| Directory: | ./ |
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| File: | src/collision_func_matrix.cpp |
| Date: | 2025-04-13 14:25:19 |
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| Lines: | 286 | 317 | 90.2% |
| Branches: | 29 | 158 | 18.4% |
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| 1 | /* | ||
| 2 | * Software License Agreement (BSD License) | ||
| 3 | * | ||
| 4 | * Copyright (c) 2011-2014, Willow Garage, Inc. | ||
| 5 | * Copyright (c) 2014-2015, Open Source Robotics Foundation | ||
| 6 | * All rights reserved. | ||
| 7 | * | ||
| 8 | * Redistribution and use in source and binary forms, with or without | ||
| 9 | * modification, are permitted provided that the following conditions | ||
| 10 | * are met: | ||
| 11 | * | ||
| 12 | * * Redistributions of source code must retain the above copyright | ||
| 13 | * notice, this list of conditions and the following disclaimer. | ||
| 14 | * * Redistributions in binary form must reproduce the above | ||
| 15 | * copyright notice, this list of conditions and the following | ||
| 16 | * disclaimer in the documentation and/or other materials provided | ||
| 17 | * with the distribution. | ||
| 18 | * * Neither the name of Open Source Robotics Foundation nor the names of its | ||
| 19 | * contributors may be used to endorse or promote products derived | ||
| 20 | * from this software without specific prior written permission. | ||
| 21 | * | ||
| 22 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 23 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 24 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| 25 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| 26 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| 27 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| 28 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 29 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| 30 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| 31 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| 32 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| 33 | * POSSIBILITY OF SUCH DAMAGE. | ||
| 34 | */ | ||
| 35 | |||
| 36 | /** \author Jia Pan */ | ||
| 37 | |||
| 38 | #include "coal/collision_func_matrix.h" | ||
| 39 | |||
| 40 | #include "coal/internal/traversal_node_setup.h" | ||
| 41 | #include <../src/collision_node.h> | ||
| 42 | #include "coal/narrowphase/narrowphase.h" | ||
| 43 | #include "coal/internal/shape_shape_func.h" | ||
| 44 | #include "coal/shape/geometric_shapes_traits.h" | ||
| 45 | #include <../src/traits_traversal.h> | ||
| 46 | |||
| 47 | namespace coal { | ||
| 48 | |||
| 49 | #ifdef COAL_HAS_OCTOMAP | ||
| 50 | |||
| 51 | template <typename TypeA, typename TypeB> | ||
| 52 | 6200 | std::size_t OctreeCollide(const CollisionGeometry* o1, const Transform3s& tf1, | |
| 53 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
| 54 | const GJKSolver* nsolver, | ||
| 55 | const CollisionRequest& request, | ||
| 56 | CollisionResult& result) { | ||
| 57 |
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6200 | if (request.isSatisfied(result)) return result.numContacts(); |
| 58 | |||
| 59 |
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6200 | if (request.security_margin < 0) |
| 60 | ✗ | COAL_THROW_PRETTY("Negative security margin are not handled yet for Octree", | |
| 61 | std::invalid_argument); | ||
| 62 | |||
| 63 |
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6200 | typename TraversalTraitsCollision<TypeA, TypeB>::CollisionTraversal_t node( |
| 64 | request); | ||
| 65 |
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6200 | const TypeA* obj1 = dynamic_cast<const TypeA*>(o1); |
| 66 |
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6200 | const TypeB* obj2 = dynamic_cast<const TypeB*>(o2); |
| 67 | 6200 | OcTreeSolver otsolver(nsolver); | |
| 68 | |||
| 69 |
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6200 | initialize(node, *obj1, tf1, *obj2, tf2, &otsolver, result); |
| 70 |
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6200 | collide(&node, request, result); |
| 71 | |||
| 72 | 6200 | return result.numContacts(); | |
| 73 | } | ||
| 74 | |||
| 75 | #endif | ||
| 76 | |||
| 77 | namespace details { | ||
| 78 | template <typename T_BVH, typename T_SH> | ||
| 79 | struct bvh_shape_traits { | ||
| 80 | enum { Options = RelativeTransformationIsIdentity }; | ||
| 81 | }; | ||
| 82 | #define BVH_SHAPE_DEFAULT_TO_ORIENTED(bv) \ | ||
| 83 | template <typename T_SH> \ | ||
| 84 | struct bvh_shape_traits<bv, T_SH> { \ | ||
| 85 | enum { Options = 0 }; \ | ||
| 86 | } | ||
| 87 | BVH_SHAPE_DEFAULT_TO_ORIENTED(OBB); | ||
| 88 | BVH_SHAPE_DEFAULT_TO_ORIENTED(RSS); | ||
| 89 | BVH_SHAPE_DEFAULT_TO_ORIENTED(kIOS); | ||
| 90 | BVH_SHAPE_DEFAULT_TO_ORIENTED(OBBRSS); | ||
| 91 | #undef BVH_SHAPE_DEFAULT_TO_ORIENTED | ||
| 92 | } // namespace details | ||
| 93 | |||
| 94 | /// \tparam _Options takes two values. | ||
| 95 | /// - RelativeTransformationIsIdentity if object 1 should be moved | ||
| 96 | /// into the frame of object 2 before computing collisions. | ||
| 97 | /// - 0 if the query should be made with non-aligned object frames. | ||
| 98 | template <typename T_BVH, typename T_SH, | ||
| 99 | int _Options = details::bvh_shape_traits<T_BVH, T_SH>::Options> | ||
| 100 | struct COAL_LOCAL BVHShapeCollider { | ||
| 101 | 252 | static std::size_t collide(const CollisionGeometry* o1, | |
| 102 | const Transform3s& tf1, | ||
| 103 | const CollisionGeometry* o2, | ||
| 104 | const Transform3s& tf2, const GJKSolver* nsolver, | ||
| 105 | const CollisionRequest& request, | ||
| 106 | CollisionResult& result) { | ||
| 107 |
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252 | if (request.isSatisfied(result)) return result.numContacts(); |
| 108 | |||
| 109 |
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252 | if (request.security_margin < 0) |
| 110 | ✗ | COAL_THROW_PRETTY( | |
| 111 | "Negative security margin are not handled yet for BVHModel", | ||
| 112 | std::invalid_argument); | ||
| 113 | |||
| 114 | if (_Options & RelativeTransformationIsIdentity) | ||
| 115 | ✗ | return aligned(o1, tf1, o2, tf2, nsolver, request, result); | |
| 116 | else | ||
| 117 | 252 | return oriented(o1, tf1, o2, tf2, nsolver, request, result); | |
| 118 | } // namespace coal | ||
| 119 | |||
| 120 | ✗ | static std::size_t aligned(const CollisionGeometry* o1, | |
| 121 | const Transform3s& tf1, | ||
| 122 | const CollisionGeometry* o2, | ||
| 123 | const Transform3s& tf2, const GJKSolver* nsolver, | ||
| 124 | const CollisionRequest& request, | ||
| 125 | CollisionResult& result) { | ||
| 126 | ✗ | if (request.isSatisfied(result)) return result.numContacts(); | |
| 127 | |||
| 128 | MeshShapeCollisionTraversalNode<T_BVH, T_SH, | ||
| 129 | RelativeTransformationIsIdentity> | ||
| 130 | ✗ | node(request); | |
| 131 | ✗ | const BVHModel<T_BVH>* obj1 = static_cast<const BVHModel<T_BVH>*>(o1); | |
| 132 | ✗ | BVHModel<T_BVH>* obj1_tmp = new BVHModel<T_BVH>(*obj1); | |
| 133 | ✗ | Transform3s tf1_tmp = tf1; | |
| 134 | ✗ | const T_SH* obj2 = static_cast<const T_SH*>(o2); | |
| 135 | |||
| 136 | ✗ | initialize(node, *obj1_tmp, tf1_tmp, *obj2, tf2, nsolver, result); | |
| 137 | ✗ | coal::collide(&node, request, result); | |
| 138 | |||
| 139 | ✗ | delete obj1_tmp; | |
| 140 | ✗ | return result.numContacts(); | |
| 141 | } | ||
| 142 | |||
| 143 | 252 | static std::size_t oriented(const CollisionGeometry* o1, | |
| 144 | const Transform3s& tf1, | ||
| 145 | const CollisionGeometry* o2, | ||
| 146 | const Transform3s& tf2, const GJKSolver* nsolver, | ||
| 147 | const CollisionRequest& request, | ||
| 148 | CollisionResult& result) { | ||
| 149 |
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252 | if (request.isSatisfied(result)) return result.numContacts(); |
| 150 | |||
| 151 |
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252 | MeshShapeCollisionTraversalNode<T_BVH, T_SH, 0> node(request); |
| 152 | 252 | const BVHModel<T_BVH>* obj1 = static_cast<const BVHModel<T_BVH>*>(o1); | |
| 153 | 252 | const T_SH* obj2 = static_cast<const T_SH*>(o2); | |
| 154 | |||
| 155 |
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252 | initialize(node, *obj1, tf1, *obj2, tf2, nsolver, result); |
| 156 |
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252 | coal::collide(&node, request, result); |
| 157 | 252 | return result.numContacts(); | |
| 158 | } | ||
| 159 | }; | ||
| 160 | |||
| 161 | /// @brief Collider functor for HeightField data structure | ||
| 162 | /// \tparam _Options takes two values. | ||
| 163 | /// - RelativeTransformationIsIdentity if object 1 should be moved | ||
| 164 | /// into the frame of object 2 before computing collisions. | ||
| 165 | /// - 0 if the query should be made with non-aligned object frames. | ||
| 166 | template <typename BV, typename Shape> | ||
| 167 | struct COAL_LOCAL HeightFieldShapeCollider { | ||
| 168 | typedef HeightField<BV> HF; | ||
| 169 | |||
| 170 | 110 | static std::size_t collide(const CollisionGeometry* o1, | |
| 171 | const Transform3s& tf1, | ||
| 172 | const CollisionGeometry* o2, | ||
| 173 | const Transform3s& tf2, const GJKSolver* nsolver, | ||
| 174 | const CollisionRequest& request, | ||
| 175 | CollisionResult& result) { | ||
| 176 |
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110 | if (request.isSatisfied(result)) return result.numContacts(); |
| 177 | |||
| 178 | 110 | const HF& height_field = static_cast<const HF&>(*o1); | |
| 179 | 110 | const Shape& shape = static_cast<const Shape&>(*o2); | |
| 180 | |||
| 181 |
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110 | HeightFieldShapeCollisionTraversalNode<BV, Shape, 0> node(request); |
| 182 | |||
| 183 |
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110 | initialize(node, height_field, tf1, shape, tf2, nsolver, result); |
| 184 |
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110 | coal::collide(&node, request, result); |
| 185 | 110 | return result.numContacts(); | |
| 186 | } | ||
| 187 | }; | ||
| 188 | |||
| 189 | namespace details { | ||
| 190 | template <typename OrientedMeshCollisionTraversalNode, typename T_BVH> | ||
| 191 | 21320 | std::size_t orientedMeshCollide(const CollisionGeometry* o1, | |
| 192 | const Transform3s& tf1, | ||
| 193 | const CollisionGeometry* o2, | ||
| 194 | const Transform3s& tf2, | ||
| 195 | const CollisionRequest& request, | ||
| 196 | CollisionResult& result) { | ||
| 197 |
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21320 | if (request.isSatisfied(result)) return result.numContacts(); |
| 198 | |||
| 199 |
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21320 | OrientedMeshCollisionTraversalNode node(request); |
| 200 | 21320 | const BVHModel<T_BVH>* obj1 = static_cast<const BVHModel<T_BVH>*>(o1); | |
| 201 | 21320 | const BVHModel<T_BVH>* obj2 = static_cast<const BVHModel<T_BVH>*>(o2); | |
| 202 | |||
| 203 |
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21320 | initialize(node, *obj1, tf1, *obj2, tf2, result); |
| 204 |
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21320 | collide(&node, request, result); |
| 205 | |||
| 206 | 21320 | return result.numContacts(); | |
| 207 | } | ||
| 208 | |||
| 209 | } // namespace details | ||
| 210 | |||
| 211 | template <typename T_BVH> | ||
| 212 | ✗ | std::size_t BVHCollide(const CollisionGeometry* o1, const Transform3s& tf1, | |
| 213 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
| 214 | const CollisionRequest& request, | ||
| 215 | CollisionResult& result) { | ||
| 216 | ✗ | if (request.isSatisfied(result)) return result.numContacts(); | |
| 217 | |||
| 218 | // TODO(louis): each time we call collide on BVH-BVH, we: | ||
| 219 | // - Allocate 2 new BVHs | ||
| 220 | // - Copy and transform the vertices in both BVHs so that they are in the | ||
| 221 | // same frame | ||
| 222 | // - Recompute BVs of the BVH structure | ||
| 223 | // -> all that just to avoid doing (a few) rotations/translations of AABBs. | ||
| 224 | // Is it really worth it? | ||
| 225 | ✗ | MeshCollisionTraversalNode<T_BVH> node(request); | |
| 226 | ✗ | const BVHModel<T_BVH>* obj1 = static_cast<const BVHModel<T_BVH>*>(o1); | |
| 227 | ✗ | const BVHModel<T_BVH>* obj2 = static_cast<const BVHModel<T_BVH>*>(o2); | |
| 228 | ✗ | BVHModel<T_BVH>* obj1_tmp = new BVHModel<T_BVH>(*obj1); | |
| 229 | ✗ | Transform3s tf1_tmp = tf1; | |
| 230 | ✗ | BVHModel<T_BVH>* obj2_tmp = new BVHModel<T_BVH>(*obj2); | |
| 231 | ✗ | Transform3s tf2_tmp = tf2; | |
| 232 | |||
| 233 | ✗ | initialize(node, *obj1_tmp, tf1_tmp, *obj2_tmp, tf2_tmp, result); | |
| 234 | ✗ | coal::collide(&node, request, result); | |
| 235 | |||
| 236 | ✗ | delete obj1_tmp; | |
| 237 | ✗ | delete obj2_tmp; | |
| 238 | |||
| 239 | ✗ | return result.numContacts(); | |
| 240 | } | ||
| 241 | |||
| 242 | template <> | ||
| 243 | 3 | std::size_t BVHCollide<OBB>(const CollisionGeometry* o1, const Transform3s& tf1, | |
| 244 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
| 245 | const CollisionRequest& request, | ||
| 246 | CollisionResult& result) { | ||
| 247 | 3 | return details::orientedMeshCollide<MeshCollisionTraversalNodeOBB, OBB>( | |
| 248 | 3 | o1, tf1, o2, tf2, request, result); | |
| 249 | } | ||
| 250 | |||
| 251 | template <> | ||
| 252 | 10657 | std::size_t BVHCollide<OBBRSS>(const CollisionGeometry* o1, | |
| 253 | const Transform3s& tf1, | ||
| 254 | const CollisionGeometry* o2, | ||
| 255 | const Transform3s& tf2, | ||
| 256 | const CollisionRequest& request, | ||
| 257 | CollisionResult& result) { | ||
| 258 | 10657 | return details::orientedMeshCollide<MeshCollisionTraversalNodeOBBRSS, OBBRSS>( | |
| 259 | 10657 | o1, tf1, o2, tf2, request, result); | |
| 260 | } | ||
| 261 | |||
| 262 | template <> | ||
| 263 | ✗ | std::size_t BVHCollide<kIOS>(const CollisionGeometry* o1, | |
| 264 | const Transform3s& tf1, | ||
| 265 | const CollisionGeometry* o2, | ||
| 266 | const Transform3s& tf2, | ||
| 267 | const CollisionRequest& request, | ||
| 268 | CollisionResult& result) { | ||
| 269 | ✗ | return details::orientedMeshCollide<MeshCollisionTraversalNodekIOS, kIOS>( | |
| 270 | ✗ | o1, tf1, o2, tf2, request, result); | |
| 271 | } | ||
| 272 | |||
| 273 | template <typename T_BVH> | ||
| 274 | 21320 | std::size_t BVHCollide(const CollisionGeometry* o1, const Transform3s& tf1, | |
| 275 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
| 276 | const GJKSolver* /*nsolver*/, | ||
| 277 | const CollisionRequest& request, | ||
| 278 | CollisionResult& result) { | ||
| 279 | 21320 | return BVHCollide<T_BVH>(o1, tf1, o2, tf2, request, result); | |
| 280 | } | ||
| 281 | |||
| 282 | 23 | CollisionFunctionMatrix::CollisionFunctionMatrix() { | |
| 283 |
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529 | for (int i = 0; i < NODE_COUNT; ++i) { |
| 284 |
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11638 | for (int j = 0; j < NODE_COUNT; ++j) collision_matrix[i][j] = NULL; |
| 285 | } | ||
| 286 | |||
| 287 | 23 | collision_matrix[GEOM_BOX][GEOM_BOX] = &ShapeShapeCollide<Box, Box>; | |
| 288 | 23 | collision_matrix[GEOM_BOX][GEOM_SPHERE] = &ShapeShapeCollide<Box, Sphere>; | |
| 289 | 23 | collision_matrix[GEOM_BOX][GEOM_CAPSULE] = &ShapeShapeCollide<Box, Capsule>; | |
| 290 | 23 | collision_matrix[GEOM_BOX][GEOM_CONE] = &ShapeShapeCollide<Box, Cone>; | |
| 291 | 23 | collision_matrix[GEOM_BOX][GEOM_CYLINDER] = &ShapeShapeCollide<Box, Cylinder>; | |
| 292 | 23 | collision_matrix[GEOM_BOX][GEOM_CONVEX] = &ShapeShapeCollide<Box, ConvexBase>; | |
| 293 | 23 | collision_matrix[GEOM_BOX][GEOM_PLANE] = &ShapeShapeCollide<Box, Plane>; | |
| 294 | 23 | collision_matrix[GEOM_BOX][GEOM_HALFSPACE] = | |
| 295 | &ShapeShapeCollide<Box, Halfspace>; | ||
| 296 | 23 | collision_matrix[GEOM_BOX][GEOM_ELLIPSOID] = | |
| 297 | &ShapeShapeCollide<Box, Ellipsoid>; | ||
| 298 | 23 | collision_matrix[GEOM_BOX][GEOM_TRIANGLE] = | |
| 299 | &ShapeShapeCollide<Box, TriangleP>; | ||
| 300 | |||
| 301 | 23 | collision_matrix[GEOM_SPHERE][GEOM_BOX] = &ShapeShapeCollide<Sphere, Box>; | |
| 302 | 23 | collision_matrix[GEOM_SPHERE][GEOM_SPHERE] = | |
| 303 | &ShapeShapeCollide<Sphere, Sphere>; | ||
| 304 | 23 | collision_matrix[GEOM_SPHERE][GEOM_CAPSULE] = | |
| 305 | &ShapeShapeCollide<Sphere, Capsule>; | ||
| 306 | 23 | collision_matrix[GEOM_SPHERE][GEOM_CONE] = &ShapeShapeCollide<Sphere, Cone>; | |
| 307 | 23 | collision_matrix[GEOM_SPHERE][GEOM_CYLINDER] = | |
| 308 | &ShapeShapeCollide<Sphere, Cylinder>; | ||
| 309 | 23 | collision_matrix[GEOM_SPHERE][GEOM_CONVEX] = | |
| 310 | &ShapeShapeCollide<Sphere, ConvexBase>; | ||
| 311 | 23 | collision_matrix[GEOM_SPHERE][GEOM_PLANE] = &ShapeShapeCollide<Sphere, Plane>; | |
| 312 | 23 | collision_matrix[GEOM_SPHERE][GEOM_HALFSPACE] = | |
| 313 | &ShapeShapeCollide<Sphere, Halfspace>; | ||
| 314 | 23 | collision_matrix[GEOM_SPHERE][GEOM_ELLIPSOID] = | |
| 315 | &ShapeShapeCollide<Sphere, Ellipsoid>; | ||
| 316 | 23 | collision_matrix[GEOM_SPHERE][GEOM_TRIANGLE] = | |
| 317 | &ShapeShapeCollide<Sphere, TriangleP>; | ||
| 318 | |||
| 319 | 23 | collision_matrix[GEOM_ELLIPSOID][GEOM_BOX] = | |
| 320 | &ShapeShapeCollide<Ellipsoid, Box>; | ||
| 321 | 23 | collision_matrix[GEOM_ELLIPSOID][GEOM_SPHERE] = | |
| 322 | &ShapeShapeCollide<Ellipsoid, Sphere>; | ||
| 323 | 23 | collision_matrix[GEOM_ELLIPSOID][GEOM_CAPSULE] = | |
| 324 | &ShapeShapeCollide<Ellipsoid, Capsule>; | ||
| 325 | 23 | collision_matrix[GEOM_ELLIPSOID][GEOM_CONE] = | |
| 326 | &ShapeShapeCollide<Ellipsoid, Cone>; | ||
| 327 | 23 | collision_matrix[GEOM_ELLIPSOID][GEOM_CYLINDER] = | |
| 328 | &ShapeShapeCollide<Ellipsoid, Cylinder>; | ||
| 329 | 23 | collision_matrix[GEOM_ELLIPSOID][GEOM_CONVEX] = | |
| 330 | &ShapeShapeCollide<Ellipsoid, ConvexBase>; | ||
| 331 | 23 | collision_matrix[GEOM_ELLIPSOID][GEOM_PLANE] = | |
| 332 | &ShapeShapeCollide<Ellipsoid, Plane>; | ||
| 333 | 23 | collision_matrix[GEOM_ELLIPSOID][GEOM_HALFSPACE] = | |
| 334 | &ShapeShapeCollide<Ellipsoid, Halfspace>; | ||
| 335 | 23 | collision_matrix[GEOM_ELLIPSOID][GEOM_ELLIPSOID] = | |
| 336 | &ShapeShapeCollide<Ellipsoid, Ellipsoid>; | ||
| 337 | 23 | collision_matrix[GEOM_ELLIPSOID][GEOM_TRIANGLE] = | |
| 338 | &ShapeShapeCollide<Ellipsoid, TriangleP>; | ||
| 339 | |||
| 340 | 23 | collision_matrix[GEOM_CAPSULE][GEOM_BOX] = &ShapeShapeCollide<Capsule, Box>; | |
| 341 | 23 | collision_matrix[GEOM_CAPSULE][GEOM_SPHERE] = | |
| 342 | &ShapeShapeCollide<Capsule, Sphere>; | ||
| 343 | 23 | collision_matrix[GEOM_CAPSULE][GEOM_CAPSULE] = | |
| 344 | &ShapeShapeCollide<Capsule, Capsule>; | ||
| 345 | 23 | collision_matrix[GEOM_CAPSULE][GEOM_CONE] = &ShapeShapeCollide<Capsule, Cone>; | |
| 346 | 23 | collision_matrix[GEOM_CAPSULE][GEOM_CYLINDER] = | |
| 347 | &ShapeShapeCollide<Capsule, Cylinder>; | ||
| 348 | 23 | collision_matrix[GEOM_CAPSULE][GEOM_CONVEX] = | |
| 349 | &ShapeShapeCollide<Capsule, ConvexBase>; | ||
| 350 | 23 | collision_matrix[GEOM_CAPSULE][GEOM_PLANE] = | |
| 351 | &ShapeShapeCollide<Capsule, Plane>; | ||
| 352 | 23 | collision_matrix[GEOM_CAPSULE][GEOM_HALFSPACE] = | |
| 353 | &ShapeShapeCollide<Capsule, Halfspace>; | ||
| 354 | 23 | collision_matrix[GEOM_CAPSULE][GEOM_ELLIPSOID] = | |
| 355 | &ShapeShapeCollide<Capsule, Ellipsoid>; | ||
| 356 | 23 | collision_matrix[GEOM_CAPSULE][GEOM_TRIANGLE] = | |
| 357 | &ShapeShapeCollide<Capsule, TriangleP>; | ||
| 358 | |||
| 359 | 23 | collision_matrix[GEOM_CONE][GEOM_BOX] = &ShapeShapeCollide<Cone, Box>; | |
| 360 | 23 | collision_matrix[GEOM_CONE][GEOM_SPHERE] = &ShapeShapeCollide<Cone, Sphere>; | |
| 361 | 23 | collision_matrix[GEOM_CONE][GEOM_CAPSULE] = &ShapeShapeCollide<Cone, Capsule>; | |
| 362 | 23 | collision_matrix[GEOM_CONE][GEOM_CONE] = &ShapeShapeCollide<Cone, Cone>; | |
| 363 | 23 | collision_matrix[GEOM_CONE][GEOM_CYLINDER] = | |
| 364 | &ShapeShapeCollide<Cone, Cylinder>; | ||
| 365 | 23 | collision_matrix[GEOM_CONE][GEOM_CONVEX] = | |
| 366 | &ShapeShapeCollide<Cone, ConvexBase>; | ||
| 367 | 23 | collision_matrix[GEOM_CONE][GEOM_PLANE] = &ShapeShapeCollide<Cone, Plane>; | |
| 368 | 23 | collision_matrix[GEOM_CONE][GEOM_HALFSPACE] = | |
| 369 | &ShapeShapeCollide<Cone, Halfspace>; | ||
| 370 | 23 | collision_matrix[GEOM_CONE][GEOM_ELLIPSOID] = | |
| 371 | &ShapeShapeCollide<Cone, Ellipsoid>; | ||
| 372 | 23 | collision_matrix[GEOM_CONE][GEOM_TRIANGLE] = | |
| 373 | &ShapeShapeCollide<Cone, TriangleP>; | ||
| 374 | |||
| 375 | 23 | collision_matrix[GEOM_CYLINDER][GEOM_BOX] = &ShapeShapeCollide<Cylinder, Box>; | |
| 376 | 23 | collision_matrix[GEOM_CYLINDER][GEOM_SPHERE] = | |
| 377 | &ShapeShapeCollide<Cylinder, Sphere>; | ||
| 378 | 23 | collision_matrix[GEOM_CYLINDER][GEOM_CAPSULE] = | |
| 379 | &ShapeShapeCollide<Cylinder, Capsule>; | ||
| 380 | 23 | collision_matrix[GEOM_CYLINDER][GEOM_CONE] = | |
| 381 | &ShapeShapeCollide<Cylinder, Cone>; | ||
| 382 | 23 | collision_matrix[GEOM_CYLINDER][GEOM_CYLINDER] = | |
| 383 | &ShapeShapeCollide<Cylinder, Cylinder>; | ||
| 384 | 23 | collision_matrix[GEOM_CYLINDER][GEOM_CONVEX] = | |
| 385 | &ShapeShapeCollide<Cylinder, ConvexBase>; | ||
| 386 | 23 | collision_matrix[GEOM_CYLINDER][GEOM_PLANE] = | |
| 387 | &ShapeShapeCollide<Cylinder, Plane>; | ||
| 388 | 23 | collision_matrix[GEOM_CYLINDER][GEOM_HALFSPACE] = | |
| 389 | &ShapeShapeCollide<Cylinder, Halfspace>; | ||
| 390 | 23 | collision_matrix[GEOM_CYLINDER][GEOM_ELLIPSOID] = | |
| 391 | &ShapeShapeCollide<Cylinder, Ellipsoid>; | ||
| 392 | 23 | collision_matrix[GEOM_CYLINDER][GEOM_TRIANGLE] = | |
| 393 | &ShapeShapeCollide<Cylinder, TriangleP>; | ||
| 394 | |||
| 395 | 23 | collision_matrix[GEOM_CONVEX][GEOM_BOX] = &ShapeShapeCollide<ConvexBase, Box>; | |
| 396 | 23 | collision_matrix[GEOM_CONVEX][GEOM_SPHERE] = | |
| 397 | &ShapeShapeCollide<ConvexBase, Sphere>; | ||
| 398 | 23 | collision_matrix[GEOM_CONVEX][GEOM_CAPSULE] = | |
| 399 | &ShapeShapeCollide<ConvexBase, Capsule>; | ||
| 400 | 23 | collision_matrix[GEOM_CONVEX][GEOM_CONE] = | |
| 401 | &ShapeShapeCollide<ConvexBase, Cone>; | ||
| 402 | 23 | collision_matrix[GEOM_CONVEX][GEOM_CYLINDER] = | |
| 403 | &ShapeShapeCollide<ConvexBase, Cylinder>; | ||
| 404 | 23 | collision_matrix[GEOM_CONVEX][GEOM_CONVEX] = | |
| 405 | &ShapeShapeCollide<ConvexBase, ConvexBase>; | ||
| 406 | 23 | collision_matrix[GEOM_CONVEX][GEOM_PLANE] = | |
| 407 | &ShapeShapeCollide<ConvexBase, Plane>; | ||
| 408 | 23 | collision_matrix[GEOM_CONVEX][GEOM_HALFSPACE] = | |
| 409 | &ShapeShapeCollide<ConvexBase, Halfspace>; | ||
| 410 | 23 | collision_matrix[GEOM_CONVEX][GEOM_ELLIPSOID] = | |
| 411 | &ShapeShapeCollide<ConvexBase, Ellipsoid>; | ||
| 412 | 23 | collision_matrix[GEOM_CONVEX][GEOM_TRIANGLE] = | |
| 413 | &ShapeShapeCollide<ConvexBase, TriangleP>; | ||
| 414 | |||
| 415 | 23 | collision_matrix[GEOM_PLANE][GEOM_BOX] = &ShapeShapeCollide<Plane, Box>; | |
| 416 | 23 | collision_matrix[GEOM_PLANE][GEOM_SPHERE] = &ShapeShapeCollide<Plane, Sphere>; | |
| 417 | 23 | collision_matrix[GEOM_PLANE][GEOM_CAPSULE] = | |
| 418 | &ShapeShapeCollide<Plane, Capsule>; | ||
| 419 | 23 | collision_matrix[GEOM_PLANE][GEOM_CONE] = &ShapeShapeCollide<Plane, Cone>; | |
| 420 | 23 | collision_matrix[GEOM_PLANE][GEOM_CYLINDER] = | |
| 421 | &ShapeShapeCollide<Plane, Cylinder>; | ||
| 422 | 23 | collision_matrix[GEOM_PLANE][GEOM_CONVEX] = | |
| 423 | &ShapeShapeCollide<Plane, ConvexBase>; | ||
| 424 | 23 | collision_matrix[GEOM_PLANE][GEOM_PLANE] = &ShapeShapeCollide<Plane, Plane>; | |
| 425 | 23 | collision_matrix[GEOM_PLANE][GEOM_HALFSPACE] = | |
| 426 | &ShapeShapeCollide<Plane, Halfspace>; | ||
| 427 | 23 | collision_matrix[GEOM_PLANE][GEOM_ELLIPSOID] = | |
| 428 | &ShapeShapeCollide<Plane, Ellipsoid>; | ||
| 429 | 23 | collision_matrix[GEOM_PLANE][GEOM_TRIANGLE] = | |
| 430 | &ShapeShapeCollide<Plane, TriangleP>; | ||
| 431 | |||
| 432 | 23 | collision_matrix[GEOM_HALFSPACE][GEOM_BOX] = | |
| 433 | &ShapeShapeCollide<Halfspace, Box>; | ||
| 434 | 23 | collision_matrix[GEOM_HALFSPACE][GEOM_SPHERE] = | |
| 435 | &ShapeShapeCollide<Halfspace, Sphere>; | ||
| 436 | 23 | collision_matrix[GEOM_HALFSPACE][GEOM_CAPSULE] = | |
| 437 | &ShapeShapeCollide<Halfspace, Capsule>; | ||
| 438 | 23 | collision_matrix[GEOM_HALFSPACE][GEOM_CONE] = | |
| 439 | &ShapeShapeCollide<Halfspace, Cone>; | ||
| 440 | 23 | collision_matrix[GEOM_HALFSPACE][GEOM_CYLINDER] = | |
| 441 | &ShapeShapeCollide<Halfspace, Cylinder>; | ||
| 442 | 23 | collision_matrix[GEOM_HALFSPACE][GEOM_CONVEX] = | |
| 443 | &ShapeShapeCollide<Halfspace, ConvexBase>; | ||
| 444 | 23 | collision_matrix[GEOM_HALFSPACE][GEOM_PLANE] = | |
| 445 | &ShapeShapeCollide<Halfspace, Plane>; | ||
| 446 | 23 | collision_matrix[GEOM_HALFSPACE][GEOM_HALFSPACE] = | |
| 447 | &ShapeShapeCollide<Halfspace, Halfspace>; | ||
| 448 | 23 | collision_matrix[GEOM_HALFSPACE][GEOM_ELLIPSOID] = | |
| 449 | &ShapeShapeCollide<Halfspace, Ellipsoid>; | ||
| 450 | 23 | collision_matrix[GEOM_HALFSPACE][GEOM_TRIANGLE] = | |
| 451 | &ShapeShapeCollide<Halfspace, TriangleP>; | ||
| 452 | |||
| 453 | 23 | collision_matrix[GEOM_TRIANGLE][GEOM_BOX] = | |
| 454 | &ShapeShapeCollide<TriangleP, Box>; | ||
| 455 | 23 | collision_matrix[GEOM_TRIANGLE][GEOM_SPHERE] = | |
| 456 | &ShapeShapeCollide<TriangleP, Sphere>; | ||
| 457 | 23 | collision_matrix[GEOM_TRIANGLE][GEOM_CAPSULE] = | |
| 458 | &ShapeShapeCollide<TriangleP, Capsule>; | ||
| 459 | 23 | collision_matrix[GEOM_TRIANGLE][GEOM_CONE] = | |
| 460 | &ShapeShapeCollide<TriangleP, Cone>; | ||
| 461 | 23 | collision_matrix[GEOM_TRIANGLE][GEOM_CYLINDER] = | |
| 462 | &ShapeShapeCollide<TriangleP, Cylinder>; | ||
| 463 | 23 | collision_matrix[GEOM_TRIANGLE][GEOM_CONVEX] = | |
| 464 | &ShapeShapeCollide<TriangleP, ConvexBase>; | ||
| 465 | 23 | collision_matrix[GEOM_TRIANGLE][GEOM_PLANE] = | |
| 466 | &ShapeShapeCollide<TriangleP, Plane>; | ||
| 467 | 23 | collision_matrix[GEOM_TRIANGLE][GEOM_HALFSPACE] = | |
| 468 | &ShapeShapeCollide<TriangleP, Halfspace>; | ||
| 469 | 23 | collision_matrix[GEOM_TRIANGLE][GEOM_ELLIPSOID] = | |
| 470 | &ShapeShapeCollide<TriangleP, Ellipsoid>; | ||
| 471 | 23 | collision_matrix[GEOM_TRIANGLE][GEOM_TRIANGLE] = | |
| 472 | &ShapeShapeCollide<TriangleP, TriangleP>; | ||
| 473 | |||
| 474 | 23 | collision_matrix[BV_AABB][GEOM_BOX] = &BVHShapeCollider<AABB, Box>::collide; | |
| 475 | 23 | collision_matrix[BV_AABB][GEOM_SPHERE] = | |
| 476 | &BVHShapeCollider<AABB, Sphere>::collide; | ||
| 477 | 23 | collision_matrix[BV_AABB][GEOM_CAPSULE] = | |
| 478 | &BVHShapeCollider<AABB, Capsule>::collide; | ||
| 479 | 23 | collision_matrix[BV_AABB][GEOM_CONE] = &BVHShapeCollider<AABB, Cone>::collide; | |
| 480 | 23 | collision_matrix[BV_AABB][GEOM_CYLINDER] = | |
| 481 | &BVHShapeCollider<AABB, Cylinder>::collide; | ||
| 482 | 23 | collision_matrix[BV_AABB][GEOM_CONVEX] = | |
| 483 | &BVHShapeCollider<AABB, ConvexBase>::collide; | ||
| 484 | 23 | collision_matrix[BV_AABB][GEOM_PLANE] = | |
| 485 | &BVHShapeCollider<AABB, Plane>::collide; | ||
| 486 | 23 | collision_matrix[BV_AABB][GEOM_HALFSPACE] = | |
| 487 | &BVHShapeCollider<AABB, Halfspace>::collide; | ||
| 488 | 23 | collision_matrix[BV_AABB][GEOM_ELLIPSOID] = | |
| 489 | &BVHShapeCollider<AABB, Ellipsoid>::collide; | ||
| 490 | |||
| 491 | 23 | collision_matrix[BV_OBB][GEOM_BOX] = &BVHShapeCollider<OBB, Box>::collide; | |
| 492 | 23 | collision_matrix[BV_OBB][GEOM_SPHERE] = | |
| 493 | &BVHShapeCollider<OBB, Sphere>::collide; | ||
| 494 | 23 | collision_matrix[BV_OBB][GEOM_CAPSULE] = | |
| 495 | &BVHShapeCollider<OBB, Capsule>::collide; | ||
| 496 | 23 | collision_matrix[BV_OBB][GEOM_CONE] = &BVHShapeCollider<OBB, Cone>::collide; | |
| 497 | 23 | collision_matrix[BV_OBB][GEOM_CYLINDER] = | |
| 498 | &BVHShapeCollider<OBB, Cylinder>::collide; | ||
| 499 | 23 | collision_matrix[BV_OBB][GEOM_CONVEX] = | |
| 500 | &BVHShapeCollider<OBB, ConvexBase>::collide; | ||
| 501 | 23 | collision_matrix[BV_OBB][GEOM_PLANE] = &BVHShapeCollider<OBB, Plane>::collide; | |
| 502 | 23 | collision_matrix[BV_OBB][GEOM_HALFSPACE] = | |
| 503 | &BVHShapeCollider<OBB, Halfspace>::collide; | ||
| 504 | 23 | collision_matrix[BV_OBB][GEOM_ELLIPSOID] = | |
| 505 | &BVHShapeCollider<OBB, Ellipsoid>::collide; | ||
| 506 | |||
| 507 | 23 | collision_matrix[BV_RSS][GEOM_BOX] = &BVHShapeCollider<RSS, Box>::collide; | |
| 508 | 23 | collision_matrix[BV_RSS][GEOM_SPHERE] = | |
| 509 | &BVHShapeCollider<RSS, Sphere>::collide; | ||
| 510 | 23 | collision_matrix[BV_RSS][GEOM_CAPSULE] = | |
| 511 | &BVHShapeCollider<RSS, Capsule>::collide; | ||
| 512 | 23 | collision_matrix[BV_RSS][GEOM_CONE] = &BVHShapeCollider<RSS, Cone>::collide; | |
| 513 | 23 | collision_matrix[BV_RSS][GEOM_CYLINDER] = | |
| 514 | &BVHShapeCollider<RSS, Cylinder>::collide; | ||
| 515 | 23 | collision_matrix[BV_RSS][GEOM_CONVEX] = | |
| 516 | &BVHShapeCollider<RSS, ConvexBase>::collide; | ||
| 517 | 23 | collision_matrix[BV_RSS][GEOM_PLANE] = &BVHShapeCollider<RSS, Plane>::collide; | |
| 518 | 23 | collision_matrix[BV_RSS][GEOM_HALFSPACE] = | |
| 519 | &BVHShapeCollider<RSS, Halfspace>::collide; | ||
| 520 | 23 | collision_matrix[BV_RSS][GEOM_ELLIPSOID] = | |
| 521 | &BVHShapeCollider<RSS, Ellipsoid>::collide; | ||
| 522 | |||
| 523 | 23 | collision_matrix[BV_KDOP16][GEOM_BOX] = | |
| 524 | &BVHShapeCollider<KDOP<16>, Box>::collide; | ||
| 525 | 23 | collision_matrix[BV_KDOP16][GEOM_SPHERE] = | |
| 526 | &BVHShapeCollider<KDOP<16>, Sphere>::collide; | ||
| 527 | 23 | collision_matrix[BV_KDOP16][GEOM_CAPSULE] = | |
| 528 | &BVHShapeCollider<KDOP<16>, Capsule>::collide; | ||
| 529 | 23 | collision_matrix[BV_KDOP16][GEOM_CONE] = | |
| 530 | &BVHShapeCollider<KDOP<16>, Cone>::collide; | ||
| 531 | 23 | collision_matrix[BV_KDOP16][GEOM_CYLINDER] = | |
| 532 | &BVHShapeCollider<KDOP<16>, Cylinder>::collide; | ||
| 533 | 23 | collision_matrix[BV_KDOP16][GEOM_CONVEX] = | |
| 534 | &BVHShapeCollider<KDOP<16>, ConvexBase>::collide; | ||
| 535 | 23 | collision_matrix[BV_KDOP16][GEOM_PLANE] = | |
| 536 | &BVHShapeCollider<KDOP<16>, Plane>::collide; | ||
| 537 | 23 | collision_matrix[BV_KDOP16][GEOM_HALFSPACE] = | |
| 538 | &BVHShapeCollider<KDOP<16>, Halfspace>::collide; | ||
| 539 | 23 | collision_matrix[BV_KDOP16][GEOM_ELLIPSOID] = | |
| 540 | &BVHShapeCollider<KDOP<16>, Ellipsoid>::collide; | ||
| 541 | |||
| 542 | 23 | collision_matrix[BV_KDOP18][GEOM_BOX] = | |
| 543 | &BVHShapeCollider<KDOP<18>, Box>::collide; | ||
| 544 | 23 | collision_matrix[BV_KDOP18][GEOM_SPHERE] = | |
| 545 | &BVHShapeCollider<KDOP<18>, Sphere>::collide; | ||
| 546 | 23 | collision_matrix[BV_KDOP18][GEOM_CAPSULE] = | |
| 547 | &BVHShapeCollider<KDOP<18>, Capsule>::collide; | ||
| 548 | 23 | collision_matrix[BV_KDOP18][GEOM_CONE] = | |
| 549 | &BVHShapeCollider<KDOP<18>, Cone>::collide; | ||
| 550 | 23 | collision_matrix[BV_KDOP18][GEOM_CYLINDER] = | |
| 551 | &BVHShapeCollider<KDOP<18>, Cylinder>::collide; | ||
| 552 | 23 | collision_matrix[BV_KDOP18][GEOM_CONVEX] = | |
| 553 | &BVHShapeCollider<KDOP<18>, ConvexBase>::collide; | ||
| 554 | 23 | collision_matrix[BV_KDOP18][GEOM_PLANE] = | |
| 555 | &BVHShapeCollider<KDOP<18>, Plane>::collide; | ||
| 556 | 23 | collision_matrix[BV_KDOP18][GEOM_HALFSPACE] = | |
| 557 | &BVHShapeCollider<KDOP<18>, Halfspace>::collide; | ||
| 558 | 23 | collision_matrix[BV_KDOP18][GEOM_ELLIPSOID] = | |
| 559 | &BVHShapeCollider<KDOP<18>, Ellipsoid>::collide; | ||
| 560 | |||
| 561 | 23 | collision_matrix[BV_KDOP24][GEOM_BOX] = | |
| 562 | &BVHShapeCollider<KDOP<24>, Box>::collide; | ||
| 563 | 23 | collision_matrix[BV_KDOP24][GEOM_SPHERE] = | |
| 564 | &BVHShapeCollider<KDOP<24>, Sphere>::collide; | ||
| 565 | 23 | collision_matrix[BV_KDOP24][GEOM_CAPSULE] = | |
| 566 | &BVHShapeCollider<KDOP<24>, Capsule>::collide; | ||
| 567 | 23 | collision_matrix[BV_KDOP24][GEOM_CONE] = | |
| 568 | &BVHShapeCollider<KDOP<24>, Cone>::collide; | ||
| 569 | 23 | collision_matrix[BV_KDOP24][GEOM_CYLINDER] = | |
| 570 | &BVHShapeCollider<KDOP<24>, Cylinder>::collide; | ||
| 571 | 23 | collision_matrix[BV_KDOP24][GEOM_CONVEX] = | |
| 572 | &BVHShapeCollider<KDOP<24>, ConvexBase>::collide; | ||
| 573 | 23 | collision_matrix[BV_KDOP24][GEOM_PLANE] = | |
| 574 | &BVHShapeCollider<KDOP<24>, Plane>::collide; | ||
| 575 | 23 | collision_matrix[BV_KDOP24][GEOM_HALFSPACE] = | |
| 576 | &BVHShapeCollider<KDOP<24>, Halfspace>::collide; | ||
| 577 | 23 | collision_matrix[BV_KDOP24][GEOM_ELLIPSOID] = | |
| 578 | &BVHShapeCollider<KDOP<24>, Ellipsoid>::collide; | ||
| 579 | |||
| 580 | 23 | collision_matrix[BV_kIOS][GEOM_BOX] = &BVHShapeCollider<kIOS, Box>::collide; | |
| 581 | 23 | collision_matrix[BV_kIOS][GEOM_SPHERE] = | |
| 582 | &BVHShapeCollider<kIOS, Sphere>::collide; | ||
| 583 | 23 | collision_matrix[BV_kIOS][GEOM_CAPSULE] = | |
| 584 | &BVHShapeCollider<kIOS, Capsule>::collide; | ||
| 585 | 23 | collision_matrix[BV_kIOS][GEOM_CONE] = &BVHShapeCollider<kIOS, Cone>::collide; | |
| 586 | 23 | collision_matrix[BV_kIOS][GEOM_CYLINDER] = | |
| 587 | &BVHShapeCollider<kIOS, Cylinder>::collide; | ||
| 588 | 23 | collision_matrix[BV_kIOS][GEOM_CONVEX] = | |
| 589 | &BVHShapeCollider<kIOS, ConvexBase>::collide; | ||
| 590 | 23 | collision_matrix[BV_kIOS][GEOM_PLANE] = | |
| 591 | &BVHShapeCollider<kIOS, Plane>::collide; | ||
| 592 | 23 | collision_matrix[BV_kIOS][GEOM_HALFSPACE] = | |
| 593 | &BVHShapeCollider<kIOS, Halfspace>::collide; | ||
| 594 | 23 | collision_matrix[BV_kIOS][GEOM_ELLIPSOID] = | |
| 595 | &BVHShapeCollider<kIOS, Ellipsoid>::collide; | ||
| 596 | |||
| 597 | 23 | collision_matrix[BV_OBBRSS][GEOM_BOX] = | |
| 598 | &BVHShapeCollider<OBBRSS, Box>::collide; | ||
| 599 | 23 | collision_matrix[BV_OBBRSS][GEOM_SPHERE] = | |
| 600 | &BVHShapeCollider<OBBRSS, Sphere>::collide; | ||
| 601 | 23 | collision_matrix[BV_OBBRSS][GEOM_CAPSULE] = | |
| 602 | &BVHShapeCollider<OBBRSS, Capsule>::collide; | ||
| 603 | 23 | collision_matrix[BV_OBBRSS][GEOM_CONE] = | |
| 604 | &BVHShapeCollider<OBBRSS, Cone>::collide; | ||
| 605 | 23 | collision_matrix[BV_OBBRSS][GEOM_CYLINDER] = | |
| 606 | &BVHShapeCollider<OBBRSS, Cylinder>::collide; | ||
| 607 | 23 | collision_matrix[BV_OBBRSS][GEOM_CONVEX] = | |
| 608 | &BVHShapeCollider<OBBRSS, ConvexBase>::collide; | ||
| 609 | 23 | collision_matrix[BV_OBBRSS][GEOM_PLANE] = | |
| 610 | &BVHShapeCollider<OBBRSS, Plane>::collide; | ||
| 611 | 23 | collision_matrix[BV_OBBRSS][GEOM_HALFSPACE] = | |
| 612 | &BVHShapeCollider<OBBRSS, Halfspace>::collide; | ||
| 613 | 23 | collision_matrix[BV_OBBRSS][GEOM_ELLIPSOID] = | |
| 614 | &BVHShapeCollider<OBBRSS, Ellipsoid>::collide; | ||
| 615 | |||
| 616 | 23 | collision_matrix[HF_AABB][GEOM_BOX] = | |
| 617 | &HeightFieldShapeCollider<AABB, Box>::collide; | ||
| 618 | 23 | collision_matrix[HF_AABB][GEOM_SPHERE] = | |
| 619 | &HeightFieldShapeCollider<AABB, Sphere>::collide; | ||
| 620 | 23 | collision_matrix[HF_AABB][GEOM_CAPSULE] = | |
| 621 | &HeightFieldShapeCollider<AABB, Capsule>::collide; | ||
| 622 | 23 | collision_matrix[HF_AABB][GEOM_CONE] = | |
| 623 | &HeightFieldShapeCollider<AABB, Cone>::collide; | ||
| 624 | 23 | collision_matrix[HF_AABB][GEOM_CYLINDER] = | |
| 625 | &HeightFieldShapeCollider<AABB, Cylinder>::collide; | ||
| 626 | 23 | collision_matrix[HF_AABB][GEOM_CONVEX] = | |
| 627 | &HeightFieldShapeCollider<AABB, ConvexBase>::collide; | ||
| 628 | 23 | collision_matrix[HF_AABB][GEOM_PLANE] = | |
| 629 | &HeightFieldShapeCollider<AABB, Plane>::collide; | ||
| 630 | 23 | collision_matrix[HF_AABB][GEOM_HALFSPACE] = | |
| 631 | &HeightFieldShapeCollider<AABB, Halfspace>::collide; | ||
| 632 | 23 | collision_matrix[HF_AABB][GEOM_ELLIPSOID] = | |
| 633 | &HeightFieldShapeCollider<AABB, Ellipsoid>::collide; | ||
| 634 | |||
| 635 | 23 | collision_matrix[HF_OBBRSS][GEOM_BOX] = | |
| 636 | &HeightFieldShapeCollider<OBBRSS, Box>::collide; | ||
| 637 | 23 | collision_matrix[HF_OBBRSS][GEOM_SPHERE] = | |
| 638 | &HeightFieldShapeCollider<OBBRSS, Sphere>::collide; | ||
| 639 | 23 | collision_matrix[HF_OBBRSS][GEOM_CAPSULE] = | |
| 640 | &HeightFieldShapeCollider<OBBRSS, Capsule>::collide; | ||
| 641 | 23 | collision_matrix[HF_OBBRSS][GEOM_CONE] = | |
| 642 | &HeightFieldShapeCollider<OBBRSS, Cone>::collide; | ||
| 643 | 23 | collision_matrix[HF_OBBRSS][GEOM_CYLINDER] = | |
| 644 | &HeightFieldShapeCollider<OBBRSS, Cylinder>::collide; | ||
| 645 | 23 | collision_matrix[HF_OBBRSS][GEOM_CONVEX] = | |
| 646 | &HeightFieldShapeCollider<OBBRSS, ConvexBase>::collide; | ||
| 647 | 23 | collision_matrix[HF_OBBRSS][GEOM_PLANE] = | |
| 648 | &HeightFieldShapeCollider<OBBRSS, Plane>::collide; | ||
| 649 | 23 | collision_matrix[HF_OBBRSS][GEOM_HALFSPACE] = | |
| 650 | &HeightFieldShapeCollider<OBBRSS, Halfspace>::collide; | ||
| 651 | 23 | collision_matrix[HF_OBBRSS][GEOM_ELLIPSOID] = | |
| 652 | &HeightFieldShapeCollider<OBBRSS, Ellipsoid>::collide; | ||
| 653 | |||
| 654 | 23 | collision_matrix[BV_AABB][BV_AABB] = &BVHCollide<AABB>; | |
| 655 | 23 | collision_matrix[BV_OBB][BV_OBB] = &BVHCollide<OBB>; | |
| 656 | 23 | collision_matrix[BV_RSS][BV_RSS] = &BVHCollide<RSS>; | |
| 657 | 23 | collision_matrix[BV_KDOP16][BV_KDOP16] = &BVHCollide<KDOP<16> >; | |
| 658 | 23 | collision_matrix[BV_KDOP18][BV_KDOP18] = &BVHCollide<KDOP<18> >; | |
| 659 | 23 | collision_matrix[BV_KDOP24][BV_KDOP24] = &BVHCollide<KDOP<24> >; | |
| 660 | 23 | collision_matrix[BV_kIOS][BV_kIOS] = &BVHCollide<kIOS>; | |
| 661 | 23 | collision_matrix[BV_OBBRSS][BV_OBBRSS] = &BVHCollide<OBBRSS>; | |
| 662 | |||
| 663 | #ifdef COAL_HAS_OCTOMAP | ||
| 664 | 23 | collision_matrix[GEOM_OCTREE][GEOM_BOX] = &OctreeCollide<OcTree, Box>; | |
| 665 | 23 | collision_matrix[GEOM_OCTREE][GEOM_SPHERE] = &OctreeCollide<OcTree, Sphere>; | |
| 666 | 23 | collision_matrix[GEOM_OCTREE][GEOM_CAPSULE] = &OctreeCollide<OcTree, Capsule>; | |
| 667 | 23 | collision_matrix[GEOM_OCTREE][GEOM_CONE] = &OctreeCollide<OcTree, Cone>; | |
| 668 | 23 | collision_matrix[GEOM_OCTREE][GEOM_CYLINDER] = | |
| 669 | &OctreeCollide<OcTree, Cylinder>; | ||
| 670 | 23 | collision_matrix[GEOM_OCTREE][GEOM_CONVEX] = | |
| 671 | &OctreeCollide<OcTree, ConvexBase>; | ||
| 672 | 23 | collision_matrix[GEOM_OCTREE][GEOM_PLANE] = &OctreeCollide<OcTree, Plane>; | |
| 673 | 23 | collision_matrix[GEOM_OCTREE][GEOM_HALFSPACE] = | |
| 674 | &OctreeCollide<OcTree, Halfspace>; | ||
| 675 | 23 | collision_matrix[GEOM_OCTREE][GEOM_ELLIPSOID] = | |
| 676 | &OctreeCollide<OcTree, Ellipsoid>; | ||
| 677 | |||
| 678 | 23 | collision_matrix[GEOM_BOX][GEOM_OCTREE] = &OctreeCollide<Box, OcTree>; | |
| 679 | 23 | collision_matrix[GEOM_SPHERE][GEOM_OCTREE] = &OctreeCollide<Sphere, OcTree>; | |
| 680 | 23 | collision_matrix[GEOM_CAPSULE][GEOM_OCTREE] = &OctreeCollide<Capsule, OcTree>; | |
| 681 | 23 | collision_matrix[GEOM_CONE][GEOM_OCTREE] = &OctreeCollide<Cone, OcTree>; | |
| 682 | 23 | collision_matrix[GEOM_CYLINDER][GEOM_OCTREE] = | |
| 683 | &OctreeCollide<Cylinder, OcTree>; | ||
| 684 | 23 | collision_matrix[GEOM_CONVEX][GEOM_OCTREE] = | |
| 685 | &OctreeCollide<ConvexBase, OcTree>; | ||
| 686 | 23 | collision_matrix[GEOM_PLANE][GEOM_OCTREE] = &OctreeCollide<Plane, OcTree>; | |
| 687 | 23 | collision_matrix[GEOM_HALFSPACE][GEOM_OCTREE] = | |
| 688 | &OctreeCollide<Halfspace, OcTree>; | ||
| 689 | |||
| 690 | 23 | collision_matrix[GEOM_OCTREE][GEOM_OCTREE] = &OctreeCollide<OcTree, OcTree>; | |
| 691 | |||
| 692 | 23 | collision_matrix[GEOM_OCTREE][BV_AABB] = | |
| 693 | &OctreeCollide<OcTree, BVHModel<AABB> >; | ||
| 694 | 23 | collision_matrix[GEOM_OCTREE][BV_OBB] = | |
| 695 | &OctreeCollide<OcTree, BVHModel<OBB> >; | ||
| 696 | 23 | collision_matrix[GEOM_OCTREE][BV_RSS] = | |
| 697 | &OctreeCollide<OcTree, BVHModel<RSS> >; | ||
| 698 | 23 | collision_matrix[GEOM_OCTREE][BV_OBBRSS] = | |
| 699 | &OctreeCollide<OcTree, BVHModel<OBBRSS> >; | ||
| 700 | 23 | collision_matrix[GEOM_OCTREE][BV_kIOS] = | |
| 701 | &OctreeCollide<OcTree, BVHModel<kIOS> >; | ||
| 702 | 23 | collision_matrix[GEOM_OCTREE][BV_KDOP16] = | |
| 703 | &OctreeCollide<OcTree, BVHModel<KDOP<16> > >; | ||
| 704 | 23 | collision_matrix[GEOM_OCTREE][BV_KDOP18] = | |
| 705 | &OctreeCollide<OcTree, BVHModel<KDOP<18> > >; | ||
| 706 | 23 | collision_matrix[GEOM_OCTREE][BV_KDOP24] = | |
| 707 | &OctreeCollide<OcTree, BVHModel<KDOP<24> > >; | ||
| 708 | 23 | collision_matrix[GEOM_OCTREE][HF_AABB] = | |
| 709 | &OctreeCollide<OcTree, HeightField<AABB> >; | ||
| 710 | 23 | collision_matrix[GEOM_OCTREE][HF_OBBRSS] = | |
| 711 | &OctreeCollide<OcTree, HeightField<OBBRSS> >; | ||
| 712 | |||
| 713 | 23 | collision_matrix[BV_AABB][GEOM_OCTREE] = | |
| 714 | &OctreeCollide<BVHModel<AABB>, OcTree>; | ||
| 715 | 23 | collision_matrix[BV_OBB][GEOM_OCTREE] = &OctreeCollide<BVHModel<OBB>, OcTree>; | |
| 716 | 23 | collision_matrix[BV_RSS][GEOM_OCTREE] = &OctreeCollide<BVHModel<RSS>, OcTree>; | |
| 717 | 23 | collision_matrix[BV_OBBRSS][GEOM_OCTREE] = | |
| 718 | &OctreeCollide<BVHModel<OBBRSS>, OcTree>; | ||
| 719 | 23 | collision_matrix[BV_kIOS][GEOM_OCTREE] = | |
| 720 | &OctreeCollide<BVHModel<kIOS>, OcTree>; | ||
| 721 | 23 | collision_matrix[BV_KDOP16][GEOM_OCTREE] = | |
| 722 | &OctreeCollide<BVHModel<KDOP<16> >, OcTree>; | ||
| 723 | 23 | collision_matrix[BV_KDOP18][GEOM_OCTREE] = | |
| 724 | &OctreeCollide<BVHModel<KDOP<18> >, OcTree>; | ||
| 725 | 23 | collision_matrix[BV_KDOP24][GEOM_OCTREE] = | |
| 726 | &OctreeCollide<BVHModel<KDOP<24> >, OcTree>; | ||
| 727 | 23 | collision_matrix[HF_AABB][GEOM_OCTREE] = | |
| 728 | &OctreeCollide<HeightField<AABB>, OcTree>; | ||
| 729 | 23 | collision_matrix[HF_OBBRSS][GEOM_OCTREE] = | |
| 730 | &OctreeCollide<HeightField<OBBRSS>, OcTree>; | ||
| 731 | #endif | ||
| 732 | 23 | } | |
| 733 | // template struct CollisionFunctionMatrix; | ||
| 734 | } // namespace coal | ||
| 735 |