Verified Commit 47be80b9 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

core: add virtualisation for inheritance

parent 448bd881
Pipeline #13852 passed with stage
in 46 minutes and 38 seconds
......@@ -136,6 +136,8 @@ public:
return res;
}
virtual ~ComputeCollision() {};
protected:
CollisionGeometry const *o1, *o2;
GJKSolver solver;
......@@ -143,8 +145,8 @@ protected:
CollisionFunctionMatrix::CollisionFunc func;
bool swap_geoms;
std::size_t run(const Transform3f& tf1, const Transform3f& tf2,
const CollisionRequest& request, CollisionResult& result) const;
virtual std::size_t run(const Transform3f& tf1, const Transform3f& tf2,
const CollisionRequest& request, CollisionResult& result) const;
};
......
......@@ -127,6 +127,8 @@ public:
request.updateGuess (result);
return res;
}
virtual ~ComputeDistance() {};
protected:
CollisionGeometry const *o1, *o2;
......@@ -135,8 +137,8 @@ protected:
DistanceFunctionMatrix::DistanceFunc func;
bool swap_geoms;
FCL_REAL run(const Transform3f& tf1, const Transform3f& tf2,
const DistanceRequest& request, DistanceResult& result) const;
virtual FCL_REAL run(const Transform3f& tf1, const Transform3f& tf2,
const DistanceRequest& request, DistanceResult& result) const;
};
......
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