More special optimization for sphere and box

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@108 253336fb-580f-4252-a368-f3cef5a2a82b

trunk/fcl/include/fcl/narrowphase/narrowphase.h

@@ -192,31 +192,46 @@ struct GJKSolver_libccd
 };
 
 
-
+/** \brief Fast implementation for sphere-sphere collision */
 template<>
 bool GJKSolver_libccd::shapeIntersect<Sphere, Sphere>(const Sphere& s1, const SimpleTransform& tf1,
                                                       const Sphere& s2, const SimpleTransform& tf2,
                                                       Vec3f* contact_points, BVH_REAL* penetration_depth, Vec3f* normal) const;
-/*
+
+/** \brief Fast implementation for sphere-triangle collision */
 template<> 
 bool GJKSolver_libccd::shapeTriangleIntersect(const Sphere& s, const SimpleTransform& tf,
                                               const Vec3f& P1, const Vec3f& P2, const Vec3f& P3, Vec3f* contact_points, BVH_REAL* penetration_depth, Vec3f* normal) const;
 
+/** \brief Fast implementation for sphere-triangle collision */
 template<> 
 bool GJKSolver_libccd::shapeTriangleIntersect(const Sphere& s, const SimpleTransform& tf,
                                               const Vec3f& P1, const Vec3f& P2, const Vec3f& P3, const Matrix3f& R, const Vec3f& T, Vec3f* contact_points, BVH_REAL* penetration_depth, Vec3f* normal) const;
 
+/** \brief Fast implementation for sphere-sphere distance */
+template<>
+bool GJKSolver_libccd::shapeDistance<Sphere, Sphere>(const Sphere& s1, const SimpleTransform& tf1,
+                                                     const Sphere& s2, const SimpleTransform& tf2,
+                                                     BVH_REAL* dist) const;
 
+/** \brief Fast implementation for sphere-triangle distance */
+template<>
+bool GJKSolver_libccd::shapeTriangleDistance<Sphere>(const Sphere& s, const SimpleTransform& tf,
+                                                     const Vec3f& P1, const Vec3f& P2, const Vec3f& P3, 
+                                                     BVH_REAL* dist) const;
+
+/** \brief Fast implementation for sphere-triangle distance */
+template<> 
+bool GJKSolver_libccd::shapeTriangleDistance<Sphere>(const Sphere& s, const SimpleTransform& tf, 
+                                                     const Vec3f& P1, const Vec3f& P2, const Vec3f& P3, const Matrix3f& R, const Vec3f& T,
+                                                     BVH_REAL* dist) const;
+
+/** \brief Fast implementation for box-box collision */                                                     
 template<>
 bool GJKSolver_libccd::shapeIntersect<Box, Box>(const Box& s1, const SimpleTransform& tf1,
                                                 const Box& s2, const SimpleTransform& tf2,
                                                 Vec3f* contact_points, BVH_REAL* penetration_depth, Vec3f* normal) const;
-*/
 
-template<>
-bool GJKSolver_libccd::shapeDistance<Sphere, Sphere>(const Sphere& s1, const SimpleTransform& tf1,
-                                                     const Sphere& s2, const SimpleTransform& tf2,
-                                                     BVH_REAL* dist) const;
 
 struct GJKSolver_indep
 {
@@ -478,23 +493,46 @@ struct GJKSolver_indep
   BVH_REAL gjk_max_iterations;
 };
 
+/** \brief Fast implementation for sphere-sphere collision */                                                     
 template<>
 bool GJKSolver_indep::shapeIntersect<Sphere, Sphere>(const Sphere& s1, const SimpleTransform& tf1,
                                                       const Sphere& s2, const SimpleTransform& tf2,
                                                       Vec3f* contact_points, BVH_REAL* penetration_depth, Vec3f* normal) const;
 
-/*
-template<>
-bool GJKSolver_indep::shapeIntersect<Box, Box>(const Box& s1, const SimpleTransform& tf1,
-                                                const Box& s2, const SimpleTransform& tf2,
-                                                Vec3f* contact_points, BVH_REAL* penetration_depth, Vec3f* normal) const;
-*/
+/** \brief Fast implementation for sphere-triangle collision */                                                     
+template<> 
+bool GJKSolver_indep::shapeTriangleIntersect(const Sphere& s, const SimpleTransform& tf,
+                                              const Vec3f& P1, const Vec3f& P2, const Vec3f& P3, Vec3f* contact_points, BVH_REAL* penetration_depth, Vec3f* normal) const;
 
+/** \brief Fast implementation for sphere-triangle collision */                                                     
+template<> 
+bool GJKSolver_indep::shapeTriangleIntersect(const Sphere& s, const SimpleTransform& tf,
+                                              const Vec3f& P1, const Vec3f& P2, const Vec3f& P3, const Matrix3f& R, const Vec3f& T, Vec3f* contact_points, BVH_REAL* penetration_depth, Vec3f* normal) const;
+
+/** \brief Fast implementation for sphere-sphere distance */                                                     
 template<>
 bool GJKSolver_indep::shapeDistance<Sphere, Sphere>(const Sphere& s1, const SimpleTransform& tf1,
                                                     const Sphere& s2, const SimpleTransform& tf2,
                                                     BVH_REAL* dist) const;
 
+/** \brief Fast implementation for sphere-triangle distance */                                                     
+template<>
+bool GJKSolver_indep::shapeTriangleDistance<Sphere>(const Sphere& s, const SimpleTransform& tf,
+                                                    const Vec3f& P1, const Vec3f& P2, const Vec3f& P3, 
+                                                    BVH_REAL* dist) const;
+
+/** \brief Fast implementation for sphere-triangle distance */                                                     
+template<> 
+bool GJKSolver_indep::shapeTriangleDistance<Sphere>(const Sphere& s, const SimpleTransform& tf, 
+                                                    const Vec3f& P1, const Vec3f& P2, const Vec3f& P3, const Matrix3f& R, const Vec3f& T,
+                                                    BVH_REAL* dist) const;
+
+/** \brief Fast implementation for box-box collision */                                                     
+template<>
+bool GJKSolver_indep::shapeIntersect<Box, Box>(const Box& s1, const SimpleTransform& tf1,
+                                                const Box& s2, const SimpleTransform& tf2,
+                                                Vec3f* contact_points, BVH_REAL* penetration_depth, Vec3f* normal) const;
+
 }
 
 #endif