapeShapeCollide<Cylinder, Cylinder, GJKSolver>;
+ collision_matrix[GEOM_CYLINDER][GEOM_CONVEX] = &ShapeShapeCollide<Cylinder, Convex, GJKSolver>;
+ collision_matrix[GEOM_CYLINDER][GEOM_PLANE] = &ShapeShapeCollide<Cylinder, Plane, GJKSolver>;
+ collision_matrix[GEOM_CYLINDER][GEOM_HALFSPACE] = &ShapeShapeCollide<Cylinder, Halfspace, GJKSolver>;
+
+ collision_matrix[GEOM_CONVEX][GEOM_BOX] = &ShapeShapeCollide<Convex, Box, GJKSolver>;
+ collision_matrix[GEOM_CONVEX][GEOM_SPHERE] = &ShapeShapeCollide<Convex, Sphere, GJKSolver>;
+ collision_matrix[GEOM_CONVEX][GEOM_CAPSULE] = &ShapeShapeCollide<Convex, Capsule, GJKSolver>;
+ collision_matrix[GEOM_CONVEX][GEOM_CONE] = &ShapeShapeCollide<Convex, Cone, GJKSolver>;
+ collision_matrix[GEOM_CONVEX][GEOM_CYLINDER] = &ShapeShapeCollide<Convex, Cylinder, GJKSolver>;
+ collision_matrix[GEOM_CONVEX][GEOM_CONVEX] = &ShapeShapeCollide<Convex, Convex, GJKSolver>;
+ collision_matrix[GEOM_CONVEX][GEOM_PLANE] = &ShapeShapeCollide<Convex, Plane, GJKSolver>;
+ collision_matrix[GEOM_CONVEX][GEOM_HALFSPACE] = &ShapeShapeCollide<Convex, Halfspace, GJKSolver>;
+
+ collision_matrix[GEOM_PLANE][GEOM_BOX] = &ShapeShapeCollide<Plane, Box, GJKSolver>;
+ collision_matrix[GEOM_PLANE][GEOM_SPHERE] = &ShapeShapeCollide<Plane, Sphere, GJKSolver>;
+ collision_matrix[GEOM_PLANE][GEOM_CAPSULE] = &ShapeShapeCollide<Plane, Capsule, GJKSolver>;
+ collision_matrix[GEOM_PLANE][GEOM_CONE] = &ShapeShapeCollide<Plane, Cone, GJKSolver>;
+ collision_matrix[GEOM_PLANE][GEOM_CYLINDER] = &ShapeShapeCollide<Plane, Cylinder, GJKSolver>;
+ collision_matrix[GEOM_PLANE][GEOM_CONVEX] = &ShapeShapeCollide<Plane, Convex, GJKSolver>;
+ collision_matrix[GEOM_PLANE][GEOM_PLANE] = &ShapeShapeCollide<Plane, Plane, GJKSolver>;
+ collision_matrix[GEOM_PLANE][GEOM_HALFSPACE] = &ShapeShapeCollide<Plane, Halfspace, GJKSolver>;
+
+ collision_matrix[GEOM_HALFSPACE][GEOM_BOX] = &ShapeShapeCollide<Halfspace, Box, GJKSolver>;
+ collision_matrix[GEOM_HALFSPACE][GEOM_SPHERE] = &ShapeShapeCollide<Halfspace, Sphere, GJKSolver>;
+ collision_matrix[GEOM_HALFSPACE][GEOM_CAPSULE] = &ShapeShapeCollide<Halfspace, Capsule, GJKSolver>;
+ collision_matrix[GEOM_HALFSPACE][GEOM_CONE] = &ShapeShapeCollide<Halfspace, Cone, GJKSolver>;
+ collision_matrix[GEOM_HALFSPACE][GEOM_CYLINDER] = &ShapeShapeCollide<Halfspace, Cylinder, GJKSolver>;
+ collision_matrix[GEOM_HALFSPACE][GEOM_CONVEX] = &ShapeShapeCollide<Halfspace, Convex, GJKSolver>;
+ collision_matrix[GEOM_HALFSPACE][GEOM_PLANE] = &ShapeShapeCollide<Halfspace, Plane, GJKSolver>;
+ collision_matrix[GEOM_HALFSPACE][GEOM_HALFSPACE] = &ShapeShapeCollide<Halfspace, Halfspace, GJKSolver>;
+
+ collision_matrix[BV_AABB][GEOM_BOX] = &BVHShapeCollider<AABB, Box, GJKSolver>::collide;
+ collision_matrix[BV_AABB][GEOM_SPHERE] = &BVHShapeCollider<AABB, Sphere, GJKSolver>::collide;
+ collision_matrix[BV_AABB][GEOM_CAPSULE] = &BVHShapeCollider<AABB, Capsule, GJKSolver>::collide;
+ collision_matrix[BV_AABB][GEOM_CONE] = &BVHShapeCollider<AABB, Cone, GJKSolver>::collide;
+ collision_matrix[BV_AABB][GEOM_CYLINDER] = &BVHShapeCollider<AABB, Cylinder, GJKSolver>::collide;
+ collision_matrix[BV_AABB][GEOM_CONVEX] = &BVHShapeCollider<AABB, Convex, GJKSolver>::collide;
+ collision_matrix[BV_AABB][GEOM_PLANE] = &BVHShapeCollider<AABB, Plane, GJKSolver>::collide;
+ collision_matrix[BV_AABB][GEOM_HALFSPACE] = &BVHShapeCollider<AABB, Halfspace, GJKSolver>::collide;
+
+ collision_matrix[BV_OBB][GEOM_BOX] = &BVHShapeCollider<OBB, Box, GJKSolver>::collide;
+ collision_matrix[BV_OBB][GEOM_SPHERE] = &BVHShapeCollider<OBB, Sphere, GJKSolver>::collide;
+ collision_matrix[BV_OBB][GEOM_CAPSULE] = &BVHShapeCollider<OBB, Capsule, GJKSolver>::collide;
+ collision_matrix[BV_OBB][GEOM_CONE] = &BVHShapeCollider<OBB, Cone, GJKSolver>::collide;
+ collision_matrix[BV_OBB][GEOM_CYLINDER] = &BVHShapeCollider<OBB, Cylinder, GJKSolver>::collide;
+ collision_matrix[BV_OBB][GEOM_CONVEX] = &BVHShapeCollider<OBB, Convex, GJKSolver>::collide;
+ collision_matrix[BV_OBB][GEOM_PLANE] = &BVHShapeCollider<OBB, Plane, GJKSolver>::collide;
+ collision_matrix[BV_OBB][GEOM_HALFSPACE] = &BVHShapeCollider<OBB, Halfspace, GJKSolver>::collide;
+
+ collision_matrix[BV_RSS][GEOM_BOX] = &BVHShapeCollider<RSS, Box, GJKSolver>::collide;
+ collision_matrix[BV_RSS][GEOM_SPHERE] = &BVHShapeCollider<RSS, Sphere, GJKSolver>::collide;
+ collision_matrix[BV_RSS][GEOM_CAPSULE] = &BVHShapeCollider<RSS, Capsule, GJKSolver>::collide;
+ collision_matrix[BV_RSS][GEOM_CONE] = &BVHShapeCollider<RSS, Cone, GJKSolver>::collide;
+ collision_matrix[BV_RSS][GEOM_CYLINDER] = &BVHShapeCollider<RSS, Cylinder, GJKSolver>::collide;
+ collision_matrix[BV_RSS][GEOM_CONVEX] = &BVHShapeCollider<RSS, Convex, GJKSolver>::collide;
+ collision_matrix[BV_RSS][GEOM_PLANE] = &BVHShapeCollider<RSS, Plane, GJKSolver>::collide;
+ collision_matrix[BV_RSS][GEOM_HALFSPACE] = &BVHShapeCollider<RSS, Halfspace, GJKSolver>::collide;
+
+ collision_matrix[BV_KDOP16][GEOM_BOX] = &BVHShapeCollider<KDOP<16>, Box, GJKSolver>::collide;
+ collision_matrix[BV_KDOP16][GEOM_SPHERE] = &BVHShapeCollider<KDOP<16>, Sphere, GJKSolver>::collide;
+ collision_matrix[BV_KDOP16][GEOM_CAPSULE] = &BVHShapeCollider<KDOP<16>, Capsule, GJKSolver>::collide;
+ collision_matrix[BV_KDOP16][GEOM_CONE] = &BVHShapeCollider<KDOP<16>, Cone, GJKSolver>::collide;
+ collision_matrix[BV_KDOP16][GEOM_CYLINDER] = &BVHShapeCollider<KDOP<16>, Cylinder, GJKSolver>::collide;
+ collision_matrix[BV_KDOP16][GEOM_CONVEX] = &BVHShapeCollider<KDOP<16>, Convex, GJKSolver>::collide;
+ collision_matrix[BV_KDOP16][GEOM_PLANE] = &BVHShapeCollider<KDOP<16>, Plane, GJKSolver>::collide;
+ collision_matrix[BV_KDOP16][GEOM_HALFSPACE] = &BVHShapeCollider<KDOP<16>, Halfspace, GJKSolver>::collide;
+
+ collision_matrix[BV_KDOP18][GEOM_BOX] = &BVHShapeCollider<KDOP<18>, Box, GJKSolver>::collide;
+ collision_matrix[BV_KDOP18][GEOM_SPHERE] = &BVHShapeCollider<KDOP<18>, Sphere, GJKSolver>::collide;
+ collision_matrix[BV_KDOP18][GEOM_CAPSULE] = &BVHShapeCollider<KDOP<18>, Capsule, GJKSolver>::collide;
+ collision_matrix[BV_KDOP18][GEOM_CONE] = &BVHShapeCollider<KDOP<18>, Cone, GJKSolver>::collide;
+ collision_matrix[BV_KDOP18][GEOM_CYLINDER] = &BVHShapeCollider<KDOP<18>, Cylinder, GJKSolver>::collide;
+ collision_matrix[BV_KDOP18][GEOM_CONVEX] = &BVHShapeCollider<KDOP<18>, Convex, GJKSolver>::collide;
+ collision_matrix[BV_KDOP18][GEOM_PLANE] = &BVHShapeCollider<KDOP<18>, Plane, GJKSolver>::collide;
+ collision_matrix[BV_KDOP18][GEOM_HALFSPACE] = &BVHShapeCollider<KDOP<18>, Halfspace, GJKSolver>::collide;
+
+ collision_matrix[BV_KDOP24][GEOM_BOX] = &BVHShapeCollider<KDOP<24>, Box, GJKSolver>::collide;
+ collision_matrix[BV_KDOP24][GEOM_SPHERE] = &BVHShapeCollider<KDOP<24>, Sphere, GJKSolver>::collide;
+ collision_matrix[BV_KDOP24][GEOM_CAPSULE] = &BVHShapeCollider<KDOP<24>, Capsule, GJKSolver>::collide;
+ collision_matrix[BV_KDOP24][GEOM_CONE] = &BVHShapeCollider<KDOP<24>, Cone, GJKSolver>::collide;
+ collision_matrix[BV_KDOP24][GEOM_CYLINDER] = &BVHShapeCollider<KDOP<24>, Cylinder, GJKSolver>::collide;
+ collision_matrix[BV_KDOP24][GEOM_CONVEX] = &BVHShapeCollider<KDOP<24>, Convex, GJKSolver>::collide;
+ collision_matrix[BV_KDOP24][GEOM_PLANE] = &BVHShapeCollider<KDOP<24>, Plane, GJKSolver>::collide;
+ collision_matrix[BV_KDOP24][GEOM_HALFSPACE] = &BVHShapeCollider<KDOP<24>, Halfspace, GJKSolver>::collide;
+
+ collision_matrix[BV_kIOS][GEOM_BOX] = &BVHShapeCollider<kIOS, Box, GJKSolver>::collide;
+ collision_matrix[BV_kIOS][GEOM_SPHERE] = &BVHShapeCollider<kIOS, Sphere, GJKSolver>::collide;
+ collision_matrix[BV_kIOS][GEOM_CAPSULE] = &BVHShapeCollider<kIOS, Capsule, GJKSolver>::collide;
+ collision_matrix[BV_kIOS][GEOM_CONE] = &BVHShapeCollider<kIOS, Cone, GJKSolver>::collide;
+ collision_matrix[BV_kIOS][GEOM_CYLINDER] = &BVHShapeCollider<kIOS, Cylinder, GJKSolver>::collide;
+ collision_matrix[BV_kIOS][GEOM_CONVEX] = &BVHShapeCollider<kIOS, Convex, GJKSolver>::collide;
+ collision_matrix[BV_kIOS][GEOM_PLANE] = &BVHShapeCollider<kIOS, Plane, GJKSolver>::collide;
+ collision_matrix[BV_kIOS][GEOM_HALFSPACE] = &BVHShapeCollider<kIOS, Halfspace, GJKSolver>::collide;
+
+ collision_matrix[BV_OBBRSS][GEOM_BOX] = &BVHShapeCollider<OBBRSS, Box, GJKSolver>::collide;
+ collision_matrix[BV_OBBRSS][GEOM_SPHERE] = &BVHShapeCollider<OBBRSS, Sphere, GJKSolver>::collide;
+ collision_matrix[BV_OBBRSS][GEOM_CAPSULE] = &BVHShapeCollider<OBBRSS, Capsule, GJKSolver>::collide;
+ collision_matrix[BV_OBBRSS][GEOM_CONE] = &BVHShapeCollider<OBBRSS, Cone, GJKSolver>::collide;
+ collision_matrix[BV_OBBRSS][GEOM_CYLINDER] = &BVHShapeCollider<OBBRSS, Cylinder, GJKSolver>::collide;
+ collision_matrix[BV_OBBRSS][GEOM_CONVEX] = &BVHShapeCollider<OBBRSS, Convex, GJKSolver>::collide;
+ collision_matrix[BV_OBBRSS][GEOM_PLANE] = &BVHShapeCollider<OBBRSS, Plane, GJKSolver>::collide;
+ collision_matrix[BV_OBBRSS][GEOM_HALFSPACE] = &BVHShapeCollider<OBBRSS, Halfspace, GJKSolver>::collide;
+
+ collision_matrix[BV_AABB][BV_AABB] = &BVHCollide<AABB, GJKSolver>;
+ collision_matrix[BV_OBB][BV_OBB] = &BVHCollide<OBB, GJKSolver>;
+ collision_matrix[BV_RSS][BV_RSS] = &BVHCollide<RSS, GJKSolver>;
+ collision_matrix[BV_KDOP16][BV_KDOP16] = &BVHCollide<KDOP<16>, GJKSolver>;
+ collision_matrix[BV_KDOP18][BV_KDOP18] = &BVHCollide<KDOP<18>, GJKSolver>;
+ collision_matrix[BV_KDOP24][BV_KDOP24] = &BVHCollide<KDOP<24>, GJKSolver>;
+ collision_matrix[BV_kIOS][BV_kIOS] = &BVHCollide<kIOS, GJKSolver>;
+ collision_matrix[BV_OBBRSS][BV_OBBRSS] = &BVHCollide<OBBRSS, GJKSolver>;
#ifdef HPP_FCL_HAVE_OCTOMAP
- collision_matrix[GEOM_OCTREE][GEOM_BOX] = &OcTreeShapeCollide<Box, NarrowPhaseSolver>;
- collision_matrix[GEOM_OCTREE][GEOM_SPHERE] = &OcTreeShapeCollide<Sphere, NarrowPhaseSolver>;
- collision_matrix[GEOM_OCTREE][GEOM_CAPSULE] = &OcTreeShapeCollide<Capsule, NarrowPhaseSolver>;
- collision_matrix[GEOM_OCTREE][GEOM_CONE] = &OcTreeShapeCollide<Cone, NarrowPhaseSolver>;
- collision_matrix[GEOM_OCTREE][GEOM_CYLINDER] = &OcTreeShapeCollide<Cylinder, NarrowPhaseSolver>;
- collision_matrix[GEOM_OCTREE][GEOM_CONVEX] = &OcTreeShapeCollide<Convex, NarrowPhaseSolver>;
- collision_matrix[GEOM_OCTREE][GEOM_PLANE] = &OcTreeShapeCollide<Plane, NarrowPhaseSolver>;
- collision_matrix[GEOM_OCTREE][GEOM_HALFSPACE] = &OcTreeShapeCollide<Halfspace, NarrowPhaseSolver>;
-
- collision_matrix[GEOM_BOX][GEOM_OCTREE] = &ShapeOcTreeCollide<Box, NarrowPhaseSolver>;
- collision_matrix[GEOM_SPHERE][GEOM_OCTREE] = &ShapeOcTreeCollide<Sphere, NarrowPhaseSolver>;
- collision_matrix[GEOM_CAPSULE][GEOM_OCTREE] = &ShapeOcTreeCollide<Capsule, NarrowPhaseSolver>;
- collision_matrix[GEOM_CONE][GEOM_OCTREE] = &ShapeOcTreeCollide<Cone, NarrowPhaseSolver>;
- collision_matrix[GEOM_CYLINDER][GEOM_OCTREE] = &ShapeOcTreeCollide<Cylinder, NarrowPhaseSolver>;
- collision_matrix[GEOM_CONVEX][GEOM_OCTREE] = &ShapeOcTreeCollide<Convex, NarrowPhaseSolver>;
- collision_matrix[GEOM_PLANE][GEOM_OCTREE] = &ShapeOcTreeCollide<Plane, NarrowPhaseSolver>;
- collision_matrix[GEOM_HALFSPACE][GEOM_OCTREE] = &ShapeOcTreeCollide<Halfspace, NarrowPhaseSolver>;
-
- collision_matrix[GEOM_OCTREE][GEOM_OCTREE] = &OcTreeCollide<NarrowPhaseSolver>;
-
- collision_matrix[GEOM_OCTREE][BV_AABB] = &OcTreeBVHCollide<AABB, NarrowPhaseSolver>;
- collision_matrix[GEOM_OCTREE][BV_OBB] = &OcTreeBVHCollide<OBB, NarrowPhaseSolver>;
- collision_matrix[GEOM_OCTREE][BV_RSS] = &OcTreeBVHCollide<RSS, NarrowPhaseSolver>;
- collision_matrix[GEOM_OCTREE][BV_OBBRSS] = &OcTreeBVHCollide<OBBRSS, NarrowPhaseSolver>;
- collision_matrix[GEOM_OCTREE][BV_kIOS] = &OcTreeBVHCollide<kIOS, NarrowPhaseSolver>;
- collision_matrix[GEOM_OCTREE][BV_KDOP16] = &OcTreeBVHCollide<KDOP<16>, NarrowPhaseSolver>;
- collision_matrix[GEOM_OCTREE][BV_KDOP18] = &OcTreeBVHCollide<KDOP<18>, NarrowPhaseSolver>;
- collision_matrix[GEOM_OCTREE][BV_KDOP24] = &OcTreeBVHCollide<KDOP<24>, NarrowPhaseSolver>;
-
- collision_matrix[BV_AABB][GEOM_OCTREE] = &BVHOcTreeCollide<AABB, NarrowPhaseSolver>;
- collision_matrix[BV_OBB][GEOM_OCTREE] = &BVHOcTreeCollide<OBB, NarrowPhaseSolver>;
- collision_matrix[BV_RSS][GEOM_OCTREE] = &BVHOcTreeCollide<RSS, NarrowPhaseSolver>;
- collision_matrix[BV_OBBRSS][GEOM_OCTREE] = &BVHOcTreeCollide<OBBRSS, NarrowPhaseSolver>;
- collision_matrix[BV_kIOS][GEOM_OCTREE] = &BVHOcTreeCollide<kIOS, NarrowPhaseSolver>;
- collision_matrix[BV_KDOP16][GEOM_OCTREE] = &BVHOcTreeCollide<KDOP<16>, NarrowPhaseSolver>;
- collision_matrix[BV_KDOP18][GEOM_OCTREE] = &BVHOcTreeCollide<KDOP<18>, NarrowPhaseSolver>;
- collision_matrix[BV_KDOP24][GEOM_OCTREE] = &BVHOcTreeCollide<KDOP<24>, NarrowPhaseSolver>;
+ collision_matrix[GEOM_OCTREE][GEOM_BOX] = &OcTreeShapeCollide<Box, GJKSolver>;
+ collision_matrix[GEOM_OCTREE][GEOM_SPHERE] = &OcTreeShapeCollide<Sphere, GJKSolver>;
+ collision_matrix[GEOM_OCTREE][GEOM_CAPSULE] = &OcTreeShapeCollide<Capsule, GJKSolver>;
+ collision_matrix[GEOM_OCTREE][GEOM_CONE] = &OcTreeShapeCollide<Cone, GJKSolver>;
+ collision_matrix[GEOM_OCTREE][GEOM_CYLINDER] = &OcTreeShapeCollide<Cylinder, GJKSolver>;
+ collision_matrix[GEOM_OCTREE][GEOM_CONVEX] = &OcTreeShapeCollide<Convex, GJKSolver>;
+ collision_matrix[GEOM_OCTREE][GEOM_PLANE] = &OcTreeShapeCollide<Plane, GJKSolver>;
+ collision_matrix[GEOM_OCTREE][GEOM_HALFSPACE] = &OcTreeShapeCollide<Halfspace, GJKSolver>;
+
+ collision_matrix[GEOM_BOX][GEOM_OCTREE] = &ShapeOcTreeCollide<Box, GJKSolver>;
+ collision_matrix[GEOM_SPHERE][GEOM_OCTREE] = &ShapeOcTreeCollide<Sphere, GJKSolver>;
+ collision_matrix[GEOM_CAPSULE][GEOM_OCTREE] = &ShapeOcTreeCollide<Capsule, GJKSolver>;
+ collision_matrix[GEOM_CONE][GEOM_OCTREE] = &ShapeOcTreeCollide<Cone, GJKSolver>;
+ collision_matrix[GEOM_CYLINDER][GEOM_OCTREE] = &ShapeOcTreeCollide<Cylinder, GJKSolver>;
+ collision_matrix[GEOM_CONVEX][GEOM_OCTREE] = &ShapeOcTreeCollide<Convex, GJKSolver>;
+ collision_matrix[GEOM_PLANE][GEOM_OCTREE] = &ShapeOcTreeCollide<Plane, GJKSolver>;
+ collision_matrix[GEOM_HALFSPACE][GEOM_OCTREE] = &ShapeOcTreeCollide<Halfspace, GJKSolver>;
+
+ collision_matrix[GEOM_OCTREE][GEOM_OCTREE] = &OcTreeCollide<GJKSolver>;
+
+ collision_matrix[GEOM_OCTREE][BV_AABB] = &OcTreeBVHCollide<AABB, GJKSolver>;
+ collision_matrix[GEOM_OCTREE][BV_OBB] = &OcTreeBVHCollide<OBB, GJKSolver>;
+ collision_matrix[GEOM_OCTREE][BV_RSS] = &OcTreeBVHCollide<RSS, GJKSolver>;
+ collision_matrix[GEOM_OCTREE][BV_OBBRSS] = &OcTreeBVHCollide<OBBRSS, GJKSolver>;
+ collision_matrix[GEOM_OCTREE][BV_kIOS] = &OcTreeBVHCollide<kIOS, GJKSolver>;
+ collision_matrix[GEOM_OCTREE][BV_KDOP16] = &OcTreeBVHCollide<KDOP<16>, GJKSolver>;
+ collision_matrix[GEOM_OCTREE][BV_KDOP18] = &OcTreeBVHCollide<KDOP<18>, GJKSolver>;
+ collision_matrix[GEOM_OCTREE][BV_KDOP24] = &OcTreeBVHCollide<KDOP<24>, GJKSolver>;
+
+ collision_matrix[BV_AABB][GEOM_OCTREE] = &BVHOcTreeCollide<AABB, GJKSolver>;
+ collision_matrix[BV_OBB][GEOM_OCTREE] = &BVHOcTreeCollide<OBB, GJKSolver>;
+ collision_matrix[BV_RSS][GEOM_OCTREE] = &BVHOcTreeCollide<RSS, GJKSolver>;
+ collision_matrix[BV_OBBRSS][GEOM_OCTREE] = &BVHOcTreeCollide<OBBRSS, GJKSolver>;
+ collision_matrix[BV_kIOS][GEOM_OCTREE] = &BVHOcTreeCollide<kIOS, GJKSolver>;
+ collision_matrix[BV_KDOP16][GEOM_OCTREE] = &BVHOcTreeCollide<KDOP<16>, GJKSolver>;
+ collision_matrix[BV_KDOP18][GEOM_OCTREE] = &BVHOcTreeCollide<KDOP<18>, GJKSolver>;
+ collision_matrix[BV_KDOP24][GEOM_OCTREE] = &BVHOcTreeCollide<KDOP<24>, GJKSolver>;
#endif
}
template struct CollisionFunctionMatrix<GJKSolver>;
diff --git a/src/distance.cpp b/src/distance.cpp
index b0acef0bedbbd4349e7f2ff56de4440530a162dd..41ae36ee8a122137f89d5857cbadcee2f648fbaa 100644
--- a/src/distance.cpp
+++ b/src/distance.cpp
@@ -53,25 +53,25 @@ DistanceFunctionMatrix<GJKSolver>& getDistanceFunctionLookTable()
return table;
}
-template<typename NarrowPhaseSolver>
-FCL_REAL distance(const CollisionObject* o1, const CollisionObject* o2, const NarrowPhaseSolver* nsolver,
+template<typename GJKSolver>
+FCL_REAL distance(const CollisionObject* o1, const CollisionObject* o2, const GJKSolver* nsolver,
const DistanceRequest& request, DistanceResult& result)
{
- return distance<NarrowPhaseSolver>(o1->collisionGeometry().get(), o1->getTransform(), o2->collisionGeometry().get(), o2->getTransform(), nsolver,
+ return distance<GJKSolver>(o1->collisionGeometry().get(), o1->getTransform(), o2->collisionGeometry().get(), o2->getTransform(), nsolver,
request, result);
}
-template<typename NarrowPhaseSolver>
+template<typename GJKSolver>
FCL_REAL distance(const CollisionGeometry* o1, const Transform3f& tf1,
const CollisionGeometry* o2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver_,
+ const GJKSolver* nsolver_,
const DistanceRequest& request, DistanceResult& result)
{
- const NarrowPhaseSolver* nsolver = nsolver_;
+ const GJKSolver* nsolver = nsolver_;
if(!nsolver_)
- nsolver = new NarrowPhaseSolver();
+ nsolver = new GJKSolver();
- const DistanceFunctionMatrix<NarrowPhaseSolver>& looktable = getDistanceFunctionLookTable<NarrowPhaseSolver>();
+ const DistanceFunctionMatrix<GJKSolver>& looktable = getDistanceFunctionLookTable<GJKSolver>();
OBJECT_TYPE object_type1 = o1->getObjectType();
NODE_TYPE node_type1 = o1->getNodeType();
diff --git a/src/distance_func_matrix.cpp b/src/distance_func_matrix.cpp
index a2637a7a82f42f2b2eb0e5164b94dc6e79e5990f..832353bd73dd5b49d5deda9cf050b6ed54143edf 100644
--- a/src/distance_func_matrix.cpp
+++ b/src/distance_func_matrix.cpp
@@ -47,15 +47,15 @@ namespace fcl
{
#ifdef HPP_FCL_HAVE_OCTOMAP
-template<typename T_SH, typename NarrowPhaseSolver>
-FCL_REAL ShapeOcTreeDistance(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const NarrowPhaseSolver* nsolver,
+template<typename T_SH, typename GJKSolver>
+FCL_REAL ShapeOcTreeDistance(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const GJKSolver* nsolver,
const DistanceRequest& request, DistanceResult& result)
{
if(request.isSatisfied(result)) return result.min_distance;
- ShapeOcTreeDistanceTraversalNode<T_SH, NarrowPhaseSolver> node;
+ ShapeOcTreeDistanceTraversalNode<T_SH, GJKSolver> node;
const T_SH* obj1 = static_cast<const T_SH*>(o1);
const OcTree* obj2 = static_cast<const OcTree*>(o2);
- OcTreeSolver<NarrowPhaseSolver> otsolver(nsolver);
+ OcTreeSolver<GJKSolver> otsolver(nsolver);
initialize(node, *obj1, tf1, *obj2, tf2, &otsolver, request, result);
distance(&node);
@@ -63,15 +63,15 @@ FCL_REAL ShapeOcTreeDistance(const CollisionGeometry* o1, const Transform3f& tf1
return result.min_distance;
}
-template<typename T_SH, typename NarrowPhaseSolver>
-FCL_REAL OcTreeShapeDistance(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const NarrowPhaseSolver* nsolver,
+template<typename T_SH, typename GJKSolver>
+FCL_REAL OcTreeShapeDistance(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const GJKSolver* nsolver,
const DistanceRequest& request, DistanceResult& result)
{
if(request.isSatisfied(result)) return result.min_distance;
- OcTreeShapeDistanceTraversalNode<T_SH, NarrowPhaseSolver> node;
+ OcTreeShapeDistanceTraversalNode<T_SH, GJKSolver> node;
const OcTree* obj1 = static_cast<const OcTree*>(o1);
const T_SH* obj2 = static_cast<const T_SH*>(o2);
- OcTreeSolver<NarrowPhaseSolver> otsolver(nsolver);
+ OcTreeSolver<GJKSolver> otsolver(nsolver);
initialize(node, *obj1, tf1, *obj2, tf2, &otsolver, request, result);
distance(&node);
@@ -79,15 +79,15 @@ FCL_REAL OcTreeShapeDistance(const CollisionGeometry* o1, const Transform3f& tf1
return result.min_distance;
}
-template<typename NarrowPhaseSolver>
-FCL_REAL OcTreeDistance(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const NarrowPhaseSolver* nsolver,
+template<typename GJKSolver>
+FCL_REAL OcTreeDistance(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const GJKSolver* nsolver,
const DistanceRequest& request, DistanceResult& result)
{
if(request.isSatisfied(result)) return result.min_distance;
- OcTreeDistanceTraversalNode<NarrowPhaseSolver> node;
+ OcTreeDistanceTraversalNode<GJKSolver> node;
const OcTree* obj1 = static_cast<const OcTree*>(o1);
const OcTree* obj2 = static_cast<const OcTree*>(o2);
- OcTreeSolver<NarrowPhaseSolver> otsolver(nsolver);
+ OcTreeSolver<GJKSolver> otsolver(nsolver);
initialize(node, *obj1, tf1, *obj2, tf2, &otsolver, request, result);
distance(&node);
@@ -95,15 +95,15 @@ FCL_REAL OcTreeDistance(const CollisionGeometry* o1, const Transform3f& tf1, con
return result.min_distance;
}
-template<typename T_BVH, typename NarrowPhaseSolver>
-FCL_REAL BVHOcTreeDistance(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const NarrowPhaseSolver* nsolver,
+template<typename T_BVH, typename GJKSolver>
+FCL_REAL BVHOcTreeDistance(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const GJKSolver* nsolver,
const DistanceRequest& request, DistanceResult& result)
{
if(request.isSatisfied(result)) return result.min_distance;
- MeshOcTreeDistanceTraversalNode<T_BVH, NarrowPhaseSolver> node;
+ MeshOcTreeDistanceTraversalNode<T_BVH, GJKSolver> node;
const BVHModel<T_BVH>* obj1 = static_cast<const BVHModel<T_BVH>*>(o1);
const OcTree* obj2 = static_cast<const OcTree*>(o2);
- OcTreeSolver<NarrowPhaseSolver> otsolver(nsolver);
+ OcTreeSolver<GJKSolver> otsolver(nsolver);
initialize(node, *obj1, tf1, *obj2, tf2, &otsolver, request, result);
distance(&node);
@@ -111,15 +111,15 @@ FCL_REAL BVHOcTreeDistance(const CollisionGeometry* o1, const Transform3f& tf1,
return result.min_distance;
}
-template<typename T_BVH, typename NarrowPhaseSolver>
-FCL_REAL OcTreeBVHDistance(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const NarrowPhaseSolver* nsolver,
+template<typename T_BVH, typename GJKSolver>
+FCL_REAL OcTreeBVHDistance(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const GJKSolver* nsolver,
const DistanceRequest& request, DistanceResult& result)
{
if(request.isSatisfied(result)) return result.min_distance;
- OcTreeMeshDistanceTraversalNode<T_BVH, NarrowPhaseSolver> node;
+ OcTreeMeshDistanceTraversalNode<T_BVH, GJKSolver> node;
const OcTree* obj1 = static_cast<const OcTree*>(o1);
const BVHModel<T_BVH>* obj2 = static_cast<const BVHModel<T_BVH>*>(o2);
- OcTreeSolver<NarrowPhaseSolver> otsolver(nsolver);
+ OcTreeSolver<GJKSolver> otsolver(nsolver);
initialize(node, *obj1, tf1, *obj2, tf2, &otsolver, request, result);
distance(&node);
@@ -129,12 +129,12 @@ FCL_REAL OcTreeBVHDistance(const CollisionGeometry* o1, const Transform3f& tf1,
#endif
-template<typename T_SH1, typename T_SH2, typename NarrowPhaseSolver>
-FCL_REAL ShapeShapeDistance(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const NarrowPhaseSolver* nsolver,
+template<typename T_SH1, typename T_SH2, typename GJKSolver>
+FCL_REAL ShapeShapeDistance(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const GJKSolver* nsolver,
const DistanceRequest& request, DistanceResult& result)
{
if(request.isSatisfied(result)) return result.min_distance;
- ShapeDistanceTraversalNode<T_SH1, T_SH2, NarrowPhaseSolver> node;
+ ShapeDistanceTraversalNode<T_SH1, T_SH2, GJKSolver> node;
const T_SH1* obj1 = static_cast<const T_SH1*>(o1);
const T_SH2* obj2 = static_cast<const T_SH2*>(o2);
@@ -144,14 +144,14 @@ FCL_REAL ShapeShapeDistance(const CollisionGeometry* o1, const Transform3f& tf1,
return result.min_distance;
}
-template<typename T_BVH, typename T_SH, typename NarrowPhaseSolver>
+template<typename T_BVH, typename T_SH, typename GJKSolver>
struct BVHShapeDistancer
{
- static FCL_REAL distance(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const NarrowPhaseSolver* nsolver,
+ static FCL_REAL distance(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const GJKSolver* nsolver,
const DistanceRequest& request, DistanceResult& result)
{
if(request.isSatisfied(result)) return result.min_distance;
- MeshShapeDistanceTraversalNode<T_BVH, T_SH, NarrowPhaseSolver> node;
+ MeshShapeDistanceTraversalNode<T_BVH, T_SH, GJKSolver> node;
const BVHModel<T_BVH>* obj1 = static_cast<const BVHModel<T_BVH>* >(o1);
BVHModel<T_BVH>* obj1_tmp = new BVHModel<T_BVH>(*obj1);
Transform3f tf1_tmp = tf1;
@@ -168,8 +168,8 @@ struct BVHShapeDistancer
namespace details
{
-template<typename OrientedMeshShapeDistanceTraversalNode, typename T_BVH, typename T_SH, typename NarrowPhaseSolver>
-FCL_REAL orientedBVHShapeDistance(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const NarrowPhaseSolver* nsolver,
+template<typename OrientedMeshShapeDistanceTraversalNode, typename T_BVH, typename T_SH, typename GJKSolver>
+FCL_REAL orientedBVHShapeDistance(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const GJKSolver* nsolver,
const DistanceRequest& request, DistanceResult& result)
{
if(request.isSatisfied(result)) return result.min_distance;
@@ -185,34 +185,34 @@ FCL_REAL orientedBVHShapeDistance(const CollisionGeometry* o1, const Transform3f
}
-template<typename T_SH, typename NarrowPhaseSolver>
-struct BVHShapeDistancer<RSS, T_SH, NarrowPhaseSolver>
+template<typename T_SH, typename GJKSolver>
+struct BVHShapeDistancer<RSS, T_SH, GJKSolver>
{
- static FCL_REAL distance(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const NarrowPhaseSolver* nsolver,
+ static FCL_REAL distance(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const GJKSolver* nsolver,
const DistanceRequest& request, DistanceResult& result)
{
- return details::orientedBVHShapeDistance<MeshShapeDistanceTraversalNodeRSS<T_SH, NarrowPhaseSolver>, RSS, T_SH, NarrowPhaseSolver>(o1, tf1, o2, tf2, nsolver, request, result);
+ return details::orientedBVHShapeDistance<MeshShapeDistanceTraversalNodeRSS<T_SH, GJKSolver>, RSS, T_SH, GJKSolver>(o1, tf1, o2, tf2, nsolver, request, result);
}
};
-template<typename T_SH, typename NarrowPhaseSolver>
-struct BVHShapeDistancer<kIOS, T_SH, NarrowPhaseSolver>
+template<typename T_SH, typename GJKSolver>
+struct BVHShapeDistancer<kIOS, T_SH, GJKSolver>
{
- static FCL_REAL distance(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const NarrowPhaseSolver* nsolver,
+ static FCL_REAL distance(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const GJKSolver* nsolver,
const DistanceRequest& request, DistanceResult& result)
{
- return details::orientedBVHShapeDistance<MeshShapeDistanceTraversalNodekIOS<T_SH, NarrowPhaseSolver>, kIOS, T_SH, NarrowPhaseSolver>(o1, tf1, o2, tf2, nsolver, request, result);
+ return details::orientedBVHShapeDistance<MeshShapeDistanceTraversalNodekIOS<T_SH, GJKSolver>, kIOS, T_SH, GJKSolver>(o1, tf1, o2, tf2, nsolver, request, result);
}
};
-template<typename T_SH, typename NarrowPhaseSolver>
-struct BVHShapeDistancer<OBBRSS, T_SH, NarrowPhaseSolver>
+template<typename T_SH, typename GJKSolver>
+struct BVHShapeDistancer<OBBRSS, T_SH, GJKSolver>
{
- static FCL_REAL distance(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const NarrowPhaseSolver* nsolver,
+ static FCL_REAL distance(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const GJKSolver* nsolver,
const DistanceRequest& request, DistanceResult& result)
{
- return details::orientedBVHShapeDistance<MeshShapeDistanceTraversalNodeOBBRSS<T_SH, NarrowPhaseSolver>, OBBRSS, T_SH, NarrowPhaseSolver>(o1, tf1, o2, tf2, nsolver, request, result);
+ return details::orientedBVHShapeDistance<MeshShapeDistanceTraversalNodeOBBRSS<T_SH, GJKSolver>, OBBRSS, T_SH, GJKSolver>(o1, tf1, o2, tf2, nsolver, request, result);
}
};
@@ -280,16 +280,16 @@ FCL_REAL BVHDistance<OBBRSS>(const CollisionGeometry* o1, const Transform3f& tf1
}
-template<typename T_BVH, typename NarrowPhaseSolver>
+template<typename T_BVH, typename GJKSolver>
FCL_REAL BVHDistance(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2,
- const NarrowPhaseSolver* /*nsolver*/,
+ const GJKSolver* /*nsolver*/,
const DistanceRequest& request, DistanceResult& result)
{
return BVHDistance<T_BVH>(o1, tf1, o2, tf2, request, result);
}
-template<typename NarrowPhaseSolver>
-DistanceFunctionMatrix<NarrowPhaseSolver>::DistanceFunctionMatrix()
+template<typename GJKSolver>
+DistanceFunctionMatrix<GJKSolver>::DistanceFunctionMatrix()
{
for(int i = 0; i < NODE_COUNT; ++i)
{
@@ -297,200 +297,200 @@ DistanceFunctionMatrix<NarrowPhaseSolver>::DistanceFunctionMatrix()
distance_matrix[i][j] = NULL;
}
- distance_matrix[GEOM_BOX][GEOM_BOX] = &ShapeShapeDistance<Box, Box, NarrowPhaseSolver>;
- distance_matrix[GEOM_BOX][GEOM_SPHERE] = &ShapeShapeDistance<Box, Sphere, NarrowPhaseSolver>;
- distance_matrix[GEOM_BOX][GEOM_CAPSULE] = &ShapeShapeDistance<Box, Capsule, NarrowPhaseSolver>;
- distance_matrix[GEOM_BOX][GEOM_CONE] = &ShapeShapeDistance<Box, Cone, NarrowPhaseSolver>;
- distance_matrix[GEOM_BOX][GEOM_CYLINDER] = &ShapeShapeDistance<Box, Cylinder, NarrowPhaseSolver>;
- distance_matrix[GEOM_BOX][GEOM_CONVEX] = &ShapeShapeDistance<Box, Convex, NarrowPhaseSolver>;
- distance_matrix[GEOM_BOX][GEOM_PLANE] = &ShapeShapeDistance<Box, Plane, NarrowPhaseSolver>;
- distance_matrix[GEOM_BOX][GEOM_HALFSPACE] = &ShapeShapeDistance<Box, Halfspace, NarrowPhaseSolver>;
-
- distance_matrix[GEOM_SPHERE][GEOM_BOX] = &ShapeShapeDistance<Sphere, Box, NarrowPhaseSolver>;
- distance_matrix[GEOM_SPHERE][GEOM_SPHERE] = &ShapeShapeDistance<Sphere, Sphere, NarrowPhaseSolver>;
- distance_matrix[GEOM_SPHERE][GEOM_CAPSULE] = &ShapeShapeDistance<Sphere, Capsule, NarrowPhaseSolver>;
- distance_matrix[GEOM_SPHERE][GEOM_CONE] = &ShapeShapeDistance<Sphere, Cone, NarrowPhaseSolver>;
- distance_matrix[GEOM_SPHERE][GEOM_CYLINDER] = &ShapeShapeDistance<Sphere, Cylinder, NarrowPhaseSolver>;
- distance_matrix[GEOM_SPHERE][GEOM_CONVEX] = &ShapeShapeDistance<Sphere, Convex, NarrowPhaseSolver>;
- distance_matrix[GEOM_SPHERE][GEOM_PLANE] = &ShapeShapeDistance<Sphere, Plane, NarrowPhaseSolver>;
- distance_matrix[GEOM_SPHERE][GEOM_HALFSPACE] = &ShapeShapeDistance<Sphere, Halfspace, NarrowPhaseSolver>;
-
- distance_matrix[GEOM_CAPSULE][GEOM_BOX] = &ShapeShapeDistance<Capsule, Box, NarrowPhaseSolver>;
- distance_matrix[GEOM_CAPSULE][GEOM_SPHERE] = &ShapeShapeDistance<Capsule, Sphere, NarrowPhaseSolver>;
- distance_matrix[GEOM_CAPSULE][GEOM_CAPSULE] = &ShapeShapeDistance<Capsule, Capsule, NarrowPhaseSolver>;
- distance_matrix[GEOM_CAPSULE][GEOM_CONE] = &ShapeShapeDistance<Capsule, Cone, NarrowPhaseSolver>;
- distance_matrix[GEOM_CAPSULE][GEOM_CYLINDER] = &ShapeShapeDistance<Capsule, Cylinder, NarrowPhaseSolver>;
- distance_matrix[GEOM_CAPSULE][GEOM_CONVEX] = &ShapeShapeDistance<Capsule, Convex, NarrowPhaseSolver>;
- distance_matrix[GEOM_CAPSULE][GEOM_PLANE] = &ShapeShapeDistance<Capsule, Plane, NarrowPhaseSolver>;
- distance_matrix[GEOM_CAPSULE][GEOM_HALFSPACE] = &ShapeShapeDistance<Capsule, Halfspace, NarrowPhaseSolver>;
-
- distance_matrix[GEOM_CONE][GEOM_BOX] = &ShapeShapeDistance<Cone, Box, NarrowPhaseSolver>;
- distance_matrix[GEOM_CONE][GEOM_SPHERE] = &ShapeShapeDistance<Cone, Sphere, NarrowPhaseSolver>;
- distance_matrix[GEOM_CONE][GEOM_CAPSULE] = &ShapeShapeDistance<Cone, Capsule, NarrowPhaseSolver>;
- distance_matrix[GEOM_CONE][GEOM_CONE] = &ShapeShapeDistance<Cone, Cone, NarrowPhaseSolver>;
- distance_matrix[GEOM_CONE][GEOM_CYLINDER] = &ShapeShapeDistance<Cone, Cylinder, NarrowPhaseSolver>;
- distance_matrix[GEOM_CONE][GEOM_CONVEX] = &ShapeShapeDistance<Cone, Convex, NarrowPhaseSolver>;
- distance_matrix[GEOM_CONE][GEOM_PLANE] = &ShapeShapeDistance<Cone, Plane, NarrowPhaseSolver>;
- distance_matrix[GEOM_CONE][GEOM_HALFSPACE] = &ShapeShapeDistance<Cone, Halfspace, NarrowPhaseSolver>;
-
- distance_matrix[GEOM_CYLINDER][GEOM_BOX] = &ShapeShapeDistance<Cylinder, Box, NarrowPhaseSolver>;
- distance_matrix[GEOM_CYLINDER][GEOM_SPHERE] = &ShapeShapeDistance<Cylinder, Sphere, NarrowPhaseSolver>;
- distance_matrix[GEOM_CYLINDER][GEOM_CAPSULE] = &ShapeShapeDistance<Cylinder, Capsule, NarrowPhaseSolver>;
- distance_matrix[GEOM_CYLINDER][GEOM_CONE] = &ShapeShapeDistance<Cylinder, Cone, NarrowPhaseSolver>;
- distance_matrix[GEOM_CYLINDER][GEOM_CYLINDER] = &ShapeShapeDistance<Cylinder, Cylinder, NarrowPhaseSolver>;
- distance_matrix[GEOM_CYLINDER][GEOM_CONVEX] = &ShapeShapeDistance<Cylinder, Convex, NarrowPhaseSolver>;
- distance_matrix[GEOM_CYLINDER][GEOM_PLANE] = &ShapeShapeDistance<Cylinder, Plane, NarrowPhaseSolver>;
- distance_matrix[GEOM_CYLINDER][GEOM_HALFSPACE] = &ShapeShapeDistance<Cylinder, Halfspace, NarrowPhaseSolver>;
-
- distance_matrix[GEOM_CONVEX][GEOM_BOX] = &ShapeShapeDistance<Convex, Box, NarrowPhaseSolver>;
- distance_matrix[GEOM_CONVEX][GEOM_SPHERE] = &ShapeShapeDistance<Convex, Sphere, NarrowPhaseSolver>;
- distance_matrix[GEOM_CONVEX][GEOM_CAPSULE] = &ShapeShapeDistance<Convex, Capsule, NarrowPhaseSolver>;
- distance_matrix[GEOM_CONVEX][GEOM_CONE] = &ShapeShapeDistance<Convex, Cone, NarrowPhaseSolver>;
- distance_matrix[GEOM_CONVEX][GEOM_CYLINDER] = &ShapeShapeDistance<Convex, Cylinder, NarrowPhaseSolver>;
- distance_matrix[GEOM_CONVEX][GEOM_CONVEX] = &ShapeShapeDistance<Convex, Convex, NarrowPhaseSolver>;
- distance_matrix[GEOM_CONVEX][GEOM_PLANE] = &ShapeShapeDistance<Convex, Plane, NarrowPhaseSolver>;
- distance_matrix[GEOM_CONVEX][GEOM_HALFSPACE] = &ShapeShapeDistance<Convex, Halfspace, NarrowPhaseSolver>;
-
- distance_matrix[GEOM_PLANE][GEOM_BOX] = &ShapeShapeDistance<Plane, Box, NarrowPhaseSolver>;
- distance_matrix[GEOM_PLANE][GEOM_SPHERE] = &ShapeShapeDistance<Plane, Sphere, NarrowPhaseSolver>;
- distance_matrix[GEOM_PLANE][GEOM_CAPSULE] = &ShapeShapeDistance<Plane, Capsule, NarrowPhaseSolver>;
- distance_matrix[GEOM_PLANE][GEOM_CONE] = &ShapeShapeDistance<Plane, Cone, NarrowPhaseSolver>;
- distance_matrix[GEOM_PLANE][GEOM_CYLINDER] = &ShapeShapeDistance<Plane, Cylinder, NarrowPhaseSolver>;
- distance_matrix[GEOM_PLANE][GEOM_CONVEX] = &ShapeShapeDistance<Plane, Convex, NarrowPhaseSolver>;
- distance_matrix[GEOM_PLANE][GEOM_PLANE] = &ShapeShapeDistance<Plane, Plane, NarrowPhaseSolver>;
- distance_matrix[GEOM_PLANE][GEOM_HALFSPACE] = &ShapeShapeDistance<Plane, Halfspace, NarrowPhaseSolver>;
-
- distance_matrix[GEOM_HALFSPACE][GEOM_BOX] = &ShapeShapeDistance<Halfspace, Box, NarrowPhaseSolver>;
- distance_matrix[GEOM_HALFSPACE][GEOM_SPHERE] = &ShapeShapeDistance<Halfspace, Sphere, NarrowPhaseSolver>;
- distance_matrix[GEOM_HALFSPACE][GEOM_CAPSULE] = &ShapeShapeDistance<Halfspace, Capsule, NarrowPhaseSolver>;
- distance_matrix[GEOM_HALFSPACE][GEOM_CONE] = &ShapeShapeDistance<Halfspace, Cone, NarrowPhaseSolver>;
- distance_matrix[GEOM_HALFSPACE][GEOM_CYLINDER] = &ShapeShapeDistance<Halfspace, Cylinder, NarrowPhaseSolver>;
- distance_matrix[GEOM_HALFSPACE][GEOM_CONVEX] = &ShapeShapeDistance<Halfspace, Convex, NarrowPhaseSolver>;
- distance_matrix[GEOM_HALFSPACE][GEOM_PLANE] = &ShapeShapeDistance<Halfspace, Plane, NarrowPhaseSolver>;
- distance_matrix[GEOM_HALFSPACE][GEOM_HALFSPACE] = &ShapeShapeDistance<Halfspace, Halfspace, NarrowPhaseSolver>;
+ distance_matrix[GEOM_BOX][GEOM_BOX] = &ShapeShapeDistance<Box, Box, GJKSolver>;
+ distance_matrix[GEOM_BOX][GEOM_SPHERE] = &ShapeShapeDistance<Box, Sphere, GJKSolver>;
+ distance_matrix[GEOM_BOX][GEOM_CAPSULE] = &ShapeShapeDistance<Box, Capsule, GJKSolver>;
+ distance_matrix[GEOM_BOX][GEOM_CONE] = &ShapeShapeDistance<Box, Cone, GJKSolver>;
+ distance_matrix[GEOM_BOX][GEOM_CYLINDER] = &ShapeShapeDistance<Box, Cylinder, GJKSolver>;
+ distance_matrix[GEOM_BOX][GEOM_CONVEX] = &ShapeShapeDistance<Box, Convex, GJKSolver>;
+ distance_matrix[GEOM_BOX][GEOM_PLANE] = &ShapeShapeDistance<Box, Plane, GJKSolver>;
+ distance_matrix[GEOM_BOX][GEOM_HALFSPACE] = &ShapeShapeDistance<Box, Halfspace, GJKSolver>;
+
+ distance_matrix[GEOM_SPHERE][GEOM_BOX] = &ShapeShapeDistance<Sphere, Box, GJKSolver>;
+ distance_matrix[GEOM_SPHERE][GEOM_SPHERE] = &ShapeShapeDistance<Sphere, Sphere, GJKSolver>;
+ distance_matrix[GEOM_SPHERE][GEOM_CAPSULE] = &ShapeShapeDistance<Sphere, Capsule, GJKSolver>;
+ distance_matrix[GEOM_SPHERE][GEOM_CONE] = &ShapeShapeDistance<Sphere, Cone, GJKSolver>;
+ distance_matrix[GEOM_SPHERE][GEOM_CYLINDER] = &ShapeShapeDistance<Sphere, Cylinder, GJKSolver>;
+ distance_matrix[GEOM_SPHERE][GEOM_CONVEX] = &ShapeShapeDistance<Sphere, Convex, GJKSolver>;
+ distance_matrix[GEOM_SPHERE][GEOM_PLANE] = &ShapeShapeDistance<Sphere, Plane, GJKSolver>;
+ distance_matrix[GEOM_SPHERE][GEOM_HALFSPACE] = &ShapeShapeDistance<Sphere, Halfspace, GJKSolver>;
+
+ distance_matrix[GEOM_CAPSULE][GEOM_BOX] = &ShapeShapeDistance<Capsule, Box, GJKSolver>;
+ distance_matrix[GEOM_CAPSULE][GEOM_SPHERE] = &ShapeShapeDistance<Capsule, Sphere, GJKSolver>;
+ distance_matrix[GEOM_CAPSULE][GEOM_CAPSULE] = &ShapeShapeDistance<Capsule, Capsule, GJKSolver>;
+ distance_matrix[GEOM_CAPSULE][GEOM_CONE] = &ShapeShapeDistance<Capsule, Cone, GJKSolver>;
+ distance_matrix[GEOM_CAPSULE][GEOM_CYLINDER] = &ShapeShapeDistance<Capsule, Cylinder, GJKSolver>;
+ distance_matrix[GEOM_CAPSULE][GEOM_CONVEX] = &ShapeShapeDistance<Capsule, Convex, GJKSolver>;
+ distance_matrix[GEOM_CAPSULE][GEOM_PLANE] = &ShapeShapeDistance<Capsule, Plane, GJKSolver>;
+ distance_matrix[GEOM_CAPSULE][GEOM_HALFSPACE] = &ShapeShapeDistance<Capsule, Halfspace, GJKSolver>;
+
+ distance_matrix[GEOM_CONE][GEOM_BOX] = &ShapeShapeDistance<Cone, Box, GJKSolver>;
+ distance_matrix[GEOM_CONE][GEOM_SPHERE] = &ShapeShapeDistance<Cone, Sphere, GJKSolver>;
+ distance_matrix[GEOM_CONE][GEOM_CAPSULE] = &ShapeShapeDistance<Cone, Capsule, GJKSolver>;
+ distance_matrix[GEOM_CONE][GEOM_CONE] = &ShapeShapeDistance<Cone, Cone, GJKSolver>;
+ distance_matrix[GEOM_CONE][GEOM_CYLINDER] = &ShapeShapeDistance<Cone, Cylinder, GJKSolver>;
+ distance_matrix[GEOM_CONE][GEOM_CONVEX] = &ShapeShapeDistance<Cone, Convex, GJKSolver>;
+ distance_matrix[GEOM_CONE][GEOM_PLANE] = &ShapeShapeDistance<Cone, Plane, GJKSolver>;
+ distance_matrix[GEOM_CONE][GEOM_HALFSPACE] = &ShapeShapeDistance<Cone, Halfspace, GJKSolver>;
+
+ distance_matrix[GEOM_CYLINDER][GEOM_BOX] = &ShapeShapeDistance<Cylinder, Box, GJKSolver>;
+ distance_matrix[GEOM_CYLINDER][GEOM_SPHERE] = &ShapeShapeDistance<Cylinder, Sphere, GJKSolver>;
+ distance_matrix[GEOM_CYLINDER][GEOM_CAPSULE] = &ShapeShapeDistance<Cylinder, Capsule, GJKSolver>;
+ distance_matrix[GEOM_CYLINDER][GEOM_CONE] = &ShapeShapeDistance<Cylinder, Cone, GJKSolver>;
+ distance_matrix[GEOM_CYLINDER][GEOM_CYLINDER] = &ShapeShapeDistance<Cylinder, Cylinder, GJKSolver>;
+ distance_matrix[GEOM_CYLINDER][GEOM_CONVEX] = &ShapeShapeDistance<Cylinder, Convex, GJKSolver>;
+ distance_matrix[GEOM_CYLINDER][GEOM_PLANE] = &ShapeShapeDistance<Cylinder, Plane, GJKSolver>;
+ distance_matrix[GEOM_CYLINDER][GEOM_HALFSPACE] = &ShapeShapeDistance<Cylinder, Halfspace, GJKSolver>;
+
+ distance_matrix[GEOM_CONVEX][GEOM_BOX] = &ShapeShapeDistance<Convex, Box, GJKSolver>;
+ distance_matrix[GEOM_CONVEX][GEOM_SPHERE] = &ShapeShapeDistance<Convex, Sphere, GJKSolver>;
+ distance_matrix[GEOM_CONVEX][GEOM_CAPSULE] = &ShapeShapeDistance<Convex, Capsule, GJKSolver>;
+ distance_matrix[GEOM_CONVEX][GEOM_CONE] = &ShapeShapeDistance<Convex, Cone, GJKSolver>;
+ distance_matrix[GEOM_CONVEX][GEOM_CYLINDER] = &ShapeShapeDistance<Convex, Cylinder, GJKSolver>;
+ distance_matrix[GEOM_CONVEX][GEOM_CONVEX] = &ShapeShapeDistance<Convex, Convex, GJKSolver>;
+ distance_matrix[GEOM_CONVEX][GEOM_PLANE] = &ShapeShapeDistance<Convex, Plane, GJKSolver>;
+ distance_matrix[GEOM_CONVEX][GEOM_HALFSPACE] = &ShapeShapeDistance<Convex, Halfspace, GJKSolver>;
+
+ distance_matrix[GEOM_PLANE][GEOM_BOX] = &ShapeShapeDistance<Plane, Box, GJKSolver>;
+ distance_matrix[GEOM_PLANE][GEOM_SPHERE] = &ShapeShapeDistance<Plane, Sphere, GJKSolver>;
+ distance_matrix[GEOM_PLANE][GEOM_CAPSULE] = &ShapeShapeDistance<Plane, Capsule, GJKSolver>;
+ distance_matrix[GEOM_PLANE][GEOM_CONE] = &ShapeShapeDistance<Plane, Cone, GJKSolver>;
+ distance_matrix[GEOM_PLANE][GEOM_CYLINDER] = &ShapeShapeDistance<Plane, Cylinder, GJKSolver>;
+ distance_matrix[GEOM_PLANE][GEOM_CONVEX] = &ShapeShapeDistance<Plane, Convex, GJKSolver>;
+ distance_matrix[GEOM_PLANE][GEOM_PLANE] = &ShapeShapeDistance<Plane, Plane, GJKSolver>;
+ distance_matrix[GEOM_PLANE][GEOM_HALFSPACE] = &ShapeShapeDistance<Plane, Halfspace, GJKSolver>;
+
+ distance_matrix[GEOM_HALFSPACE][GEOM_BOX] = &ShapeShapeDistance<Halfspace, Box, GJKSolver>;
+ distance_matrix[GEOM_HALFSPACE][GEOM_SPHERE] = &ShapeShapeDistance<Halfspace, Sphere, GJKSolver>;
+ distance_matrix[GEOM_HALFSPACE][GEOM_CAPSULE] = &ShapeShapeDistance<Halfspace, Capsule, GJKSolver>;
+ distance_matrix[GEOM_HALFSPACE][GEOM_CONE] = &ShapeShapeDistance<Halfspace, Cone, GJKSolver>;
+ distance_matrix[GEOM_HALFSPACE][GEOM_CYLINDER] = &ShapeShapeDistance<Halfspace, Cylinder, GJKSolver>;
+ distance_matrix[GEOM_HALFSPACE][GEOM_CONVEX] = &ShapeShapeDistance<Halfspace, Convex, GJKSolver>;
+ distance_matrix[GEOM_HALFSPACE][GEOM_PLANE] = &ShapeShapeDistance<Halfspace, Plane, GJKSolver>;
+ distance_matrix[GEOM_HALFSPACE][GEOM_HALFSPACE] = &ShapeShapeDistance<Halfspace, Halfspace, GJKSolver>;
/* AABB distance not implemented */
/*
- distance_matrix[BV_AABB][GEOM_BOX] = &BVHShapeDistancer<AABB, Box, NarrowPhaseSolver>::distance;
- distance_matrix[BV_AABB][GEOM_SPHERE] = &BVHShapeDistancer<AABB, Sphere, NarrowPhaseSolver>::distance;
- distance_matrix[BV_AABB][GEOM_CAPSULE] = &BVHShapeDistancer<AABB, Capsule, NarrowPhaseSolver>::distance;
- distance_matrix[BV_AABB][GEOM_CONE] = &BVHShapeDistancer<AABB, Cone, NarrowPhaseSolver>::distance;
- distance_matrix[BV_AABB][GEOM_CYLINDER] = &BVHShapeDistancer<AABB, Cylinder, NarrowPhaseSolver>::distance;
- distance_matrix[BV_AABB][GEOM_CONVEX] = &BVHShapeDistancer<AABB, Convex, NarrowPhaseSolver>::distance;
- distance_matrix[BV_AABB][GEOM_PLANE] = &BVHShapeDistancer<AABB, Plane, NarrowPhaseSolver>::distance;
- distance_matrix[BV_AABB][GEOM_HALFSPACE] = &BVHShapeDistancer<AABB, Halfspace, NarrowPhaseSolver>::distance;
+ distance_matrix[BV_AABB][GEOM_BOX] = &BVHShapeDistancer<AABB, Box, GJKSolver>::distance;
+ distance_matrix[BV_AABB][GEOM_SPHERE] = &BVHShapeDistancer<AABB, Sphere, GJKSolver>::distance;
+ distance_matrix[BV_AABB][GEOM_CAPSULE] = &BVHShapeDistancer<AABB, Capsule, GJKSolver>::distance;
+ distance_matrix[BV_AABB][GEOM_CONE] = &BVHShapeDistancer<AABB, Cone, GJKSolver>::distance;
+ distance_matrix[BV_AABB][GEOM_CYLINDER] = &BVHShapeDistancer<AABB, Cylinder, GJKSolver>::distance;
+ distance_matrix[BV_AABB][GEOM_CONVEX] = &BVHShapeDistancer<AABB, Convex, GJKSolver>::distance;
+ distance_matrix[BV_AABB][GEOM_PLANE] = &BVHShapeDistancer<AABB, Plane, GJKSolver>::distance;
+ distance_matrix[BV_AABB][GEOM_HALFSPACE] = &BVHShapeDistancer<AABB, Halfspace, GJKSolver>::distance;
*/
- distance_matrix[BV_OBB][GEOM_BOX] = &BVHShapeDistancer<OBB, Box, NarrowPhaseSolver>::distance;
- distance_matrix[BV_OBB][GEOM_SPHERE] = &BVHShapeDistancer<OBB, Sphere, NarrowPhaseSolver>::distance;
- distance_matrix[BV_OBB][GEOM_CAPSULE] = &BVHShapeDistancer<OBB, Capsule, NarrowPhaseSolver>::distance;
- distance_matrix[BV_OBB][GEOM_CONE] = &BVHShapeDistancer<OBB, Cone, NarrowPhaseSolver>::distance;
- distance_matrix[BV_OBB][GEOM_CYLINDER] = &BVHShapeDistancer<OBB, Cylinder, NarrowPhaseSolver>::distance;
- distance_matrix[BV_OBB][GEOM_CONVEX] = &BVHShapeDistancer<OBB, Convex, NarrowPhaseSolver>::distance;
- distance_matrix[BV_OBB][GEOM_PLANE] = &BVHShapeDistancer<OBB, Plane, NarrowPhaseSolver>::distance;
- distance_matrix[BV_OBB][GEOM_HALFSPACE] = &BVHShapeDistancer<OBB, Halfspace, NarrowPhaseSolver>::distance;
-
- distance_matrix[BV_RSS][GEOM_BOX] = &BVHShapeDistancer<RSS, Box, NarrowPhaseSolver>::distance;
- distance_matrix[BV_RSS][GEOM_SPHERE] = &BVHShapeDistancer<RSS, Sphere, NarrowPhaseSolver>::distance;
- distance_matrix[BV_RSS][GEOM_CAPSULE] = &BVHShapeDistancer<RSS, Capsule, NarrowPhaseSolver>::distance;
- distance_matrix[BV_RSS][GEOM_CONE] = &BVHShapeDistancer<RSS, Cone, NarrowPhaseSolver>::distance;
- distance_matrix[BV_RSS][GEOM_CYLINDER] = &BVHShapeDistancer<RSS, Cylinder, NarrowPhaseSolver>::distance;
- distance_matrix[BV_RSS][GEOM_CONVEX] = &BVHShapeDistancer<RSS, Convex, NarrowPhaseSolver>::distance;
- distance_matrix[BV_RSS][GEOM_PLANE] = &BVHShapeDistancer<RSS, Plane, NarrowPhaseSolver>::distance;
- distance_matrix[BV_RSS][GEOM_HALFSPACE] = &BVHShapeDistancer<RSS, Halfspace, NarrowPhaseSolver>::distance;
+ distance_matrix[BV_OBB][GEOM_BOX] = &BVHShapeDistancer<OBB, Box, GJKSolver>::distance;
+ distance_matrix[BV_OBB][GEOM_SPHERE] = &BVHShapeDistancer<OBB, Sphere, GJKSolver>::distance;
+ distance_matrix[BV_OBB][GEOM_CAPSULE] = &BVHShapeDistancer<OBB, Capsule, GJKSolver>::distance;
+ distance_matrix[BV_OBB][GEOM_CONE] = &BVHShapeDistancer<OBB, Cone, GJKSolver>::distance;
+ distance_matrix[BV_OBB][GEOM_CYLINDER] = &BVHShapeDistancer<OBB, Cylinder, GJKSolver>::distance;
+ distance_matrix[BV_OBB][GEOM_CONVEX] = &BVHShapeDistancer<OBB, Convex, GJKSolver>::distance;
+ distance_matrix[BV_OBB][GEOM_PLANE] = &BVHShapeDistancer<OBB, Plane, GJKSolver>::distance;
+ distance_matrix[BV_OBB][GEOM_HALFSPACE] = &BVHShapeDistancer<OBB, Halfspace, GJKSolver>::distance;
+
+ distance_matrix[BV_RSS][GEOM_BOX] = &BVHShapeDistancer<RSS, Box, GJKSolver>::distance;
+ distance_matrix[BV_RSS][GEOM_SPHERE] = &BVHShapeDistancer<RSS, Sphere, GJKSolver>::distance;
+ distance_matrix[BV_RSS][GEOM_CAPSULE] = &BVHShapeDistancer<RSS, Capsule, GJKSolver>::distance;
+ distance_matrix[BV_RSS][GEOM_CONE] = &BVHShapeDistancer<RSS, Cone, GJKSolver>::distance;
+ distance_matrix[BV_RSS][GEOM_CYLINDER] = &BVHShapeDistancer<RSS, Cylinder, GJKSolver>::distance;
+ distance_matrix[BV_RSS][GEOM_CONVEX] = &BVHShapeDistancer<RSS, Convex, GJKSolver>::distance;
+ distance_matrix[BV_RSS][GEOM_PLANE] = &BVHShapeDistancer<RSS, Plane, GJKSolver>::distance;
+ distance_matrix[BV_RSS][GEOM_HALFSPACE] = &BVHShapeDistancer<RSS, Halfspace, GJKSolver>::distance;
/* KDOP distance not implemented */
/*
- distance_matrix[BV_KDOP16][GEOM_BOX] = &BVHShapeDistancer<KDOP<16>, Box, NarrowPhaseSolver>::distance;
- distance_matrix[BV_KDOP16][GEOM_SPHERE] = &BVHShapeDistancer<KDOP<16>, Sphere, NarrowPhaseSolver>::distance;
- distance_matrix[BV_KDOP16][GEOM_CAPSULE] = &BVHShapeDistancer<KDOP<16>, Capsule, NarrowPhaseSolver>::distance;
- distance_matrix[BV_KDOP16][GEOM_CONE] = &BVHShapeDistancer<KDOP<16>, Cone, NarrowPhaseSolver>::distance;
- distance_matrix[BV_KDOP16][GEOM_CYLINDER] = &BVHShapeDistancer<KDOP<16>, Cylinder, NarrowPhaseSolver>::distance;
- distance_matrix[BV_KDOP16][GEOM_CONVEX] = &BVHShapeDistancer<KDOP<16>, Convex, NarrowPhaseSolver>::distance;
- distance_matrix[BV_KDOP16][GEOM_PLANE] = &BVHShapeDistancer<KDOP<16>, Plane, NarrowPhaseSolver>::distance;
- distance_matrix[BV_KDOP16][GEOM_HALFSPACE] = &BVHShapeDistancer<KDOP<16>, Halfspace, NarrowPhaseSolver>::distance;
-
- distance_matrix[BV_KDOP18][GEOM_BOX] = &BVHShapeDistancer<KDOP<18>, Box, NarrowPhaseSolver>::distance;
- distance_matrix[BV_KDOP18][GEOM_SPHERE] = &BVHShapeDistancer<KDOP<18>, Sphere, NarrowPhaseSolver>::distance;
- distance_matrix[BV_KDOP18][GEOM_CAPSULE] = &BVHShapeDistancer<KDOP<18>, Capsule, NarrowPhaseSolver>::distance;
- distance_matrix[BV_KDOP18][GEOM_CONE] = &BVHShapeDistancer<KDOP<18>, Cone, NarrowPhaseSolver>::distance;
- distance_matrix[BV_KDOP18][GEOM_CYLINDER] = &BVHShapeDistancer<KDOP<18>, Cylinder, NarrowPhaseSolver>::distance;
- distance_matrix[BV_KDOP18][GEOM_CONVEX] = &BVHShapeDistancer<KDOP<18>, Convex, NarrowPhaseSolver>::distance;
- distance_matrix[BV_KDOP18][GEOM_PLANE] = &BVHShapeDistancer<KDOP<18>, Plane, NarrowPhaseSolver>::distance;
- distance_matrix[BV_KDOP18][GEOM_HALFSPACE] = &BVHShapeDistancer<KDOP<18>, Halfspace, NarrowPhaseSolver>::distance;
-
- distance_matrix[BV_KDOP24][GEOM_BOX] = &BVHShapeDistancer<KDOP<24>, Box, NarrowPhaseSolver>::distance;
- distance_matrix[BV_KDOP24][GEOM_SPHERE] = &BVHShapeDistancer<KDOP<24>, Sphere, NarrowPhaseSolver>::distance;
- distance_matrix[BV_KDOP24][GEOM_CAPSULE] = &BVHShapeDistancer<KDOP<24>, Capsule, NarrowPhaseSolver>::distance;
- distance_matrix[BV_KDOP24][GEOM_CONE] = &BVHShapeDistancer<KDOP<24>, Cone, NarrowPhaseSolver>::distance;
- distance_matrix[BV_KDOP24][GEOM_CYLINDER] = &BVHShapeDistancer<KDOP<24>, Cylinder, NarrowPhaseSolver>::distance;
- distance_matrix[BV_KDOP24][GEOM_CONVEX] = &BVHShapeDistancer<KDOP<24>, Convex, NarrowPhaseSolver>::distance;
- distance_matrix[BV_KDOP24][GEOM_PLANE] = &BVHShapeDistancer<KDOP<24>, Plane, NarrowPhaseSolver>::distance;
- distance_matrix[BV_KDOP24][GEOM_HALFSPACE] = &BVHShapeDistancer<KDOP<24>, Halfspace, NarrowPhaseSolver>::distance;
+ distance_matrix[BV_KDOP16][GEOM_BOX] = &BVHShapeDistancer<KDOP<16>, Box, GJKSolver>::distance;
+ distance_matrix[BV_KDOP16][GEOM_SPHERE] = &BVHShapeDistancer<KDOP<16>, Sphere, GJKSolver>::distance;
+ distance_matrix[BV_KDOP16][GEOM_CAPSULE] = &BVHShapeDistancer<KDOP<16>, Capsule, GJKSolver>::distance;
+ distance_matrix[BV_KDOP16][GEOM_CONE] = &BVHShapeDistancer<KDOP<16>, Cone, GJKSolver>::distance;
+ distance_matrix[BV_KDOP16][GEOM_CYLINDER] = &BVHShapeDistancer<KDOP<16>, Cylinder, GJKSolver>::distance;
+ distance_matrix[BV_KDOP16][GEOM_CONVEX] = &BVHShapeDistancer<KDOP<16>, Convex, GJKSolver>::distance;
+ distance_matrix[BV_KDOP16][GEOM_PLANE] = &BVHShapeDistancer<KDOP<16>, Plane, GJKSolver>::distance;
+ distance_matrix[BV_KDOP16][GEOM_HALFSPACE] = &BVHShapeDistancer<KDOP<16>, Halfspace, GJKSolver>::distance;
+
+ distance_matrix[BV_KDOP18][GEOM_BOX] = &BVHShapeDistancer<KDOP<18>, Box, GJKSolver>::distance;
+ distance_matrix[BV_KDOP18][GEOM_SPHERE] = &BVHShapeDistancer<KDOP<18>, Sphere, GJKSolver>::distance;
+ distance_matrix[BV_KDOP18][GEOM_CAPSULE] = &BVHShapeDistancer<KDOP<18>, Capsule, GJKSolver>::distance;
+ distance_matrix[BV_KDOP18][GEOM_CONE] = &BVHShapeDistancer<KDOP<18>, Cone, GJKSolver>::distance;
+ distance_matrix[BV_KDOP18][GEOM_CYLINDER] = &BVHShapeDistancer<KDOP<18>, Cylinder, GJKSolver>::distance;
+ distance_matrix[BV_KDOP18][GEOM_CONVEX] = &BVHShapeDistancer<KDOP<18>, Convex, GJKSolver>::distance;
+ distance_matrix[BV_KDOP18][GEOM_PLANE] = &BVHShapeDistancer<KDOP<18>, Plane, GJKSolver>::distance;
+ distance_matrix[BV_KDOP18][GEOM_HALFSPACE] = &BVHShapeDistancer<KDOP<18>, Halfspace, GJKSolver>::distance;
+
+ distance_matrix[BV_KDOP24][GEOM_BOX] = &BVHShapeDistancer<KDOP<24>, Box, GJKSolver>::distance;
+ distance_matrix[BV_KDOP24][GEOM_SPHERE] = &BVHShapeDistancer<KDOP<24>, Sphere, GJKSolver>::distance;
+ distance_matrix[BV_KDOP24][GEOM_CAPSULE] = &BVHShapeDistancer<KDOP<24>, Capsule, GJKSolver>::distance;
+ distance_matrix[BV_KDOP24][GEOM_CONE] = &BVHShapeDistancer<KDOP<24>, Cone, GJKSolver>::distance;
+ distance_matrix[BV_KDOP24][GEOM_CYLINDER] = &BVHShapeDistancer<KDOP<24>, Cylinder, GJKSolver>::distance;
+ distance_matrix[BV_KDOP24][GEOM_CONVEX] = &BVHShapeDistancer<KDOP<24>, Convex, GJKSolver>::distance;
+ distance_matrix[BV_KDOP24][GEOM_PLANE] = &BVHShapeDistancer<KDOP<24>, Plane, GJKSolver>::distance;
+ distance_matrix[BV_KDOP24][GEOM_HALFSPACE] = &BVHShapeDistancer<KDOP<24>, Halfspace, GJKSolver>::distance;
*/
- distance_matrix[BV_kIOS][GEOM_BOX] = &BVHShapeDistancer<kIOS, Box, NarrowPhaseSolver>::distance;
- distance_matrix[BV_kIOS][GEOM_SPHERE] = &BVHShapeDistancer<kIOS, Sphere, NarrowPhaseSolver>::distance;
- distance_matrix[BV_kIOS][GEOM_CAPSULE] = &BVHShapeDistancer<kIOS, Capsule, NarrowPhaseSolver>::distance;
- distance_matrix[BV_kIOS][GEOM_CONE] = &BVHShapeDistancer<kIOS, Cone, NarrowPhaseSolver>::distance;
- distance_matrix[BV_kIOS][GEOM_CYLINDER] = &BVHShapeDistancer<kIOS, Cylinder, NarrowPhaseSolver>::distance;
- distance_matrix[BV_kIOS][GEOM_CONVEX] = &BVHShapeDistancer<kIOS, Convex, NarrowPhaseSolver>::distance;
- distance_matrix[BV_kIOS][GEOM_PLANE] = &BVHShapeDistancer<kIOS, Plane, NarrowPhaseSolver>::distance;
- distance_matrix[BV_kIOS][GEOM_HALFSPACE] = &BVHShapeDistancer<kIOS, Halfspace, NarrowPhaseSolver>::distance;
-
- distance_matrix[BV_OBBRSS][GEOM_BOX] = &BVHShapeDistancer<OBBRSS, Box, NarrowPhaseSolver>::distance;
- distance_matrix[BV_OBBRSS][GEOM_SPHERE] = &BVHShapeDistancer<OBBRSS, Sphere, NarrowPhaseSolver>::distance;
- distance_matrix[BV_OBBRSS][GEOM_CAPSULE] = &BVHShapeDistancer<OBBRSS, Capsule, NarrowPhaseSolver>::distance;
- distance_matrix[BV_OBBRSS][GEOM_CONE] = &BVHShapeDistancer<OBBRSS, Cone, NarrowPhaseSolver>::distance;
- distance_matrix[BV_OBBRSS][GEOM_CYLINDER] = &BVHShapeDistancer<OBBRSS, Cylinder, NarrowPhaseSolver>::distance;
- distance_matrix[BV_OBBRSS][GEOM_CONVEX] = &BVHShapeDistancer<OBBRSS, Convex, NarrowPhaseSolver>::distance;
- distance_matrix[BV_OBBRSS][GEOM_PLANE] = &BVHShapeDistancer<OBBRSS, Plane, NarrowPhaseSolver>::distance;
- distance_matrix[BV_OBBRSS][GEOM_HALFSPACE] = &BVHShapeDistancer<OBBRSS, Halfspace, NarrowPhaseSolver>::distance;
-
- distance_matrix[BV_AABB][BV_AABB] = &BVHDistance<AABB, NarrowPhaseSolver>;
- distance_matrix[BV_OBB][BV_OBB] = &BVHDistance<OBB, NarrowPhaseSolver>;
- distance_matrix[BV_RSS][BV_RSS] = &BVHDistance<RSS, NarrowPhaseSolver>;
- distance_matrix[BV_kIOS][BV_kIOS] = &BVHDistance<kIOS, NarrowPhaseSolver>;
- distance_matrix[BV_OBBRSS][BV_OBBRSS] = &BVHDistance<OBBRSS, NarrowPhaseSolver>;
+ distance_matrix[BV_kIOS][GEOM_BOX] = &BVHShapeDistancer<kIOS, Box, GJKSolver>::distance;
+ distance_matrix[BV_kIOS][GEOM_SPHERE] = &BVHShapeDistancer<kIOS, Sphere, GJKSolver>::distance;
+ distance_matrix[BV_kIOS][GEOM_CAPSULE] = &BVHShapeDistancer<kIOS, Capsule, GJKSolver>::distance;
+ distance_matrix[BV_kIOS][GEOM_CONE] = &BVHShapeDistancer<kIOS, Cone, GJKSolver>::distance;
+ distance_matrix[BV_kIOS][GEOM_CYLINDER] = &BVHShapeDistancer<kIOS, Cylinder, GJKSolver>::distance;
+ distance_matrix[BV_kIOS][GEOM_CONVEX] = &BVHShapeDistancer<kIOS, Convex, GJKSolver>::distance;
+ distance_matrix[BV_kIOS][GEOM_PLANE] = &BVHShapeDistancer<kIOS, Plane, GJKSolver>::distance;
+ distance_matrix[BV_kIOS][GEOM_HALFSPACE] = &BVHShapeDistancer<kIOS, Halfspace, GJKSolver>::distance;
+
+ distance_matrix[BV_OBBRSS][GEOM_BOX] = &BVHShapeDistancer<OBBRSS, Box, GJKSolver>::distance;
+ distance_matrix[BV_OBBRSS][GEOM_SPHERE] = &BVHShapeDistancer<OBBRSS, Sphere, GJKSolver>::distance;
+ distance_matrix[BV_OBBRSS][GEOM_CAPSULE] = &BVHShapeDistancer<OBBRSS, Capsule, GJKSolver>::distance;
+ distance_matrix[BV_OBBRSS][GEOM_CONE] = &BVHShapeDistancer<OBBRSS, Cone, GJKSolver>::distance;
+ distance_matrix[BV_OBBRSS][GEOM_CYLINDER] = &BVHShapeDistancer<OBBRSS, Cylinder, GJKSolver>::distance;
+ distance_matrix[BV_OBBRSS][GEOM_CONVEX] = &BVHShapeDistancer<OBBRSS, Convex, GJKSolver>::distance;
+ distance_matrix[BV_OBBRSS][GEOM_PLANE] = &BVHShapeDistancer<OBBRSS, Plane, GJKSolver>::distance;
+ distance_matrix[BV_OBBRSS][GEOM_HALFSPACE] = &BVHShapeDistancer<OBBRSS, Halfspace, GJKSolver>::distance;
+
+ distance_matrix[BV_AABB][BV_AABB] = &BVHDistance<AABB, GJKSolver>;
+ distance_matrix[BV_OBB][BV_OBB] = &BVHDistance<OBB, GJKSolver>;
+ distance_matrix[BV_RSS][BV_RSS] = &BVHDistance<RSS, GJKSolver>;
+ distance_matrix[BV_kIOS][BV_kIOS] = &BVHDistance<kIOS, GJKSolver>;
+ distance_matrix[BV_OBBRSS][BV_OBBRSS] = &BVHDistance<OBBRSS, GJKSolver>;
#ifdef HPP_FCL_HAVE_OCTOMAP
- distance_matrix[GEOM_OCTREE][GEOM_BOX] = &OcTreeShapeDistance<Box, NarrowPhaseSolver>;
- distance_matrix[GEOM_OCTREE][GEOM_SPHERE] = &OcTreeShapeDistance<Sphere, NarrowPhaseSolver>;
- distance_matrix[GEOM_OCTREE][GEOM_CAPSULE] = &OcTreeShapeDistance<Capsule, NarrowPhaseSolver>;
- distance_matrix[GEOM_OCTREE][GEOM_CONE] = &OcTreeShapeDistance<Cone, NarrowPhaseSolver>;
- distance_matrix[GEOM_OCTREE][GEOM_CYLINDER] = &OcTreeShapeDistance<Cylinder, NarrowPhaseSolver>;
- distance_matrix[GEOM_OCTREE][GEOM_CONVEX] = &OcTreeShapeDistance<Convex, NarrowPhaseSolver>;
- distance_matrix[GEOM_OCTREE][GEOM_PLANE] = &OcTreeShapeDistance<Plane, NarrowPhaseSolver>;
- distance_matrix[GEOM_OCTREE][GEOM_HALFSPACE] = &OcTreeShapeDistance<Halfspace, NarrowPhaseSolver>;
-
- distance_matrix[GEOM_BOX][GEOM_OCTREE] = &ShapeOcTreeDistance<Box, NarrowPhaseSolver>;
- distance_matrix[GEOM_SPHERE][GEOM_OCTREE] = &ShapeOcTreeDistance<Sphere, NarrowPhaseSolver>;
- distance_matrix[GEOM_CAPSULE][GEOM_OCTREE] = &ShapeOcTreeDistance<Capsule, NarrowPhaseSolver>;
- distance_matrix[GEOM_CONE][GEOM_OCTREE] = &ShapeOcTreeDistance<Cone, NarrowPhaseSolver>;
- distance_matrix[GEOM_CYLINDER][GEOM_OCTREE] = &ShapeOcTreeDistance<Cylinder, NarrowPhaseSolver>;
- distance_matrix[GEOM_CONVEX][GEOM_OCTREE] = &ShapeOcTreeDistance<Convex, NarrowPhaseSolver>;
- distance_matrix[GEOM_PLANE][GEOM_OCTREE] = &ShapeOcTreeDistance<Plane, NarrowPhaseSolver>;
- distance_matrix[GEOM_HALFSPACE][GEOM_OCTREE] = &ShapeOcTreeDistance<Halfspace, NarrowPhaseSolver>;
-
- distance_matrix[GEOM_OCTREE][GEOM_OCTREE] = &OcTreeDistance<NarrowPhaseSolver>;
-
- distance_matrix[GEOM_OCTREE][BV_AABB] = &OcTreeBVHDistance<AABB, NarrowPhaseSolver>;
- distance_matrix[GEOM_OCTREE][BV_OBB] = &OcTreeBVHDistance<OBB, NarrowPhaseSolver>;
- distance_matrix[GEOM_OCTREE][BV_RSS] = &OcTreeBVHDistance<RSS, NarrowPhaseSolver>;
- distance_matrix[GEOM_OCTREE][BV_OBBRSS] = &OcTreeBVHDistance<OBBRSS, NarrowPhaseSolver>;
- distance_matrix[GEOM_OCTREE][BV_kIOS] = &OcTreeBVHDistance<kIOS, NarrowPhaseSolver>;
- distance_matrix[GEOM_OCTREE][BV_KDOP16] = &OcTreeBVHDistance<KDOP<16>, NarrowPhaseSolver>;
- distance_matrix[GEOM_OCTREE][BV_KDOP18] = &OcTreeBVHDistance<KDOP<18>, NarrowPhaseSolver>;
- distance_matrix[GEOM_OCTREE][BV_KDOP24] = &OcTreeBVHDistance<KDOP<24>, NarrowPhaseSolver>;
-
- distance_matrix[BV_AABB][GEOM_OCTREE] = &BVHOcTreeDistance<AABB, NarrowPhaseSolver>;
- distance_matrix[BV_OBB][GEOM_OCTREE] = &BVHOcTreeDistance<OBB, NarrowPhaseSolver>;
- distance_matrix[BV_RSS][GEOM_OCTREE] = &BVHOcTreeDistance<RSS, NarrowPhaseSolver>;
- distance_matrix[BV_OBBRSS][GEOM_OCTREE] = &BVHOcTreeDistance<OBBRSS, NarrowPhaseSolver>;
- distance_matrix[BV_kIOS][GEOM_OCTREE] = &BVHOcTreeDistance<kIOS, NarrowPhaseSolver>;
- distance_matrix[BV_KDOP16][GEOM_OCTREE] = &BVHOcTreeDistance<KDOP<16>, NarrowPhaseSolver>;
- distance_matrix[BV_KDOP18][GEOM_OCTREE] = &BVHOcTreeDistance<KDOP<18>, NarrowPhaseSolver>;
- distance_matrix[BV_KDOP24][GEOM_OCTREE] = &BVHOcTreeDistance<KDOP<24>, NarrowPhaseSolver>;
+ distance_matrix[GEOM_OCTREE][GEOM_BOX] = &OcTreeShapeDistance<Box, GJKSolver>;
+ distance_matrix[GEOM_OCTREE][GEOM_SPHERE] = &OcTreeShapeDistance<Sphere, GJKSolver>;
+ distance_matrix[GEOM_OCTREE][GEOM_CAPSULE] = &OcTreeShapeDistance<Capsule, GJKSolver>;
+ distance_matrix[GEOM_OCTREE][GEOM_CONE] = &OcTreeShapeDistance<Cone, GJKSolver>;
+ distance_matrix[GEOM_OCTREE][GEOM_CYLINDER] = &OcTreeShapeDistance<Cylinder, GJKSolver>;
+ distance_matrix[GEOM_OCTREE][GEOM_CONVEX] = &OcTreeShapeDistance<Convex, GJKSolver>;
+ distance_matrix[GEOM_OCTREE][GEOM_PLANE] = &OcTreeShapeDistance<Plane, GJKSolver>;
+ distance_matrix[GEOM_OCTREE][GEOM_HALFSPACE] = &OcTreeShapeDistance<Halfspace, GJKSolver>;
+
+ distance_matrix[GEOM_BOX][GEOM_OCTREE] = &ShapeOcTreeDistance<Box, GJKSolver>;
+ distance_matrix[GEOM_SPHERE][GEOM_OCTREE] = &ShapeOcTreeDistance<Sphere, GJKSolver>;
+ distance_matrix[GEOM_CAPSULE][GEOM_OCTREE] = &ShapeOcTreeDistance<Capsule, GJKSolver>;
+ distance_matrix[GEOM_CONE][GEOM_OCTREE] = &ShapeOcTreeDistance<Cone, GJKSolver>;
+ distance_matrix[GEOM_CYLINDER][GEOM_OCTREE] = &ShapeOcTreeDistance<Cylinder, GJKSolver>;
+ distance_matrix[GEOM_CONVEX][GEOM_OCTREE] = &ShapeOcTreeDistance<Convex, GJKSolver>;
+ distance_matrix[GEOM_PLANE][GEOM_OCTREE] = &ShapeOcTreeDistance<Plane, GJKSolver>;
+ distance_matrix[GEOM_HALFSPACE][GEOM_OCTREE] = &ShapeOcTreeDistance<Halfspace, GJKSolver>;
+
+ distance_matrix[GEOM_OCTREE][GEOM_OCTREE] = &OcTreeDistance<GJKSolver>;
+
+ distance_matrix[GEOM_OCTREE][BV_AABB] = &OcTreeBVHDistance<AABB, GJKSolver>;
+ distance_matrix[GEOM_OCTREE][BV_OBB] = &OcTreeBVHDistance<OBB, GJKSolver>;
+ distance_matrix[GEOM_OCTREE][BV_RSS] = &OcTreeBVHDistance<RSS, GJKSolver>;
+ distance_matrix[GEOM_OCTREE][BV_OBBRSS] = &OcTreeBVHDistance<OBBRSS, GJKSolver>;
+ distance_matrix[GEOM_OCTREE][BV_kIOS] = &OcTreeBVHDistance<kIOS, GJKSolver>;
+ distance_matrix[GEOM_OCTREE][BV_KDOP16] = &OcTreeBVHDistance<KDOP<16>, GJKSolver>;
+ distance_matrix[GEOM_OCTREE][BV_KDOP18] = &OcTreeBVHDistance<KDOP<18>, GJKSolver>;
+ distance_matrix[GEOM_OCTREE][BV_KDOP24] = &OcTreeBVHDistance<KDOP<24>, GJKSolver>;
+
+ distance_matrix[BV_AABB][GEOM_OCTREE] = &BVHOcTreeDistance<AABB, GJKSolver>;
+ distance_matrix[BV_OBB][GEOM_OCTREE] = &BVHOcTreeDistance<OBB, GJKSolver>;
+ distance_matrix[BV_RSS][GEOM_OCTREE] = &BVHOcTreeDistance<RSS, GJKSolver>;
+ distance_matrix[BV_OBBRSS][GEOM_OCTREE] = &BVHOcTreeDistance<OBBRSS, GJKSolver>;
+ distance_matrix[BV_kIOS][GEOM_OCTREE] = &BVHOcTreeDistance<kIOS, GJKSolver>;
+ distance_matrix[BV_KDOP16][GEOM_OCTREE] = &BVHOcTreeDistance<KDOP<16>, GJKSolver>;
+ distance_matrix[BV_KDOP18][GEOM_OCTREE] = &BVHOcTreeDistance<KDOP<18>, GJKSolver>;
+ distance_matrix[BV_KDOP24][GEOM_OCTREE] = &BVHOcTreeDistance<KDOP<24>, GJKSolver>;
#endif
diff --git a/src/distance_func_matrix.h b/src/distance_func_matrix.h
index 5cb194384daf982f891d858de1297038277673ba..97e90780a3ff7dee186b91928b6a609e71fbcfea 100644
--- a/src/distance_func_matrix.h
+++ b/src/distance_func_matrix.h
@@ -39,18 +39,18 @@
namespace hpp
{
namespace fcl {
- template<typename T_SH1, typename T_SH2, typename NarrowPhaseSolver>
+ template<typename T_SH1, typename T_SH2, typename GJKSolver>
FCL_REAL ShapeShapeDistance
(const CollisionGeometry* o1, const Transform3f& tf1,
const CollisionGeometry* o2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver, const DistanceRequest& request,
+ const GJKSolver* nsolver, const DistanceRequest& request,
DistanceResult& result);
- template<typename T_SH1, typename T_SH2, typename NarrowPhaseSolver>
+ template<typename T_SH1, typename T_SH2, typename GJKSolver>
std::size_t ShapeShapeCollide
(const CollisionGeometry* o1, const Transform3f& tf1,
const CollisionGeometry* o2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver, const CollisionRequest& request,
+ const GJKSolver* nsolver, const CollisionRequest& request,
CollisionResult& result);
}
diff --git a/src/intersect.cpp b/src/intersect.cpp
index a69343de864f491a98cb51a43639f7af61e1ac0a..15df43fc3432f1245e75ac21d84e5291b4bd72fa 100644
--- a/src/intersect.cpp
+++ b/src/intersect.cpp
@@ -40,7 +40,7 @@
#include <limits>
#include <vector>
#include <boost/math/special_functions/fpclassify.hpp>
-#include <hpp/fcl/math/tools.h>
+#include "math/tools.h"
namespace hpp
{
diff --git a/include/hpp/fcl/math/tools.h b/src/math/tools.h
similarity index 100%
rename from include/hpp/fcl/math/tools.h
rename to src/math/tools.h
diff --git a/src/narrowphase/gjk.cpp b/src/narrowphase/gjk.cpp
index fa37055895d3843d2210fe093714782e94437ee5..54393566d0b73cfc2fe548c6be4aeb8cf204654a 100644
--- a/src/narrowphase/gjk.cpp
+++ b/src/narrowphase/gjk.cpp
@@ -37,7 +37,7 @@
#include <hpp/fcl/narrowphase/gjk.h>
#include <hpp/fcl/intersect.h>
-#include <hpp/fcl/math/tools.h>
+#include "../math/tools.h"
namespace hpp
{
diff --git a/src/shape/geometric_shapes_utility.cpp b/src/shape/geometric_shapes_utility.cpp
index d0f1825c670082c990a0ec7265209852e1e7cad1..70f26152604a39f76e543f1aa4f8fb0b1900201f 100644
--- a/src/shape/geometric_shapes_utility.cpp
+++ b/src/shape/geometric_shapes_utility.cpp
@@ -38,7 +38,7 @@
#include <hpp/fcl/shape/geometric_shapes_utility.h>
#include <hpp/fcl/BVH/BV_fitter.h>
-#include <hpp/fcl/math/tools.h>
+#include "../math/tools.h"
namespace hpp
{
diff --git a/src/traversal/traversal_node_setup.cpp b/src/traversal/traversal_node_setup.cpp
index 9f236985d0501ee4f93748369c0c870ac4b31f92..9f3f6d85af31e329b689445fd24f6e599ddcb427 100644
--- a/src/traversal/traversal_node_setup.cpp
+++ b/src/traversal/traversal_node_setup.cpp
@@ -37,7 +37,7 @@
#include <hpp/fcl/traversal/traversal_node_setup.h>
-#include <hpp/fcl/math/tools.h>
+#include "../math/tools.h"
namespace hpp
{
diff --git a/test/geometric_shapes.cpp b/test/geometric_shapes.cpp
index e65aad57e4ad143f95d317f53a33a03e07c9e7e4..6b3474ac8d7358ee184ec37b920a6f608918ed66 100644
--- a/test/geometric_shapes.cpp
+++ b/test/geometric_shapes.cpp
@@ -46,7 +46,7 @@
#include <hpp/fcl/distance.h>
#include "utility.h"
#include <iostream>
-#include <hpp/fcl/math/tools.h>
+#include "../src/math/tools.h"
using namespace hpp::fcl;
diff --git a/test/gjk.cpp b/test/gjk.cpp
index 9ae852de0587454b24d7a968fe1532b7fd9bcc69..b02436d16a301d9df43b52e28c60333cfc931165 100644
--- a/test/gjk.cpp
+++ b/test/gjk.cpp
@@ -43,7 +43,7 @@
#include <hpp/fcl/narrowphase/narrowphase.h>
#include <hpp/fcl/shape/geometric_shapes.h>
-#include <hpp/fcl/math/tools.h>
+#include "../src/math/tools.h"
using hpp::fcl::GJKSolver;
using hpp::fcl::TriangleP;
diff --git a/test/math.cpp b/test/math.cpp
index ef7d49c2b42b5aca845b5a15fb3858b15c961e1b..33845b0a73196805496f3e4591e3ad6dc84752b4 100644
--- a/test/math.cpp
+++ b/test/math.cpp
@@ -43,7 +43,7 @@
#include <hpp/fcl/math/transform.h>
#include <hpp/fcl/intersect.h>
-#include <hpp/fcl/math/tools.h>
+#include "../src/math/tools.h"
using namespace hpp::fcl;