Directory: | ./ |
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File: | src/collision_func_matrix.cpp |
Date: | 2025-04-01 09:23:31 |
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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 | 252 | struct COAL_LOCAL BVHShapeCollider{static std::size_t collide( | |
101 | const CollisionGeometry* o1, const Transform3s& tf1, | ||
102 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
103 | const GJKSolver* nsolver, const CollisionRequest& request, | ||
104 | CollisionResult& result){ | ||
105 |
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252 | if (request.isSatisfied(result)) return result.numContacts(); |
106 | |||
107 |
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252 | if (request.security_margin < 0) |
108 | ✗ | COAL_THROW_PRETTY("Negative security margin are not handled yet for BVHModel", | |
109 | std::invalid_argument); | ||
110 | |||
111 | if (_Options & RelativeTransformationIsIdentity) | ||
112 | ✗ | return aligned(o1, tf1, o2, tf2, nsolver, request, result); | |
113 | else | ||
114 | 252 | return oriented(o1, tf1, o2, tf2, nsolver, request, result); | |
115 | } // namespace coal | ||
116 | |||
117 | ✗ | static std::size_t aligned(const CollisionGeometry* o1, const Transform3s& tf1, | |
118 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
119 | const GJKSolver* nsolver, | ||
120 | const CollisionRequest& request, | ||
121 | CollisionResult& result) { | ||
122 | ✗ | if (request.isSatisfied(result)) return result.numContacts(); | |
123 | |||
124 | MeshShapeCollisionTraversalNode<T_BVH, T_SH, RelativeTransformationIsIdentity> | ||
125 | ✗ | node(request); | |
126 | ✗ | const BVHModel<T_BVH>* obj1 = static_cast<const BVHModel<T_BVH>*>(o1); | |
127 | ✗ | BVHModel<T_BVH>* obj1_tmp = new BVHModel<T_BVH>(*obj1); | |
128 | ✗ | Transform3s tf1_tmp = tf1; | |
129 | ✗ | const T_SH* obj2 = static_cast<const T_SH*>(o2); | |
130 | |||
131 | ✗ | initialize(node, *obj1_tmp, tf1_tmp, *obj2, tf2, nsolver, result); | |
132 | ✗ | coal::collide(&node, request, result); | |
133 | |||
134 | ✗ | delete obj1_tmp; | |
135 | ✗ | return result.numContacts(); | |
136 | } | ||
137 | |||
138 | 252 | static std::size_t oriented(const CollisionGeometry* o1, const Transform3s& tf1, | |
139 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
140 | const GJKSolver* nsolver, | ||
141 | const CollisionRequest& request, | ||
142 | CollisionResult& result) { | ||
143 |
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252 | if (request.isSatisfied(result)) return result.numContacts(); |
144 | |||
145 |
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252 | MeshShapeCollisionTraversalNode<T_BVH, T_SH, 0> node(request); |
146 | 252 | const BVHModel<T_BVH>* obj1 = static_cast<const BVHModel<T_BVH>*>(o1); | |
147 | 252 | const T_SH* obj2 = static_cast<const T_SH*>(o2); | |
148 | |||
149 |
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252 | initialize(node, *obj1, tf1, *obj2, tf2, nsolver, result); |
150 |
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252 | coal::collide(&node, request, result); |
151 | 252 | return result.numContacts(); | |
152 | } | ||
153 | } | ||
154 | ; | ||
155 | |||
156 | /// @brief Collider functor for HeightField data structure | ||
157 | /// \tparam _Options takes two values. | ||
158 | /// - RelativeTransformationIsIdentity if object 1 should be moved | ||
159 | /// into the frame of object 2 before computing collisions. | ||
160 | /// - 0 if the query should be made with non-aligned object frames. | ||
161 | template <typename BV, typename Shape> | ||
162 | struct COAL_LOCAL HeightFieldShapeCollider { | ||
163 | typedef HeightField<BV> HF; | ||
164 | |||
165 | 110 | static std::size_t collide(const CollisionGeometry* o1, | |
166 | const Transform3s& tf1, | ||
167 | const CollisionGeometry* o2, | ||
168 | const Transform3s& tf2, const GJKSolver* nsolver, | ||
169 | const CollisionRequest& request, | ||
170 | CollisionResult& result) { | ||
171 |
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110 | if (request.isSatisfied(result)) return result.numContacts(); |
172 | |||
173 | 110 | const HF& height_field = static_cast<const HF&>(*o1); | |
174 | 110 | const Shape& shape = static_cast<const Shape&>(*o2); | |
175 | |||
176 |
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110 | HeightFieldShapeCollisionTraversalNode<BV, Shape, 0> node(request); |
177 | |||
178 |
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110 | initialize(node, height_field, tf1, shape, tf2, nsolver, result); |
179 |
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110 | coal::collide(&node, request, result); |
180 | 110 | return result.numContacts(); | |
181 | } | ||
182 | }; | ||
183 | |||
184 | namespace details { | ||
185 | template <typename OrientedMeshCollisionTraversalNode, typename T_BVH> | ||
186 | 21320 | std::size_t orientedMeshCollide(const CollisionGeometry* o1, | |
187 | const Transform3s& tf1, | ||
188 | const CollisionGeometry* o2, | ||
189 | const Transform3s& tf2, | ||
190 | const CollisionRequest& request, | ||
191 | CollisionResult& result) { | ||
192 |
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21320 | if (request.isSatisfied(result)) return result.numContacts(); |
193 | |||
194 |
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21320 | OrientedMeshCollisionTraversalNode node(request); |
195 | 21320 | const BVHModel<T_BVH>* obj1 = static_cast<const BVHModel<T_BVH>*>(o1); | |
196 | 21320 | const BVHModel<T_BVH>* obj2 = static_cast<const BVHModel<T_BVH>*>(o2); | |
197 | |||
198 |
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21320 | initialize(node, *obj1, tf1, *obj2, tf2, result); |
199 |
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21320 | collide(&node, request, result); |
200 | |||
201 | 21320 | return result.numContacts(); | |
202 | } | ||
203 | |||
204 | } // namespace details | ||
205 | |||
206 | template <typename T_BVH> | ||
207 | ✗ | std::size_t BVHCollide(const CollisionGeometry* o1, const Transform3s& tf1, | |
208 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
209 | const CollisionRequest& request, | ||
210 | CollisionResult& result) { | ||
211 | ✗ | if (request.isSatisfied(result)) return result.numContacts(); | |
212 | |||
213 | // TODO(louis): each time we call collide on BVH-BVH, we: | ||
214 | // - Allocate 2 new BVHs | ||
215 | // - Copy and transform the vertices in both BVHs so that they are in the | ||
216 | // same frame | ||
217 | // - Recompute BVs of the BVH structure | ||
218 | // -> all that just to avoid doing (a few) rotations/translations of AABBs. | ||
219 | // Is it really worth it? | ||
220 | ✗ | MeshCollisionTraversalNode<T_BVH> node(request); | |
221 | ✗ | const BVHModel<T_BVH>* obj1 = static_cast<const BVHModel<T_BVH>*>(o1); | |
222 | ✗ | const BVHModel<T_BVH>* obj2 = static_cast<const BVHModel<T_BVH>*>(o2); | |
223 | ✗ | BVHModel<T_BVH>* obj1_tmp = new BVHModel<T_BVH>(*obj1); | |
224 | ✗ | Transform3s tf1_tmp = tf1; | |
225 | ✗ | BVHModel<T_BVH>* obj2_tmp = new BVHModel<T_BVH>(*obj2); | |
226 | ✗ | Transform3s tf2_tmp = tf2; | |
227 | |||
228 | ✗ | initialize(node, *obj1_tmp, tf1_tmp, *obj2_tmp, tf2_tmp, result); | |
229 | ✗ | coal::collide(&node, request, result); | |
230 | |||
231 | ✗ | delete obj1_tmp; | |
232 | ✗ | delete obj2_tmp; | |
233 | |||
234 | ✗ | return result.numContacts(); | |
235 | } | ||
236 | |||
237 | template <> | ||
238 | 3 | std::size_t BVHCollide<OBB>(const CollisionGeometry* o1, const Transform3s& tf1, | |
239 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
240 | const CollisionRequest& request, | ||
241 | CollisionResult& result) { | ||
242 | 3 | return details::orientedMeshCollide<MeshCollisionTraversalNodeOBB, OBB>( | |
243 | 3 | o1, tf1, o2, tf2, request, result); | |
244 | } | ||
245 | |||
246 | template <> | ||
247 | 10657 | std::size_t BVHCollide<OBBRSS>(const CollisionGeometry* o1, | |
248 | const Transform3s& tf1, | ||
249 | const CollisionGeometry* o2, | ||
250 | const Transform3s& tf2, | ||
251 | const CollisionRequest& request, | ||
252 | CollisionResult& result) { | ||
253 | 10657 | return details::orientedMeshCollide<MeshCollisionTraversalNodeOBBRSS, OBBRSS>( | |
254 | 10657 | o1, tf1, o2, tf2, request, result); | |
255 | } | ||
256 | |||
257 | template <> | ||
258 | ✗ | std::size_t BVHCollide<kIOS>(const CollisionGeometry* o1, | |
259 | const Transform3s& tf1, | ||
260 | const CollisionGeometry* o2, | ||
261 | const Transform3s& tf2, | ||
262 | const CollisionRequest& request, | ||
263 | CollisionResult& result) { | ||
264 | ✗ | return details::orientedMeshCollide<MeshCollisionTraversalNodekIOS, kIOS>( | |
265 | ✗ | o1, tf1, o2, tf2, request, result); | |
266 | } | ||
267 | |||
268 | template <typename T_BVH> | ||
269 | 21320 | std::size_t BVHCollide(const CollisionGeometry* o1, const Transform3s& tf1, | |
270 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
271 | const GJKSolver* /*nsolver*/, | ||
272 | const CollisionRequest& request, | ||
273 | CollisionResult& result) { | ||
274 | 21320 | return BVHCollide<T_BVH>(o1, tf1, o2, tf2, request, result); | |
275 | } | ||
276 | |||
277 | 23 | CollisionFunctionMatrix::CollisionFunctionMatrix() { | |
278 |
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529 | for (int i = 0; i < NODE_COUNT; ++i) { |
279 |
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11638 | for (int j = 0; j < NODE_COUNT; ++j) collision_matrix[i][j] = NULL; |
280 | } | ||
281 | |||
282 | 23 | collision_matrix[GEOM_BOX][GEOM_BOX] = &ShapeShapeCollide<Box, Box>; | |
283 | 23 | collision_matrix[GEOM_BOX][GEOM_SPHERE] = &ShapeShapeCollide<Box, Sphere>; | |
284 | 23 | collision_matrix[GEOM_BOX][GEOM_CAPSULE] = &ShapeShapeCollide<Box, Capsule>; | |
285 | 23 | collision_matrix[GEOM_BOX][GEOM_CONE] = &ShapeShapeCollide<Box, Cone>; | |
286 | 23 | collision_matrix[GEOM_BOX][GEOM_CYLINDER] = &ShapeShapeCollide<Box, Cylinder>; | |
287 | 23 | collision_matrix[GEOM_BOX][GEOM_CONVEX] = &ShapeShapeCollide<Box, ConvexBase>; | |
288 | 23 | collision_matrix[GEOM_BOX][GEOM_PLANE] = &ShapeShapeCollide<Box, Plane>; | |
289 | 23 | collision_matrix[GEOM_BOX][GEOM_HALFSPACE] = | |
290 | &ShapeShapeCollide<Box, Halfspace>; | ||
291 | 23 | collision_matrix[GEOM_BOX][GEOM_ELLIPSOID] = | |
292 | &ShapeShapeCollide<Box, Ellipsoid>; | ||
293 | 23 | collision_matrix[GEOM_BOX][GEOM_TRIANGLE] = | |
294 | &ShapeShapeCollide<Box, TriangleP>; | ||
295 | |||
296 | 23 | collision_matrix[GEOM_SPHERE][GEOM_BOX] = &ShapeShapeCollide<Sphere, Box>; | |
297 | 23 | collision_matrix[GEOM_SPHERE][GEOM_SPHERE] = | |
298 | &ShapeShapeCollide<Sphere, Sphere>; | ||
299 | 23 | collision_matrix[GEOM_SPHERE][GEOM_CAPSULE] = | |
300 | &ShapeShapeCollide<Sphere, Capsule>; | ||
301 | 23 | collision_matrix[GEOM_SPHERE][GEOM_CONE] = &ShapeShapeCollide<Sphere, Cone>; | |
302 | 23 | collision_matrix[GEOM_SPHERE][GEOM_CYLINDER] = | |
303 | &ShapeShapeCollide<Sphere, Cylinder>; | ||
304 | 23 | collision_matrix[GEOM_SPHERE][GEOM_CONVEX] = | |
305 | &ShapeShapeCollide<Sphere, ConvexBase>; | ||
306 | 23 | collision_matrix[GEOM_SPHERE][GEOM_PLANE] = &ShapeShapeCollide<Sphere, Plane>; | |
307 | 23 | collision_matrix[GEOM_SPHERE][GEOM_HALFSPACE] = | |
308 | &ShapeShapeCollide<Sphere, Halfspace>; | ||
309 | 23 | collision_matrix[GEOM_SPHERE][GEOM_ELLIPSOID] = | |
310 | &ShapeShapeCollide<Sphere, Ellipsoid>; | ||
311 | 23 | collision_matrix[GEOM_SPHERE][GEOM_TRIANGLE] = | |
312 | &ShapeShapeCollide<Sphere, TriangleP>; | ||
313 | |||
314 | 23 | collision_matrix[GEOM_ELLIPSOID][GEOM_BOX] = | |
315 | &ShapeShapeCollide<Ellipsoid, Box>; | ||
316 | 23 | collision_matrix[GEOM_ELLIPSOID][GEOM_SPHERE] = | |
317 | &ShapeShapeCollide<Ellipsoid, Sphere>; | ||
318 | 23 | collision_matrix[GEOM_ELLIPSOID][GEOM_CAPSULE] = | |
319 | &ShapeShapeCollide<Ellipsoid, Capsule>; | ||
320 | 23 | collision_matrix[GEOM_ELLIPSOID][GEOM_CONE] = | |
321 | &ShapeShapeCollide<Ellipsoid, Cone>; | ||
322 | 23 | collision_matrix[GEOM_ELLIPSOID][GEOM_CYLINDER] = | |
323 | &ShapeShapeCollide<Ellipsoid, Cylinder>; | ||
324 | 23 | collision_matrix[GEOM_ELLIPSOID][GEOM_CONVEX] = | |
325 | &ShapeShapeCollide<Ellipsoid, ConvexBase>; | ||
326 | 23 | collision_matrix[GEOM_ELLIPSOID][GEOM_PLANE] = | |
327 | &ShapeShapeCollide<Ellipsoid, Plane>; | ||
328 | 23 | collision_matrix[GEOM_ELLIPSOID][GEOM_HALFSPACE] = | |
329 | &ShapeShapeCollide<Ellipsoid, Halfspace>; | ||
330 | 23 | collision_matrix[GEOM_ELLIPSOID][GEOM_ELLIPSOID] = | |
331 | &ShapeShapeCollide<Ellipsoid, Ellipsoid>; | ||
332 | 23 | collision_matrix[GEOM_ELLIPSOID][GEOM_TRIANGLE] = | |
333 | &ShapeShapeCollide<Ellipsoid, TriangleP>; | ||
334 | |||
335 | 23 | collision_matrix[GEOM_CAPSULE][GEOM_BOX] = &ShapeShapeCollide<Capsule, Box>; | |
336 | 23 | collision_matrix[GEOM_CAPSULE][GEOM_SPHERE] = | |
337 | &ShapeShapeCollide<Capsule, Sphere>; | ||
338 | 23 | collision_matrix[GEOM_CAPSULE][GEOM_CAPSULE] = | |
339 | &ShapeShapeCollide<Capsule, Capsule>; | ||
340 | 23 | collision_matrix[GEOM_CAPSULE][GEOM_CONE] = &ShapeShapeCollide<Capsule, Cone>; | |
341 | 23 | collision_matrix[GEOM_CAPSULE][GEOM_CYLINDER] = | |
342 | &ShapeShapeCollide<Capsule, Cylinder>; | ||
343 | 23 | collision_matrix[GEOM_CAPSULE][GEOM_CONVEX] = | |
344 | &ShapeShapeCollide<Capsule, ConvexBase>; | ||
345 | 23 | collision_matrix[GEOM_CAPSULE][GEOM_PLANE] = | |
346 | &ShapeShapeCollide<Capsule, Plane>; | ||
347 | 23 | collision_matrix[GEOM_CAPSULE][GEOM_HALFSPACE] = | |
348 | &ShapeShapeCollide<Capsule, Halfspace>; | ||
349 | 23 | collision_matrix[GEOM_CAPSULE][GEOM_ELLIPSOID] = | |
350 | &ShapeShapeCollide<Capsule, Ellipsoid>; | ||
351 | 23 | collision_matrix[GEOM_CAPSULE][GEOM_TRIANGLE] = | |
352 | &ShapeShapeCollide<Capsule, TriangleP>; | ||
353 | |||
354 | 23 | collision_matrix[GEOM_CONE][GEOM_BOX] = &ShapeShapeCollide<Cone, Box>; | |
355 | 23 | collision_matrix[GEOM_CONE][GEOM_SPHERE] = &ShapeShapeCollide<Cone, Sphere>; | |
356 | 23 | collision_matrix[GEOM_CONE][GEOM_CAPSULE] = &ShapeShapeCollide<Cone, Capsule>; | |
357 | 23 | collision_matrix[GEOM_CONE][GEOM_CONE] = &ShapeShapeCollide<Cone, Cone>; | |
358 | 23 | collision_matrix[GEOM_CONE][GEOM_CYLINDER] = | |
359 | &ShapeShapeCollide<Cone, Cylinder>; | ||
360 | 23 | collision_matrix[GEOM_CONE][GEOM_CONVEX] = | |
361 | &ShapeShapeCollide<Cone, ConvexBase>; | ||
362 | 23 | collision_matrix[GEOM_CONE][GEOM_PLANE] = &ShapeShapeCollide<Cone, Plane>; | |
363 | 23 | collision_matrix[GEOM_CONE][GEOM_HALFSPACE] = | |
364 | &ShapeShapeCollide<Cone, Halfspace>; | ||
365 | 23 | collision_matrix[GEOM_CONE][GEOM_ELLIPSOID] = | |
366 | &ShapeShapeCollide<Cone, Ellipsoid>; | ||
367 | 23 | collision_matrix[GEOM_CONE][GEOM_TRIANGLE] = | |
368 | &ShapeShapeCollide<Cone, TriangleP>; | ||
369 | |||
370 | 23 | collision_matrix[GEOM_CYLINDER][GEOM_BOX] = &ShapeShapeCollide<Cylinder, Box>; | |
371 | 23 | collision_matrix[GEOM_CYLINDER][GEOM_SPHERE] = | |
372 | &ShapeShapeCollide<Cylinder, Sphere>; | ||
373 | 23 | collision_matrix[GEOM_CYLINDER][GEOM_CAPSULE] = | |
374 | &ShapeShapeCollide<Cylinder, Capsule>; | ||
375 | 23 | collision_matrix[GEOM_CYLINDER][GEOM_CONE] = | |
376 | &ShapeShapeCollide<Cylinder, Cone>; | ||
377 | 23 | collision_matrix[GEOM_CYLINDER][GEOM_CYLINDER] = | |
378 | &ShapeShapeCollide<Cylinder, Cylinder>; | ||
379 | 23 | collision_matrix[GEOM_CYLINDER][GEOM_CONVEX] = | |
380 | &ShapeShapeCollide<Cylinder, ConvexBase>; | ||
381 | 23 | collision_matrix[GEOM_CYLINDER][GEOM_PLANE] = | |
382 | &ShapeShapeCollide<Cylinder, Plane>; | ||
383 | 23 | collision_matrix[GEOM_CYLINDER][GEOM_HALFSPACE] = | |
384 | &ShapeShapeCollide<Cylinder, Halfspace>; | ||
385 | 23 | collision_matrix[GEOM_CYLINDER][GEOM_ELLIPSOID] = | |
386 | &ShapeShapeCollide<Cylinder, Ellipsoid>; | ||
387 | 23 | collision_matrix[GEOM_CYLINDER][GEOM_TRIANGLE] = | |
388 | &ShapeShapeCollide<Cylinder, TriangleP>; | ||
389 | |||
390 | 23 | collision_matrix[GEOM_CONVEX][GEOM_BOX] = &ShapeShapeCollide<ConvexBase, Box>; | |
391 | 23 | collision_matrix[GEOM_CONVEX][GEOM_SPHERE] = | |
392 | &ShapeShapeCollide<ConvexBase, Sphere>; | ||
393 | 23 | collision_matrix[GEOM_CONVEX][GEOM_CAPSULE] = | |
394 | &ShapeShapeCollide<ConvexBase, Capsule>; | ||
395 | 23 | collision_matrix[GEOM_CONVEX][GEOM_CONE] = | |
396 | &ShapeShapeCollide<ConvexBase, Cone>; | ||
397 | 23 | collision_matrix[GEOM_CONVEX][GEOM_CYLINDER] = | |
398 | &ShapeShapeCollide<ConvexBase, Cylinder>; | ||
399 | 23 | collision_matrix[GEOM_CONVEX][GEOM_CONVEX] = | |
400 | &ShapeShapeCollide<ConvexBase, ConvexBase>; | ||
401 | 23 | collision_matrix[GEOM_CONVEX][GEOM_PLANE] = | |
402 | &ShapeShapeCollide<ConvexBase, Plane>; | ||
403 | 23 | collision_matrix[GEOM_CONVEX][GEOM_HALFSPACE] = | |
404 | &ShapeShapeCollide<ConvexBase, Halfspace>; | ||
405 | 23 | collision_matrix[GEOM_CONVEX][GEOM_ELLIPSOID] = | |
406 | &ShapeShapeCollide<ConvexBase, Ellipsoid>; | ||
407 | 23 | collision_matrix[GEOM_CONVEX][GEOM_TRIANGLE] = | |
408 | &ShapeShapeCollide<ConvexBase, TriangleP>; | ||
409 | |||
410 | 23 | collision_matrix[GEOM_PLANE][GEOM_BOX] = &ShapeShapeCollide<Plane, Box>; | |
411 | 23 | collision_matrix[GEOM_PLANE][GEOM_SPHERE] = &ShapeShapeCollide<Plane, Sphere>; | |
412 | 23 | collision_matrix[GEOM_PLANE][GEOM_CAPSULE] = | |
413 | &ShapeShapeCollide<Plane, Capsule>; | ||
414 | 23 | collision_matrix[GEOM_PLANE][GEOM_CONE] = &ShapeShapeCollide<Plane, Cone>; | |
415 | 23 | collision_matrix[GEOM_PLANE][GEOM_CYLINDER] = | |
416 | &ShapeShapeCollide<Plane, Cylinder>; | ||
417 | 23 | collision_matrix[GEOM_PLANE][GEOM_CONVEX] = | |
418 | &ShapeShapeCollide<Plane, ConvexBase>; | ||
419 | 23 | collision_matrix[GEOM_PLANE][GEOM_PLANE] = &ShapeShapeCollide<Plane, Plane>; | |
420 | 23 | collision_matrix[GEOM_PLANE][GEOM_HALFSPACE] = | |
421 | &ShapeShapeCollide<Plane, Halfspace>; | ||
422 | 23 | collision_matrix[GEOM_PLANE][GEOM_ELLIPSOID] = | |
423 | &ShapeShapeCollide<Plane, Ellipsoid>; | ||
424 | 23 | collision_matrix[GEOM_PLANE][GEOM_TRIANGLE] = | |
425 | &ShapeShapeCollide<Plane, TriangleP>; | ||
426 | |||
427 | 23 | collision_matrix[GEOM_HALFSPACE][GEOM_BOX] = | |
428 | &ShapeShapeCollide<Halfspace, Box>; | ||
429 | 23 | collision_matrix[GEOM_HALFSPACE][GEOM_SPHERE] = | |
430 | &ShapeShapeCollide<Halfspace, Sphere>; | ||
431 | 23 | collision_matrix[GEOM_HALFSPACE][GEOM_CAPSULE] = | |
432 | &ShapeShapeCollide<Halfspace, Capsule>; | ||
433 | 23 | collision_matrix[GEOM_HALFSPACE][GEOM_CONE] = | |
434 | &ShapeShapeCollide<Halfspace, Cone>; | ||
435 | 23 | collision_matrix[GEOM_HALFSPACE][GEOM_CYLINDER] = | |
436 | &ShapeShapeCollide<Halfspace, Cylinder>; | ||
437 | 23 | collision_matrix[GEOM_HALFSPACE][GEOM_CONVEX] = | |
438 | &ShapeShapeCollide<Halfspace, ConvexBase>; | ||
439 | 23 | collision_matrix[GEOM_HALFSPACE][GEOM_PLANE] = | |
440 | &ShapeShapeCollide<Halfspace, Plane>; | ||
441 | 23 | collision_matrix[GEOM_HALFSPACE][GEOM_HALFSPACE] = | |
442 | &ShapeShapeCollide<Halfspace, Halfspace>; | ||
443 | 23 | collision_matrix[GEOM_HALFSPACE][GEOM_ELLIPSOID] = | |
444 | &ShapeShapeCollide<Halfspace, Ellipsoid>; | ||
445 | 23 | collision_matrix[GEOM_HALFSPACE][GEOM_TRIANGLE] = | |
446 | &ShapeShapeCollide<Halfspace, TriangleP>; | ||
447 | |||
448 | 23 | collision_matrix[GEOM_TRIANGLE][GEOM_BOX] = | |
449 | &ShapeShapeCollide<TriangleP, Box>; | ||
450 | 23 | collision_matrix[GEOM_TRIANGLE][GEOM_SPHERE] = | |
451 | &ShapeShapeCollide<TriangleP, Sphere>; | ||
452 | 23 | collision_matrix[GEOM_TRIANGLE][GEOM_CAPSULE] = | |
453 | &ShapeShapeCollide<TriangleP, Capsule>; | ||
454 | 23 | collision_matrix[GEOM_TRIANGLE][GEOM_CONE] = | |
455 | &ShapeShapeCollide<TriangleP, Cone>; | ||
456 | 23 | collision_matrix[GEOM_TRIANGLE][GEOM_CYLINDER] = | |
457 | &ShapeShapeCollide<TriangleP, Cylinder>; | ||
458 | 23 | collision_matrix[GEOM_TRIANGLE][GEOM_CONVEX] = | |
459 | &ShapeShapeCollide<TriangleP, ConvexBase>; | ||
460 | 23 | collision_matrix[GEOM_TRIANGLE][GEOM_PLANE] = | |
461 | &ShapeShapeCollide<TriangleP, Plane>; | ||
462 | 23 | collision_matrix[GEOM_TRIANGLE][GEOM_HALFSPACE] = | |
463 | &ShapeShapeCollide<TriangleP, Halfspace>; | ||
464 | 23 | collision_matrix[GEOM_TRIANGLE][GEOM_ELLIPSOID] = | |
465 | &ShapeShapeCollide<TriangleP, Ellipsoid>; | ||
466 | 23 | collision_matrix[GEOM_TRIANGLE][GEOM_TRIANGLE] = | |
467 | &ShapeShapeCollide<TriangleP, TriangleP>; | ||
468 | |||
469 | 23 | collision_matrix[BV_AABB][GEOM_BOX] = &BVHShapeCollider<AABB, Box>::collide; | |
470 | 23 | collision_matrix[BV_AABB][GEOM_SPHERE] = | |
471 | &BVHShapeCollider<AABB, Sphere>::collide; | ||
472 | 23 | collision_matrix[BV_AABB][GEOM_CAPSULE] = | |
473 | &BVHShapeCollider<AABB, Capsule>::collide; | ||
474 | 23 | collision_matrix[BV_AABB][GEOM_CONE] = &BVHShapeCollider<AABB, Cone>::collide; | |
475 | 23 | collision_matrix[BV_AABB][GEOM_CYLINDER] = | |
476 | &BVHShapeCollider<AABB, Cylinder>::collide; | ||
477 | 23 | collision_matrix[BV_AABB][GEOM_CONVEX] = | |
478 | &BVHShapeCollider<AABB, ConvexBase>::collide; | ||
479 | 23 | collision_matrix[BV_AABB][GEOM_PLANE] = | |
480 | &BVHShapeCollider<AABB, Plane>::collide; | ||
481 | 23 | collision_matrix[BV_AABB][GEOM_HALFSPACE] = | |
482 | &BVHShapeCollider<AABB, Halfspace>::collide; | ||
483 | 23 | collision_matrix[BV_AABB][GEOM_ELLIPSOID] = | |
484 | &BVHShapeCollider<AABB, Ellipsoid>::collide; | ||
485 | |||
486 | 23 | collision_matrix[BV_OBB][GEOM_BOX] = &BVHShapeCollider<OBB, Box>::collide; | |
487 | 23 | collision_matrix[BV_OBB][GEOM_SPHERE] = | |
488 | &BVHShapeCollider<OBB, Sphere>::collide; | ||
489 | 23 | collision_matrix[BV_OBB][GEOM_CAPSULE] = | |
490 | &BVHShapeCollider<OBB, Capsule>::collide; | ||
491 | 23 | collision_matrix[BV_OBB][GEOM_CONE] = &BVHShapeCollider<OBB, Cone>::collide; | |
492 | 23 | collision_matrix[BV_OBB][GEOM_CYLINDER] = | |
493 | &BVHShapeCollider<OBB, Cylinder>::collide; | ||
494 | 23 | collision_matrix[BV_OBB][GEOM_CONVEX] = | |
495 | &BVHShapeCollider<OBB, ConvexBase>::collide; | ||
496 | 23 | collision_matrix[BV_OBB][GEOM_PLANE] = &BVHShapeCollider<OBB, Plane>::collide; | |
497 | 23 | collision_matrix[BV_OBB][GEOM_HALFSPACE] = | |
498 | &BVHShapeCollider<OBB, Halfspace>::collide; | ||
499 | 23 | collision_matrix[BV_OBB][GEOM_ELLIPSOID] = | |
500 | &BVHShapeCollider<OBB, Ellipsoid>::collide; | ||
501 | |||
502 | 23 | collision_matrix[BV_RSS][GEOM_BOX] = &BVHShapeCollider<RSS, Box>::collide; | |
503 | 23 | collision_matrix[BV_RSS][GEOM_SPHERE] = | |
504 | &BVHShapeCollider<RSS, Sphere>::collide; | ||
505 | 23 | collision_matrix[BV_RSS][GEOM_CAPSULE] = | |
506 | &BVHShapeCollider<RSS, Capsule>::collide; | ||
507 | 23 | collision_matrix[BV_RSS][GEOM_CONE] = &BVHShapeCollider<RSS, Cone>::collide; | |
508 | 23 | collision_matrix[BV_RSS][GEOM_CYLINDER] = | |
509 | &BVHShapeCollider<RSS, Cylinder>::collide; | ||
510 | 23 | collision_matrix[BV_RSS][GEOM_CONVEX] = | |
511 | &BVHShapeCollider<RSS, ConvexBase>::collide; | ||
512 | 23 | collision_matrix[BV_RSS][GEOM_PLANE] = &BVHShapeCollider<RSS, Plane>::collide; | |
513 | 23 | collision_matrix[BV_RSS][GEOM_HALFSPACE] = | |
514 | &BVHShapeCollider<RSS, Halfspace>::collide; | ||
515 | 23 | collision_matrix[BV_RSS][GEOM_ELLIPSOID] = | |
516 | &BVHShapeCollider<RSS, Ellipsoid>::collide; | ||
517 | |||
518 | 23 | collision_matrix[BV_KDOP16][GEOM_BOX] = | |
519 | &BVHShapeCollider<KDOP<16>, Box>::collide; | ||
520 | 23 | collision_matrix[BV_KDOP16][GEOM_SPHERE] = | |
521 | &BVHShapeCollider<KDOP<16>, Sphere>::collide; | ||
522 | 23 | collision_matrix[BV_KDOP16][GEOM_CAPSULE] = | |
523 | &BVHShapeCollider<KDOP<16>, Capsule>::collide; | ||
524 | 23 | collision_matrix[BV_KDOP16][GEOM_CONE] = | |
525 | &BVHShapeCollider<KDOP<16>, Cone>::collide; | ||
526 | 23 | collision_matrix[BV_KDOP16][GEOM_CYLINDER] = | |
527 | &BVHShapeCollider<KDOP<16>, Cylinder>::collide; | ||
528 | 23 | collision_matrix[BV_KDOP16][GEOM_CONVEX] = | |
529 | &BVHShapeCollider<KDOP<16>, ConvexBase>::collide; | ||
530 | 23 | collision_matrix[BV_KDOP16][GEOM_PLANE] = | |
531 | &BVHShapeCollider<KDOP<16>, Plane>::collide; | ||
532 | 23 | collision_matrix[BV_KDOP16][GEOM_HALFSPACE] = | |
533 | &BVHShapeCollider<KDOP<16>, Halfspace>::collide; | ||
534 | 23 | collision_matrix[BV_KDOP16][GEOM_ELLIPSOID] = | |
535 | &BVHShapeCollider<KDOP<16>, Ellipsoid>::collide; | ||
536 | |||
537 | 23 | collision_matrix[BV_KDOP18][GEOM_BOX] = | |
538 | &BVHShapeCollider<KDOP<18>, Box>::collide; | ||
539 | 23 | collision_matrix[BV_KDOP18][GEOM_SPHERE] = | |
540 | &BVHShapeCollider<KDOP<18>, Sphere>::collide; | ||
541 | 23 | collision_matrix[BV_KDOP18][GEOM_CAPSULE] = | |
542 | &BVHShapeCollider<KDOP<18>, Capsule>::collide; | ||
543 | 23 | collision_matrix[BV_KDOP18][GEOM_CONE] = | |
544 | &BVHShapeCollider<KDOP<18>, Cone>::collide; | ||
545 | 23 | collision_matrix[BV_KDOP18][GEOM_CYLINDER] = | |
546 | &BVHShapeCollider<KDOP<18>, Cylinder>::collide; | ||
547 | 23 | collision_matrix[BV_KDOP18][GEOM_CONVEX] = | |
548 | &BVHShapeCollider<KDOP<18>, ConvexBase>::collide; | ||
549 | 23 | collision_matrix[BV_KDOP18][GEOM_PLANE] = | |
550 | &BVHShapeCollider<KDOP<18>, Plane>::collide; | ||
551 | 23 | collision_matrix[BV_KDOP18][GEOM_HALFSPACE] = | |
552 | &BVHShapeCollider<KDOP<18>, Halfspace>::collide; | ||
553 | 23 | collision_matrix[BV_KDOP18][GEOM_ELLIPSOID] = | |
554 | &BVHShapeCollider<KDOP<18>, Ellipsoid>::collide; | ||
555 | |||
556 | 23 | collision_matrix[BV_KDOP24][GEOM_BOX] = | |
557 | &BVHShapeCollider<KDOP<24>, Box>::collide; | ||
558 | 23 | collision_matrix[BV_KDOP24][GEOM_SPHERE] = | |
559 | &BVHShapeCollider<KDOP<24>, Sphere>::collide; | ||
560 | 23 | collision_matrix[BV_KDOP24][GEOM_CAPSULE] = | |
561 | &BVHShapeCollider<KDOP<24>, Capsule>::collide; | ||
562 | 23 | collision_matrix[BV_KDOP24][GEOM_CONE] = | |
563 | &BVHShapeCollider<KDOP<24>, Cone>::collide; | ||
564 | 23 | collision_matrix[BV_KDOP24][GEOM_CYLINDER] = | |
565 | &BVHShapeCollider<KDOP<24>, Cylinder>::collide; | ||
566 | 23 | collision_matrix[BV_KDOP24][GEOM_CONVEX] = | |
567 | &BVHShapeCollider<KDOP<24>, ConvexBase>::collide; | ||
568 | 23 | collision_matrix[BV_KDOP24][GEOM_PLANE] = | |
569 | &BVHShapeCollider<KDOP<24>, Plane>::collide; | ||
570 | 23 | collision_matrix[BV_KDOP24][GEOM_HALFSPACE] = | |
571 | &BVHShapeCollider<KDOP<24>, Halfspace>::collide; | ||
572 | 23 | collision_matrix[BV_KDOP24][GEOM_ELLIPSOID] = | |
573 | &BVHShapeCollider<KDOP<24>, Ellipsoid>::collide; | ||
574 | |||
575 | 23 | collision_matrix[BV_kIOS][GEOM_BOX] = &BVHShapeCollider<kIOS, Box>::collide; | |
576 | 23 | collision_matrix[BV_kIOS][GEOM_SPHERE] = | |
577 | &BVHShapeCollider<kIOS, Sphere>::collide; | ||
578 | 23 | collision_matrix[BV_kIOS][GEOM_CAPSULE] = | |
579 | &BVHShapeCollider<kIOS, Capsule>::collide; | ||
580 | 23 | collision_matrix[BV_kIOS][GEOM_CONE] = &BVHShapeCollider<kIOS, Cone>::collide; | |
581 | 23 | collision_matrix[BV_kIOS][GEOM_CYLINDER] = | |
582 | &BVHShapeCollider<kIOS, Cylinder>::collide; | ||
583 | 23 | collision_matrix[BV_kIOS][GEOM_CONVEX] = | |
584 | &BVHShapeCollider<kIOS, ConvexBase>::collide; | ||
585 | 23 | collision_matrix[BV_kIOS][GEOM_PLANE] = | |
586 | &BVHShapeCollider<kIOS, Plane>::collide; | ||
587 | 23 | collision_matrix[BV_kIOS][GEOM_HALFSPACE] = | |
588 | &BVHShapeCollider<kIOS, Halfspace>::collide; | ||
589 | 23 | collision_matrix[BV_kIOS][GEOM_ELLIPSOID] = | |
590 | &BVHShapeCollider<kIOS, Ellipsoid>::collide; | ||
591 | |||
592 | 23 | collision_matrix[BV_OBBRSS][GEOM_BOX] = | |
593 | &BVHShapeCollider<OBBRSS, Box>::collide; | ||
594 | 23 | collision_matrix[BV_OBBRSS][GEOM_SPHERE] = | |
595 | &BVHShapeCollider<OBBRSS, Sphere>::collide; | ||
596 | 23 | collision_matrix[BV_OBBRSS][GEOM_CAPSULE] = | |
597 | &BVHShapeCollider<OBBRSS, Capsule>::collide; | ||
598 | 23 | collision_matrix[BV_OBBRSS][GEOM_CONE] = | |
599 | &BVHShapeCollider<OBBRSS, Cone>::collide; | ||
600 | 23 | collision_matrix[BV_OBBRSS][GEOM_CYLINDER] = | |
601 | &BVHShapeCollider<OBBRSS, Cylinder>::collide; | ||
602 | 23 | collision_matrix[BV_OBBRSS][GEOM_CONVEX] = | |
603 | &BVHShapeCollider<OBBRSS, ConvexBase>::collide; | ||
604 | 23 | collision_matrix[BV_OBBRSS][GEOM_PLANE] = | |
605 | &BVHShapeCollider<OBBRSS, Plane>::collide; | ||
606 | 23 | collision_matrix[BV_OBBRSS][GEOM_HALFSPACE] = | |
607 | &BVHShapeCollider<OBBRSS, Halfspace>::collide; | ||
608 | 23 | collision_matrix[BV_OBBRSS][GEOM_ELLIPSOID] = | |
609 | &BVHShapeCollider<OBBRSS, Ellipsoid>::collide; | ||
610 | |||
611 | 23 | collision_matrix[HF_AABB][GEOM_BOX] = | |
612 | &HeightFieldShapeCollider<AABB, Box>::collide; | ||
613 | 23 | collision_matrix[HF_AABB][GEOM_SPHERE] = | |
614 | &HeightFieldShapeCollider<AABB, Sphere>::collide; | ||
615 | 23 | collision_matrix[HF_AABB][GEOM_CAPSULE] = | |
616 | &HeightFieldShapeCollider<AABB, Capsule>::collide; | ||
617 | 23 | collision_matrix[HF_AABB][GEOM_CONE] = | |
618 | &HeightFieldShapeCollider<AABB, Cone>::collide; | ||
619 | 23 | collision_matrix[HF_AABB][GEOM_CYLINDER] = | |
620 | &HeightFieldShapeCollider<AABB, Cylinder>::collide; | ||
621 | 23 | collision_matrix[HF_AABB][GEOM_CONVEX] = | |
622 | &HeightFieldShapeCollider<AABB, ConvexBase>::collide; | ||
623 | 23 | collision_matrix[HF_AABB][GEOM_PLANE] = | |
624 | &HeightFieldShapeCollider<AABB, Plane>::collide; | ||
625 | 23 | collision_matrix[HF_AABB][GEOM_HALFSPACE] = | |
626 | &HeightFieldShapeCollider<AABB, Halfspace>::collide; | ||
627 | 23 | collision_matrix[HF_AABB][GEOM_ELLIPSOID] = | |
628 | &HeightFieldShapeCollider<AABB, Ellipsoid>::collide; | ||
629 | |||
630 | 23 | collision_matrix[HF_OBBRSS][GEOM_BOX] = | |
631 | &HeightFieldShapeCollider<OBBRSS, Box>::collide; | ||
632 | 23 | collision_matrix[HF_OBBRSS][GEOM_SPHERE] = | |
633 | &HeightFieldShapeCollider<OBBRSS, Sphere>::collide; | ||
634 | 23 | collision_matrix[HF_OBBRSS][GEOM_CAPSULE] = | |
635 | &HeightFieldShapeCollider<OBBRSS, Capsule>::collide; | ||
636 | 23 | collision_matrix[HF_OBBRSS][GEOM_CONE] = | |
637 | &HeightFieldShapeCollider<OBBRSS, Cone>::collide; | ||
638 | 23 | collision_matrix[HF_OBBRSS][GEOM_CYLINDER] = | |
639 | &HeightFieldShapeCollider<OBBRSS, Cylinder>::collide; | ||
640 | 23 | collision_matrix[HF_OBBRSS][GEOM_CONVEX] = | |
641 | &HeightFieldShapeCollider<OBBRSS, ConvexBase>::collide; | ||
642 | 23 | collision_matrix[HF_OBBRSS][GEOM_PLANE] = | |
643 | &HeightFieldShapeCollider<OBBRSS, Plane>::collide; | ||
644 | 23 | collision_matrix[HF_OBBRSS][GEOM_HALFSPACE] = | |
645 | &HeightFieldShapeCollider<OBBRSS, Halfspace>::collide; | ||
646 | 23 | collision_matrix[HF_OBBRSS][GEOM_ELLIPSOID] = | |
647 | &HeightFieldShapeCollider<OBBRSS, Ellipsoid>::collide; | ||
648 | |||
649 | 23 | collision_matrix[BV_AABB][BV_AABB] = &BVHCollide<AABB>; | |
650 | 23 | collision_matrix[BV_OBB][BV_OBB] = &BVHCollide<OBB>; | |
651 | 23 | collision_matrix[BV_RSS][BV_RSS] = &BVHCollide<RSS>; | |
652 | 23 | collision_matrix[BV_KDOP16][BV_KDOP16] = &BVHCollide<KDOP<16> >; | |
653 | 23 | collision_matrix[BV_KDOP18][BV_KDOP18] = &BVHCollide<KDOP<18> >; | |
654 | 23 | collision_matrix[BV_KDOP24][BV_KDOP24] = &BVHCollide<KDOP<24> >; | |
655 | 23 | collision_matrix[BV_kIOS][BV_kIOS] = &BVHCollide<kIOS>; | |
656 | 23 | collision_matrix[BV_OBBRSS][BV_OBBRSS] = &BVHCollide<OBBRSS>; | |
657 | |||
658 | #ifdef COAL_HAS_OCTOMAP | ||
659 | 23 | collision_matrix[GEOM_OCTREE][GEOM_BOX] = &OctreeCollide<OcTree, Box>; | |
660 | 23 | collision_matrix[GEOM_OCTREE][GEOM_SPHERE] = &OctreeCollide<OcTree, Sphere>; | |
661 | 23 | collision_matrix[GEOM_OCTREE][GEOM_CAPSULE] = &OctreeCollide<OcTree, Capsule>; | |
662 | 23 | collision_matrix[GEOM_OCTREE][GEOM_CONE] = &OctreeCollide<OcTree, Cone>; | |
663 | 23 | collision_matrix[GEOM_OCTREE][GEOM_CYLINDER] = | |
664 | &OctreeCollide<OcTree, Cylinder>; | ||
665 | 23 | collision_matrix[GEOM_OCTREE][GEOM_CONVEX] = | |
666 | &OctreeCollide<OcTree, ConvexBase>; | ||
667 | 23 | collision_matrix[GEOM_OCTREE][GEOM_PLANE] = &OctreeCollide<OcTree, Plane>; | |
668 | 23 | collision_matrix[GEOM_OCTREE][GEOM_HALFSPACE] = | |
669 | &OctreeCollide<OcTree, Halfspace>; | ||
670 | 23 | collision_matrix[GEOM_OCTREE][GEOM_ELLIPSOID] = | |
671 | &OctreeCollide<OcTree, Ellipsoid>; | ||
672 | |||
673 | 23 | collision_matrix[GEOM_BOX][GEOM_OCTREE] = &OctreeCollide<Box, OcTree>; | |
674 | 23 | collision_matrix[GEOM_SPHERE][GEOM_OCTREE] = &OctreeCollide<Sphere, OcTree>; | |
675 | 23 | collision_matrix[GEOM_CAPSULE][GEOM_OCTREE] = &OctreeCollide<Capsule, OcTree>; | |
676 | 23 | collision_matrix[GEOM_CONE][GEOM_OCTREE] = &OctreeCollide<Cone, OcTree>; | |
677 | 23 | collision_matrix[GEOM_CYLINDER][GEOM_OCTREE] = | |
678 | &OctreeCollide<Cylinder, OcTree>; | ||
679 | 23 | collision_matrix[GEOM_CONVEX][GEOM_OCTREE] = | |
680 | &OctreeCollide<ConvexBase, OcTree>; | ||
681 | 23 | collision_matrix[GEOM_PLANE][GEOM_OCTREE] = &OctreeCollide<Plane, OcTree>; | |
682 | 23 | collision_matrix[GEOM_HALFSPACE][GEOM_OCTREE] = | |
683 | &OctreeCollide<Halfspace, OcTree>; | ||
684 | |||
685 | 23 | collision_matrix[GEOM_OCTREE][GEOM_OCTREE] = &OctreeCollide<OcTree, OcTree>; | |
686 | |||
687 | 23 | collision_matrix[GEOM_OCTREE][BV_AABB] = | |
688 | &OctreeCollide<OcTree, BVHModel<AABB> >; | ||
689 | 23 | collision_matrix[GEOM_OCTREE][BV_OBB] = | |
690 | &OctreeCollide<OcTree, BVHModel<OBB> >; | ||
691 | 23 | collision_matrix[GEOM_OCTREE][BV_RSS] = | |
692 | &OctreeCollide<OcTree, BVHModel<RSS> >; | ||
693 | 23 | collision_matrix[GEOM_OCTREE][BV_OBBRSS] = | |
694 | &OctreeCollide<OcTree, BVHModel<OBBRSS> >; | ||
695 | 23 | collision_matrix[GEOM_OCTREE][BV_kIOS] = | |
696 | &OctreeCollide<OcTree, BVHModel<kIOS> >; | ||
697 | 23 | collision_matrix[GEOM_OCTREE][BV_KDOP16] = | |
698 | &OctreeCollide<OcTree, BVHModel<KDOP<16> > >; | ||
699 | 23 | collision_matrix[GEOM_OCTREE][BV_KDOP18] = | |
700 | &OctreeCollide<OcTree, BVHModel<KDOP<18> > >; | ||
701 | 23 | collision_matrix[GEOM_OCTREE][BV_KDOP24] = | |
702 | &OctreeCollide<OcTree, BVHModel<KDOP<24> > >; | ||
703 | 23 | collision_matrix[GEOM_OCTREE][HF_AABB] = | |
704 | &OctreeCollide<OcTree, HeightField<AABB> >; | ||
705 | 23 | collision_matrix[GEOM_OCTREE][HF_OBBRSS] = | |
706 | &OctreeCollide<OcTree, HeightField<OBBRSS> >; | ||
707 | |||
708 | 23 | collision_matrix[BV_AABB][GEOM_OCTREE] = | |
709 | &OctreeCollide<BVHModel<AABB>, OcTree>; | ||
710 | 23 | collision_matrix[BV_OBB][GEOM_OCTREE] = &OctreeCollide<BVHModel<OBB>, OcTree>; | |
711 | 23 | collision_matrix[BV_RSS][GEOM_OCTREE] = &OctreeCollide<BVHModel<RSS>, OcTree>; | |
712 | 23 | collision_matrix[BV_OBBRSS][GEOM_OCTREE] = | |
713 | &OctreeCollide<BVHModel<OBBRSS>, OcTree>; | ||
714 | 23 | collision_matrix[BV_kIOS][GEOM_OCTREE] = | |
715 | &OctreeCollide<BVHModel<kIOS>, OcTree>; | ||
716 | 23 | collision_matrix[BV_KDOP16][GEOM_OCTREE] = | |
717 | &OctreeCollide<BVHModel<KDOP<16> >, OcTree>; | ||
718 | 23 | collision_matrix[BV_KDOP18][GEOM_OCTREE] = | |
719 | &OctreeCollide<BVHModel<KDOP<18> >, OcTree>; | ||
720 | 23 | collision_matrix[BV_KDOP24][GEOM_OCTREE] = | |
721 | &OctreeCollide<BVHModel<KDOP<24> >, OcTree>; | ||
722 | 23 | collision_matrix[HF_AABB][GEOM_OCTREE] = | |
723 | &OctreeCollide<HeightField<AABB>, OcTree>; | ||
724 | 23 | collision_matrix[HF_OBBRSS][GEOM_OCTREE] = | |
725 | &OctreeCollide<HeightField<OBBRSS>, OcTree>; | ||
726 | #endif | ||
727 | 23 | } | |
728 | // template struct CollisionFunctionMatrix; | ||
729 | } // namespace coal | ||
730 |