Commit f9167f4b authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

Deactivate specialization of box-box distance algorithm.

This is a temporary change. Instead, we should rely on
obbDisjointAndLowerBoundDistance eventually followed by boxBox2 (algo
that computes a penetration depth). I don't know whether boxBox2 is
correct.
parent edea35f6
......@@ -314,7 +314,7 @@ namespace fcl
/// \{
// param doc is the doxygen detailled description (should be enclosed in /** */
// and contain no space.
// and contain no dot for some obscure reasons).
#define HPP_FCL_DECLARE_SHAPE_INTERSECT(Shape1,Shape2,doc) \
/** @brief Fast implementation for Shape1-Shape2 collision. */ \
doc \
......@@ -335,7 +335,17 @@ namespace fcl
HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR(Sphere, Halfspace,);
HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR(Sphere, Plane,);
HPP_FCL_DECLARE_SHAPE_INTERSECT_SELF(Box,);
#ifdef IS_DOXYGEN // for doxygen only
/** \todo currently disabled and to re-enable it, API of function
* \ref obbDisjointAndLowerBoundDistance should be modified.
* */
template<> bool GJKSolver::shapeIntersect<Box, Box>
(const Box& s1, const Transform3f& tf1,
const Box& s2, const Transform3f& tf2,
FCL_REAL& distance_lower_bound, bool enable_penetration,
Vec3f* contact_points, Vec3f* normal) const;
#endif
//HPP_FCL_DECLARE_SHAPE_INTERSECT_SELF(Box,);
HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR(Box, Halfspace,);
HPP_FCL_DECLARE_SHAPE_INTERSECT_PAIR(Box, Plane,);
......@@ -362,6 +372,8 @@ namespace fcl
/// \name Shape triangle interaction specializations
/// \{
// param doc is the doxygen detailled description (should be enclosed in /** */
// and contain no dot for some obscure reasons).
#define HPP_FCL_DECLARE_SHAPE_TRIANGLE(Shape,doc) \
/** @brief Fast implementation for Shape-Triangle interaction. */ \
doc \
......@@ -382,7 +394,7 @@ namespace fcl
/// \{
// param doc is the doxygen detailled description (should be enclosed in /** */
// and contain no space.
// and contain no dot for some obscure reasons).
#define HPP_FCL_DECLARE_SHAPE_DISTANCE(Shape1,Shape2,doc) \
/** @brief Fast implementation for Shape1-Shape2 distance. */ \
doc \
......
......@@ -127,6 +127,7 @@ bool GJKSolver::shapeIntersect<Box, Sphere>
SHAPE_INTERSECT_INVERTED(Sphere, Box)
/*
template<>
bool GJKSolver::shapeIntersect<Box, Box>(const Box& s1, const Transform3f& tf1,
const Box& s2, const Transform3f& tf2,
......@@ -136,6 +137,7 @@ bool GJKSolver::shapeIntersect<Box, Box>(const Box& s1, const Transform3f& tf1,
{
return details::boxBoxIntersect(s1, tf1, s2, tf2, contact_points, &distance_lower_bound, normal);
}
*/
template<>
bool GJKSolver::shapeIntersect<Sphere, Halfspace>
......
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