| Directory: | ./ |
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| File: | src/contact_patch_func_matrix.cpp |
| Date: | 2025-04-13 14:25:19 |
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| Lines: | 243 | 271 | 89.7% |
| Branches: | 4 | 58 | 6.9% |
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| 1 | /* | ||
| 2 | * Software License Agreement (BSD License) | ||
| 3 | * | ||
| 4 | * Copyright (c) 2024, INRIA | ||
| 5 | * All rights reserved. | ||
| 6 | * | ||
| 7 | * Redistribution and use in source and binary forms, with or without | ||
| 8 | * modification, are permitted provided that the following conditions | ||
| 9 | * are met: | ||
| 10 | * | ||
| 11 | * * Redistributions of source code must retain the above copyright | ||
| 12 | * notice, this list of conditions and the following disclaimer. | ||
| 13 | * * Redistributions in binary form must reproduce the above | ||
| 14 | * copyright notice, this list of conditions and the following | ||
| 15 | * disclaimer in the documentation and/or other materials provided | ||
| 16 | * with the distribution. | ||
| 17 | * * Neither the name of INRIA nor the names of its | ||
| 18 | * contributors may be used to endorse or promote products derived | ||
| 19 | * from this software without specific prior written permission. | ||
| 20 | * | ||
| 21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| 24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| 25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| 26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| 27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| 29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| 30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| 31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| 32 | * POSSIBILITY OF SUCH DAMAGE. | ||
| 33 | */ | ||
| 34 | |||
| 35 | /** \author Louis Montaut */ | ||
| 36 | |||
| 37 | #include "coal/contact_patch_func_matrix.h" | ||
| 38 | #include "coal/shape/geometric_shapes.h" | ||
| 39 | #include "coal/internal/shape_shape_contact_patch_func.h" | ||
| 40 | #include "coal/BV/BV.h" | ||
| 41 | |||
| 42 | namespace coal { | ||
| 43 | |||
| 44 | template <typename T_BVH, typename T_SH> | ||
| 45 | struct BVHShapeComputeContactPatch { | ||
| 46 | ✗ | static void run(const CollisionGeometry* o1, const Transform3s& tf1, | |
| 47 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
| 48 | const CollisionResult& collision_result, | ||
| 49 | const ContactPatchSolver* csolver, | ||
| 50 | const ContactPatchRequest& request, | ||
| 51 | ContactPatchResult& result) { | ||
| 52 | COAL_UNUSED_VARIABLE(o1); | ||
| 53 | COAL_UNUSED_VARIABLE(tf1); | ||
| 54 | COAL_UNUSED_VARIABLE(o2); | ||
| 55 | COAL_UNUSED_VARIABLE(tf2); | ||
| 56 | COAL_UNUSED_VARIABLE(csolver); | ||
| 57 | ✗ | for (size_t i = 0; i < collision_result.numContacts(); ++i) { | |
| 58 | ✗ | if (i >= request.max_num_patch) { | |
| 59 | ✗ | break; | |
| 60 | } | ||
| 61 | ✗ | const Contact& contact = collision_result.getContact(i); | |
| 62 | ✗ | ContactPatch& contact_patch = result.getUnusedContactPatch(); | |
| 63 | ✗ | constructContactPatchFrameFromContact(contact, contact_patch); | |
| 64 | ✗ | contact_patch.addPoint(contact.pos); | |
| 65 | } | ||
| 66 | } | ||
| 67 | }; | ||
| 68 | |||
| 69 | template <typename BV, typename Shape> | ||
| 70 | struct HeightFieldShapeComputeContactPatch { | ||
| 71 | ✗ | static void run(const CollisionGeometry* o1, const Transform3s& tf1, | |
| 72 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
| 73 | const CollisionResult& collision_result, | ||
| 74 | const ContactPatchSolver* csolver, | ||
| 75 | const ContactPatchRequest& request, | ||
| 76 | ContactPatchResult& result) { | ||
| 77 | COAL_UNUSED_VARIABLE(o1); | ||
| 78 | COAL_UNUSED_VARIABLE(tf1); | ||
| 79 | COAL_UNUSED_VARIABLE(o2); | ||
| 80 | COAL_UNUSED_VARIABLE(tf2); | ||
| 81 | COAL_UNUSED_VARIABLE(csolver); | ||
| 82 | ✗ | for (size_t i = 0; i < collision_result.numContacts(); ++i) { | |
| 83 | ✗ | if (i >= request.max_num_patch) { | |
| 84 | ✗ | break; | |
| 85 | } | ||
| 86 | ✗ | const Contact& contact = collision_result.getContact(i); | |
| 87 | ✗ | ContactPatch& contact_patch = result.getUnusedContactPatch(); | |
| 88 | ✗ | constructContactPatchFrameFromContact(contact, contact_patch); | |
| 89 | ✗ | contact_patch.addPoint(contact.pos); | |
| 90 | } | ||
| 91 | } | ||
| 92 | }; | ||
| 93 | |||
| 94 | template <typename BV> | ||
| 95 | struct BVHComputeContactPatch { | ||
| 96 | ✗ | static void run(const CollisionGeometry* o1, const Transform3s& tf1, | |
| 97 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
| 98 | const CollisionResult& collision_result, | ||
| 99 | const ContactPatchSolver* csolver, | ||
| 100 | const ContactPatchRequest& request, | ||
| 101 | ContactPatchResult& result) { | ||
| 102 | COAL_UNUSED_VARIABLE(o1); | ||
| 103 | COAL_UNUSED_VARIABLE(tf1); | ||
| 104 | COAL_UNUSED_VARIABLE(o2); | ||
| 105 | COAL_UNUSED_VARIABLE(tf2); | ||
| 106 | COAL_UNUSED_VARIABLE(csolver); | ||
| 107 | ✗ | for (size_t i = 0; i < collision_result.numContacts(); ++i) { | |
| 108 | ✗ | if (i >= request.max_num_patch) { | |
| 109 | ✗ | break; | |
| 110 | } | ||
| 111 | ✗ | const Contact& contact = collision_result.getContact(i); | |
| 112 | ✗ | ContactPatch& contact_patch = result.getUnusedContactPatch(); | |
| 113 | ✗ | constructContactPatchFrameFromContact(contact, contact_patch); | |
| 114 | ✗ | contact_patch.addPoint(contact.pos); | |
| 115 | } | ||
| 116 | } | ||
| 117 | }; | ||
| 118 | |||
| 119 | ✗ | COAL_LOCAL void contact_patch_function_not_implemented( | |
| 120 | const CollisionGeometry* o1, const Transform3s& /*tf1*/, | ||
| 121 | const CollisionGeometry* o2, const Transform3s& /*tf2*/, | ||
| 122 | const CollisionResult& /*collision_result*/, | ||
| 123 | const ContactPatchSolver* /*csolver*/, | ||
| 124 | const ContactPatchRequest& /*request*/, ContactPatchResult& /*result*/) { | ||
| 125 | ✗ | NODE_TYPE node_type1 = o1->getNodeType(); | |
| 126 | ✗ | NODE_TYPE node_type2 = o2->getNodeType(); | |
| 127 | |||
| 128 | ✗ | COAL_THROW_PRETTY("Contact patch function between node type " | |
| 129 | << std::string(get_node_type_name(node_type1)) | ||
| 130 | << " and node type " | ||
| 131 | << std::string(get_node_type_name(node_type2)) | ||
| 132 | << " is not yet supported.", | ||
| 133 | std::invalid_argument); | ||
| 134 | } | ||
| 135 | |||
| 136 | 2 | ContactPatchFunctionMatrix::ContactPatchFunctionMatrix() { | |
| 137 |
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46 | for (int i = 0; i < NODE_COUNT; ++i) { |
| 138 |
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1012 | for (int j = 0; j < NODE_COUNT; ++j) contact_patch_matrix[i][j] = nullptr; |
| 139 | } | ||
| 140 | |||
| 141 | // clang-format off | ||
| 142 | 2 | contact_patch_matrix[GEOM_BOX][GEOM_BOX] = &ShapeShapeContactPatch<Box, Box>; | |
| 143 | 2 | contact_patch_matrix[GEOM_BOX][GEOM_SPHERE] = &ShapeShapeContactPatch<Box, Sphere>; | |
| 144 | 2 | contact_patch_matrix[GEOM_BOX][GEOM_CAPSULE] = &ShapeShapeContactPatch<Box, Capsule>; | |
| 145 | 2 | contact_patch_matrix[GEOM_BOX][GEOM_CONE] = &ShapeShapeContactPatch<Box, Cone>; | |
| 146 | 2 | contact_patch_matrix[GEOM_BOX][GEOM_CYLINDER] = &ShapeShapeContactPatch<Box, Cylinder>; | |
| 147 | 2 | contact_patch_matrix[GEOM_BOX][GEOM_CONVEX] = &ShapeShapeContactPatch<Box, ConvexBase>; | |
| 148 | 2 | contact_patch_matrix[GEOM_BOX][GEOM_PLANE] = &ShapeShapeContactPatch<Box, Plane>; | |
| 149 | 2 | contact_patch_matrix[GEOM_BOX][GEOM_HALFSPACE] = &ShapeShapeContactPatch<Box, Halfspace>; | |
| 150 | 2 | contact_patch_matrix[GEOM_BOX][GEOM_ELLIPSOID] = &ShapeShapeContactPatch<Box, Ellipsoid>; | |
| 151 | 2 | contact_patch_matrix[GEOM_BOX][GEOM_TRIANGLE] = &ShapeShapeContactPatch<Box, TriangleP>; | |
| 152 | |||
| 153 | 2 | contact_patch_matrix[GEOM_SPHERE][GEOM_BOX] = &ShapeShapeContactPatch<Sphere, Box>; | |
| 154 | 2 | contact_patch_matrix[GEOM_SPHERE][GEOM_SPHERE] = &ShapeShapeContactPatch<Sphere, Sphere>; | |
| 155 | 2 | contact_patch_matrix[GEOM_SPHERE][GEOM_CAPSULE] = &ShapeShapeContactPatch<Sphere, Capsule>; | |
| 156 | 2 | contact_patch_matrix[GEOM_SPHERE][GEOM_CONE] = &ShapeShapeContactPatch<Sphere, Cone>; | |
| 157 | 2 | contact_patch_matrix[GEOM_SPHERE][GEOM_CYLINDER] = &ShapeShapeContactPatch<Sphere, Cylinder>; | |
| 158 | 2 | contact_patch_matrix[GEOM_SPHERE][GEOM_CONVEX] = &ShapeShapeContactPatch<Sphere, ConvexBase>; | |
| 159 | 2 | contact_patch_matrix[GEOM_SPHERE][GEOM_PLANE] = &ShapeShapeContactPatch<Sphere, Plane>; | |
| 160 | 2 | contact_patch_matrix[GEOM_SPHERE][GEOM_HALFSPACE] = &ShapeShapeContactPatch<Sphere, Halfspace>; | |
| 161 | 2 | contact_patch_matrix[GEOM_SPHERE][GEOM_ELLIPSOID] = &ShapeShapeContactPatch<Sphere, Ellipsoid>; | |
| 162 | 2 | contact_patch_matrix[GEOM_SPHERE][GEOM_TRIANGLE] = &ShapeShapeContactPatch<Sphere, TriangleP>; | |
| 163 | |||
| 164 | 2 | contact_patch_matrix[GEOM_ELLIPSOID][GEOM_BOX] = &ShapeShapeContactPatch<Ellipsoid, Box>; | |
| 165 | 2 | contact_patch_matrix[GEOM_ELLIPSOID][GEOM_SPHERE] = &ShapeShapeContactPatch<Ellipsoid, Sphere>; | |
| 166 | 2 | contact_patch_matrix[GEOM_ELLIPSOID][GEOM_CAPSULE] = &ShapeShapeContactPatch<Ellipsoid, Capsule>; | |
| 167 | 2 | contact_patch_matrix[GEOM_ELLIPSOID][GEOM_CONE] = &ShapeShapeContactPatch<Ellipsoid, Cone>; | |
| 168 | 2 | contact_patch_matrix[GEOM_ELLIPSOID][GEOM_CYLINDER] = &ShapeShapeContactPatch<Ellipsoid, Cylinder>; | |
| 169 | 2 | contact_patch_matrix[GEOM_ELLIPSOID][GEOM_CONVEX] = &ShapeShapeContactPatch<Ellipsoid, ConvexBase>; | |
| 170 | 2 | contact_patch_matrix[GEOM_ELLIPSOID][GEOM_PLANE] = &ShapeShapeContactPatch<Ellipsoid, Plane>; | |
| 171 | 2 | contact_patch_matrix[GEOM_ELLIPSOID][GEOM_HALFSPACE] = &ShapeShapeContactPatch<Ellipsoid, Halfspace>; | |
| 172 | 2 | contact_patch_matrix[GEOM_ELLIPSOID][GEOM_ELLIPSOID] = &ShapeShapeContactPatch<Ellipsoid, Ellipsoid>; | |
| 173 | 2 | contact_patch_matrix[GEOM_ELLIPSOID][GEOM_TRIANGLE] = &ShapeShapeContactPatch<Ellipsoid, TriangleP>; | |
| 174 | |||
| 175 | 2 | contact_patch_matrix[GEOM_CAPSULE][GEOM_BOX] = &ShapeShapeContactPatch<Capsule, Box>; | |
| 176 | 2 | contact_patch_matrix[GEOM_CAPSULE][GEOM_SPHERE] = &ShapeShapeContactPatch<Capsule, Sphere>; | |
| 177 | 2 | contact_patch_matrix[GEOM_CAPSULE][GEOM_CAPSULE] = &ShapeShapeContactPatch<Capsule, Capsule>; | |
| 178 | 2 | contact_patch_matrix[GEOM_CAPSULE][GEOM_CONE] = &ShapeShapeContactPatch<Capsule, Cone>; | |
| 179 | 2 | contact_patch_matrix[GEOM_CAPSULE][GEOM_CYLINDER] = &ShapeShapeContactPatch<Capsule, Cylinder>; | |
| 180 | 2 | contact_patch_matrix[GEOM_CAPSULE][GEOM_CONVEX] = &ShapeShapeContactPatch<Capsule, ConvexBase>; | |
| 181 | 2 | contact_patch_matrix[GEOM_CAPSULE][GEOM_PLANE] = &ShapeShapeContactPatch<Capsule, Plane>; | |
| 182 | 2 | contact_patch_matrix[GEOM_CAPSULE][GEOM_HALFSPACE] = &ShapeShapeContactPatch<Capsule, Halfspace>; | |
| 183 | 2 | contact_patch_matrix[GEOM_CAPSULE][GEOM_ELLIPSOID] = &ShapeShapeContactPatch<Capsule, Ellipsoid>; | |
| 184 | 2 | contact_patch_matrix[GEOM_CAPSULE][GEOM_TRIANGLE] = &ShapeShapeContactPatch<Capsule, TriangleP>; | |
| 185 | |||
| 186 | 2 | contact_patch_matrix[GEOM_CONE][GEOM_BOX] = &ShapeShapeContactPatch<Cone, Box>; | |
| 187 | 2 | contact_patch_matrix[GEOM_CONE][GEOM_SPHERE] = &ShapeShapeContactPatch<Cone, Sphere>; | |
| 188 | 2 | contact_patch_matrix[GEOM_CONE][GEOM_CAPSULE] = &ShapeShapeContactPatch<Cone, Capsule>; | |
| 189 | 2 | contact_patch_matrix[GEOM_CONE][GEOM_CONE] = &ShapeShapeContactPatch<Cone, Cone>; | |
| 190 | 2 | contact_patch_matrix[GEOM_CONE][GEOM_CYLINDER] = &ShapeShapeContactPatch<Cone, Cylinder>; | |
| 191 | 2 | contact_patch_matrix[GEOM_CONE][GEOM_CONVEX] = &ShapeShapeContactPatch<Cone, ConvexBase>; | |
| 192 | 2 | contact_patch_matrix[GEOM_CONE][GEOM_PLANE] = &ShapeShapeContactPatch<Cone, Plane>; | |
| 193 | 2 | contact_patch_matrix[GEOM_CONE][GEOM_HALFSPACE] = &ShapeShapeContactPatch<Cone, Halfspace>; | |
| 194 | 2 | contact_patch_matrix[GEOM_CONE][GEOM_ELLIPSOID] = &ShapeShapeContactPatch<Cone, Ellipsoid>; | |
| 195 | 2 | contact_patch_matrix[GEOM_CONE][GEOM_TRIANGLE] = &ShapeShapeContactPatch<Cone, TriangleP>; | |
| 196 | |||
| 197 | 2 | contact_patch_matrix[GEOM_CYLINDER][GEOM_BOX] = &ShapeShapeContactPatch<Cylinder, Box>; | |
| 198 | 2 | contact_patch_matrix[GEOM_CYLINDER][GEOM_SPHERE] = &ShapeShapeContactPatch<Cylinder, Sphere>; | |
| 199 | 2 | contact_patch_matrix[GEOM_CYLINDER][GEOM_CAPSULE] = &ShapeShapeContactPatch<Cylinder, Capsule>; | |
| 200 | 2 | contact_patch_matrix[GEOM_CYLINDER][GEOM_CONE] = &ShapeShapeContactPatch<Cylinder, Cone>; | |
| 201 | 2 | contact_patch_matrix[GEOM_CYLINDER][GEOM_CYLINDER] = &ShapeShapeContactPatch<Cylinder, Cylinder>; | |
| 202 | 2 | contact_patch_matrix[GEOM_CYLINDER][GEOM_CONVEX] = &ShapeShapeContactPatch<Cylinder, ConvexBase>; | |
| 203 | 2 | contact_patch_matrix[GEOM_CYLINDER][GEOM_PLANE] = &ShapeShapeContactPatch<Cylinder, Plane>; | |
| 204 | 2 | contact_patch_matrix[GEOM_CYLINDER][GEOM_HALFSPACE] = &ShapeShapeContactPatch<Cylinder, Halfspace>; | |
| 205 | 2 | contact_patch_matrix[GEOM_CYLINDER][GEOM_ELLIPSOID] = &ShapeShapeContactPatch<Cylinder, Ellipsoid>; | |
| 206 | 2 | contact_patch_matrix[GEOM_CYLINDER][GEOM_TRIANGLE] = &ShapeShapeContactPatch<Cylinder, TriangleP>; | |
| 207 | |||
| 208 | 2 | contact_patch_matrix[GEOM_CONVEX][GEOM_BOX] = &ShapeShapeContactPatch<ConvexBase, Box>; | |
| 209 | 2 | contact_patch_matrix[GEOM_CONVEX][GEOM_SPHERE] = &ShapeShapeContactPatch<ConvexBase, Sphere>; | |
| 210 | 2 | contact_patch_matrix[GEOM_CONVEX][GEOM_CAPSULE] = &ShapeShapeContactPatch<ConvexBase, Capsule>; | |
| 211 | 2 | contact_patch_matrix[GEOM_CONVEX][GEOM_CONE] = &ShapeShapeContactPatch<ConvexBase, Cone>; | |
| 212 | 2 | contact_patch_matrix[GEOM_CONVEX][GEOM_CYLINDER] = &ShapeShapeContactPatch<ConvexBase, Cylinder>; | |
| 213 | 2 | contact_patch_matrix[GEOM_CONVEX][GEOM_CONVEX] = &ShapeShapeContactPatch<ConvexBase, ConvexBase>; | |
| 214 | 2 | contact_patch_matrix[GEOM_CONVEX][GEOM_PLANE] = &ShapeShapeContactPatch<ConvexBase, Plane>; | |
| 215 | 2 | contact_patch_matrix[GEOM_CONVEX][GEOM_HALFSPACE] = &ShapeShapeContactPatch<ConvexBase, Halfspace>; | |
| 216 | 2 | contact_patch_matrix[GEOM_CONVEX][GEOM_ELLIPSOID] = &ShapeShapeContactPatch<ConvexBase, Ellipsoid>; | |
| 217 | 2 | contact_patch_matrix[GEOM_CONVEX][GEOM_TRIANGLE] = &ShapeShapeContactPatch<ConvexBase, TriangleP>; | |
| 218 | |||
| 219 | 2 | contact_patch_matrix[GEOM_PLANE][GEOM_BOX] = &ShapeShapeContactPatch<Plane, Box>; | |
| 220 | 2 | contact_patch_matrix[GEOM_PLANE][GEOM_SPHERE] = &ShapeShapeContactPatch<Plane, Sphere>; | |
| 221 | 2 | contact_patch_matrix[GEOM_PLANE][GEOM_CAPSULE] = &ShapeShapeContactPatch<Plane, Capsule>; | |
| 222 | 2 | contact_patch_matrix[GEOM_PLANE][GEOM_CONE] = &ShapeShapeContactPatch<Plane, Cone>; | |
| 223 | 2 | contact_patch_matrix[GEOM_PLANE][GEOM_CYLINDER] = &ShapeShapeContactPatch<Plane, Cylinder>; | |
| 224 | 2 | contact_patch_matrix[GEOM_PLANE][GEOM_CONVEX] = &ShapeShapeContactPatch<Plane, ConvexBase>; | |
| 225 | 2 | contact_patch_matrix[GEOM_PLANE][GEOM_PLANE] = &ShapeShapeContactPatch<Plane, Plane>; | |
| 226 | 2 | contact_patch_matrix[GEOM_PLANE][GEOM_HALFSPACE] = &ShapeShapeContactPatch<Plane, Halfspace>; | |
| 227 | 2 | contact_patch_matrix[GEOM_PLANE][GEOM_ELLIPSOID] = &ShapeShapeContactPatch<Plane, Ellipsoid>; | |
| 228 | 2 | contact_patch_matrix[GEOM_PLANE][GEOM_TRIANGLE] = &ShapeShapeContactPatch<Plane, TriangleP>; | |
| 229 | |||
| 230 | 2 | contact_patch_matrix[GEOM_HALFSPACE][GEOM_BOX] = &ShapeShapeContactPatch<Halfspace, Box>; | |
| 231 | 2 | contact_patch_matrix[GEOM_HALFSPACE][GEOM_SPHERE] = &ShapeShapeContactPatch<Halfspace, Sphere>; | |
| 232 | 2 | contact_patch_matrix[GEOM_HALFSPACE][GEOM_CAPSULE] = &ShapeShapeContactPatch<Halfspace, Capsule>; | |
| 233 | 2 | contact_patch_matrix[GEOM_HALFSPACE][GEOM_CONE] = &ShapeShapeContactPatch<Halfspace, Cone>; | |
| 234 | 2 | contact_patch_matrix[GEOM_HALFSPACE][GEOM_CYLINDER] = &ShapeShapeContactPatch<Halfspace, Cylinder>; | |
| 235 | 2 | contact_patch_matrix[GEOM_HALFSPACE][GEOM_CONVEX] = &ShapeShapeContactPatch<Halfspace, ConvexBase>; | |
| 236 | 2 | contact_patch_matrix[GEOM_HALFSPACE][GEOM_PLANE] = &ShapeShapeContactPatch<Halfspace, Plane>; | |
| 237 | 2 | contact_patch_matrix[GEOM_HALFSPACE][GEOM_HALFSPACE] = &ShapeShapeContactPatch<Halfspace, Halfspace>; | |
| 238 | 2 | contact_patch_matrix[GEOM_HALFSPACE][GEOM_ELLIPSOID] = &ShapeShapeContactPatch<Halfspace, Ellipsoid>; | |
| 239 | 2 | contact_patch_matrix[GEOM_HALFSPACE][GEOM_TRIANGLE] = &ShapeShapeContactPatch<Halfspace, TriangleP>; | |
| 240 | |||
| 241 | 2 | contact_patch_matrix[GEOM_TRIANGLE][GEOM_BOX] = &ShapeShapeContactPatch<TriangleP, Box>; | |
| 242 | 2 | contact_patch_matrix[GEOM_TRIANGLE][GEOM_SPHERE] = &ShapeShapeContactPatch<TriangleP, Sphere>; | |
| 243 | 2 | contact_patch_matrix[GEOM_TRIANGLE][GEOM_CAPSULE] = &ShapeShapeContactPatch<TriangleP, Capsule>; | |
| 244 | 2 | contact_patch_matrix[GEOM_TRIANGLE][GEOM_CONE] = &ShapeShapeContactPatch<TriangleP, Cone>; | |
| 245 | 2 | contact_patch_matrix[GEOM_TRIANGLE][GEOM_CYLINDER] = &ShapeShapeContactPatch<TriangleP, Cylinder>; | |
| 246 | 2 | contact_patch_matrix[GEOM_TRIANGLE][GEOM_CONVEX] = &ShapeShapeContactPatch<TriangleP, ConvexBase>; | |
| 247 | 2 | contact_patch_matrix[GEOM_TRIANGLE][GEOM_PLANE] = &ShapeShapeContactPatch<TriangleP, Plane>; | |
| 248 | 2 | contact_patch_matrix[GEOM_TRIANGLE][GEOM_HALFSPACE] = &ShapeShapeContactPatch<TriangleP, Halfspace>; | |
| 249 | 2 | contact_patch_matrix[GEOM_TRIANGLE][GEOM_ELLIPSOID] = &ShapeShapeContactPatch<TriangleP, Ellipsoid>; | |
| 250 | 2 | contact_patch_matrix[GEOM_TRIANGLE][GEOM_TRIANGLE] = &ShapeShapeContactPatch<TriangleP, TriangleP>; | |
| 251 | |||
| 252 | // TODO(louis): properly handle non-convex shapes like BVH, Octrees and Hfields. | ||
| 253 | // The following functions work. However apart from the contact frame, these functions don't | ||
| 254 | // compute more information than a call to `collide`. | ||
| 255 | 2 | contact_patch_matrix[BV_AABB][GEOM_BOX] = &BVHShapeComputeContactPatch<AABB, Box>::run; | |
| 256 | 2 | contact_patch_matrix[BV_AABB][GEOM_SPHERE] = &BVHShapeComputeContactPatch<AABB, Sphere>::run; | |
| 257 | 2 | contact_patch_matrix[BV_AABB][GEOM_CAPSULE] = &BVHShapeComputeContactPatch<AABB, Capsule>::run; | |
| 258 | 2 | contact_patch_matrix[BV_AABB][GEOM_CONE] = &BVHShapeComputeContactPatch<AABB, Cone>::run; | |
| 259 | 2 | contact_patch_matrix[BV_AABB][GEOM_CYLINDER] = &BVHShapeComputeContactPatch<AABB, Cylinder>::run; | |
| 260 | 2 | contact_patch_matrix[BV_AABB][GEOM_CONVEX] = &BVHShapeComputeContactPatch<AABB, ConvexBase>::run; | |
| 261 | 2 | contact_patch_matrix[BV_AABB][GEOM_PLANE] = &BVHShapeComputeContactPatch<AABB, Plane>::run; | |
| 262 | 2 | contact_patch_matrix[BV_AABB][GEOM_HALFSPACE] = &BVHShapeComputeContactPatch<AABB, Halfspace>::run; | |
| 263 | 2 | contact_patch_matrix[BV_AABB][GEOM_ELLIPSOID] = &BVHShapeComputeContactPatch<AABB, Ellipsoid>::run; | |
| 264 | |||
| 265 | 2 | contact_patch_matrix[BV_OBB][GEOM_BOX] = &BVHShapeComputeContactPatch<OBB, Box>::run; | |
| 266 | 2 | contact_patch_matrix[BV_OBB][GEOM_SPHERE] = &BVHShapeComputeContactPatch<OBB, Sphere>::run; | |
| 267 | 2 | contact_patch_matrix[BV_OBB][GEOM_CAPSULE] = &BVHShapeComputeContactPatch<OBB, Capsule>::run; | |
| 268 | 2 | contact_patch_matrix[BV_OBB][GEOM_CONE] = &BVHShapeComputeContactPatch<OBB, Cone>::run; | |
| 269 | 2 | contact_patch_matrix[BV_OBB][GEOM_CYLINDER] = &BVHShapeComputeContactPatch<OBB, Cylinder>::run; | |
| 270 | 2 | contact_patch_matrix[BV_OBB][GEOM_CONVEX] = &BVHShapeComputeContactPatch<OBB, ConvexBase>::run; | |
| 271 | 2 | contact_patch_matrix[BV_OBB][GEOM_PLANE] = &BVHShapeComputeContactPatch<OBB, Plane>::run; | |
| 272 | 2 | contact_patch_matrix[BV_OBB][GEOM_HALFSPACE] = &BVHShapeComputeContactPatch<OBB, Halfspace>::run; | |
| 273 | 2 | contact_patch_matrix[BV_OBB][GEOM_ELLIPSOID] = &BVHShapeComputeContactPatch<OBB, Ellipsoid>::run; | |
| 274 | |||
| 275 | 2 | contact_patch_matrix[BV_RSS][GEOM_BOX] = &BVHShapeComputeContactPatch<RSS, Box>::run; | |
| 276 | 2 | contact_patch_matrix[BV_RSS][GEOM_SPHERE] = &BVHShapeComputeContactPatch<RSS, Sphere>::run; | |
| 277 | 2 | contact_patch_matrix[BV_RSS][GEOM_CAPSULE] = &BVHShapeComputeContactPatch<RSS, Capsule>::run; | |
| 278 | 2 | contact_patch_matrix[BV_RSS][GEOM_CONE] = &BVHShapeComputeContactPatch<RSS, Cone>::run; | |
| 279 | 2 | contact_patch_matrix[BV_RSS][GEOM_CYLINDER] = &BVHShapeComputeContactPatch<RSS, Cylinder>::run; | |
| 280 | 2 | contact_patch_matrix[BV_RSS][GEOM_CONVEX] = &BVHShapeComputeContactPatch<RSS, ConvexBase>::run; | |
| 281 | 2 | contact_patch_matrix[BV_RSS][GEOM_PLANE] = &BVHShapeComputeContactPatch<RSS, Plane>::run; | |
| 282 | 2 | contact_patch_matrix[BV_RSS][GEOM_HALFSPACE] = &BVHShapeComputeContactPatch<RSS, Halfspace>::run; | |
| 283 | 2 | contact_patch_matrix[BV_RSS][GEOM_ELLIPSOID] = &BVHShapeComputeContactPatch<RSS, Ellipsoid>::run; | |
| 284 | |||
| 285 | 2 | contact_patch_matrix[BV_KDOP16][GEOM_BOX] = &BVHShapeComputeContactPatch<KDOP<16>, Box>::run; | |
| 286 | 2 | contact_patch_matrix[BV_KDOP16][GEOM_SPHERE] = &BVHShapeComputeContactPatch<KDOP<16>, Sphere>::run; | |
| 287 | 2 | contact_patch_matrix[BV_KDOP16][GEOM_CAPSULE] = &BVHShapeComputeContactPatch<KDOP<16>, Capsule>::run; | |
| 288 | 2 | contact_patch_matrix[BV_KDOP16][GEOM_CONE] = &BVHShapeComputeContactPatch<KDOP<16>, Cone>::run; | |
| 289 | 2 | contact_patch_matrix[BV_KDOP16][GEOM_CYLINDER] = &BVHShapeComputeContactPatch<KDOP<16>, Cylinder>::run; | |
| 290 | 2 | contact_patch_matrix[BV_KDOP16][GEOM_CONVEX] = &BVHShapeComputeContactPatch<KDOP<16>, ConvexBase>::run; | |
| 291 | 2 | contact_patch_matrix[BV_KDOP16][GEOM_PLANE] = &BVHShapeComputeContactPatch<KDOP<16>, Plane>::run; | |
| 292 | 2 | contact_patch_matrix[BV_KDOP16][GEOM_HALFSPACE] = &BVHShapeComputeContactPatch<KDOP<16>, Halfspace>::run; | |
| 293 | 2 | contact_patch_matrix[BV_KDOP16][GEOM_ELLIPSOID] = &BVHShapeComputeContactPatch<KDOP<16>, Ellipsoid>::run; | |
| 294 | |||
| 295 | 2 | contact_patch_matrix[BV_KDOP18][GEOM_BOX] = &BVHShapeComputeContactPatch<KDOP<18>, Box>::run; | |
| 296 | 2 | contact_patch_matrix[BV_KDOP18][GEOM_SPHERE] = &BVHShapeComputeContactPatch<KDOP<18>, Sphere>::run; | |
| 297 | 2 | contact_patch_matrix[BV_KDOP18][GEOM_CAPSULE] = &BVHShapeComputeContactPatch<KDOP<18>, Capsule>::run; | |
| 298 | 2 | contact_patch_matrix[BV_KDOP18][GEOM_CONE] = &BVHShapeComputeContactPatch<KDOP<18>, Cone>::run; | |
| 299 | 2 | contact_patch_matrix[BV_KDOP18][GEOM_CYLINDER] = &BVHShapeComputeContactPatch<KDOP<18>, Cylinder>::run; | |
| 300 | 2 | contact_patch_matrix[BV_KDOP18][GEOM_CONVEX] = &BVHShapeComputeContactPatch<KDOP<18>, ConvexBase>::run; | |
| 301 | 2 | contact_patch_matrix[BV_KDOP18][GEOM_PLANE] = &BVHShapeComputeContactPatch<KDOP<18>, Plane>::run; | |
| 302 | 2 | contact_patch_matrix[BV_KDOP18][GEOM_HALFSPACE] = &BVHShapeComputeContactPatch<KDOP<18>, Halfspace>::run; | |
| 303 | 2 | contact_patch_matrix[BV_KDOP18][GEOM_ELLIPSOID] = &BVHShapeComputeContactPatch<KDOP<18>, Ellipsoid>::run; | |
| 304 | |||
| 305 | 2 | contact_patch_matrix[BV_KDOP24][GEOM_BOX] = &BVHShapeComputeContactPatch<KDOP<24>, Box>::run; | |
| 306 | 2 | contact_patch_matrix[BV_KDOP24][GEOM_SPHERE] = &BVHShapeComputeContactPatch<KDOP<24>, Sphere>::run; | |
| 307 | 2 | contact_patch_matrix[BV_KDOP24][GEOM_CAPSULE] = &BVHShapeComputeContactPatch<KDOP<24>, Capsule>::run; | |
| 308 | 2 | contact_patch_matrix[BV_KDOP24][GEOM_CONE] = &BVHShapeComputeContactPatch<KDOP<24>, Cone>::run; | |
| 309 | 2 | contact_patch_matrix[BV_KDOP24][GEOM_CYLINDER] = &BVHShapeComputeContactPatch<KDOP<24>, Cylinder>::run; | |
| 310 | 2 | contact_patch_matrix[BV_KDOP24][GEOM_CONVEX] = &BVHShapeComputeContactPatch<KDOP<24>, ConvexBase>::run; | |
| 311 | 2 | contact_patch_matrix[BV_KDOP24][GEOM_PLANE] = &BVHShapeComputeContactPatch<KDOP<24>, Plane>::run; | |
| 312 | 2 | contact_patch_matrix[BV_KDOP24][GEOM_HALFSPACE] = &BVHShapeComputeContactPatch<KDOP<24>, Halfspace>::run; | |
| 313 | 2 | contact_patch_matrix[BV_KDOP24][GEOM_ELLIPSOID] = &BVHShapeComputeContactPatch<KDOP<24>, Ellipsoid>::run; | |
| 314 | |||
| 315 | 2 | contact_patch_matrix[BV_kIOS][GEOM_BOX] = &BVHShapeComputeContactPatch<kIOS, Box>::run; | |
| 316 | 2 | contact_patch_matrix[BV_kIOS][GEOM_SPHERE] = &BVHShapeComputeContactPatch<kIOS, Sphere>::run; | |
| 317 | 2 | contact_patch_matrix[BV_kIOS][GEOM_CAPSULE] = &BVHShapeComputeContactPatch<kIOS, Capsule>::run; | |
| 318 | 2 | contact_patch_matrix[BV_kIOS][GEOM_CONE] = &BVHShapeComputeContactPatch<kIOS, Cone>::run; | |
| 319 | 2 | contact_patch_matrix[BV_kIOS][GEOM_CYLINDER] = &BVHShapeComputeContactPatch<kIOS, Cylinder>::run; | |
| 320 | 2 | contact_patch_matrix[BV_kIOS][GEOM_CONVEX] = &BVHShapeComputeContactPatch<kIOS, ConvexBase>::run; | |
| 321 | 2 | contact_patch_matrix[BV_kIOS][GEOM_PLANE] = &BVHShapeComputeContactPatch<kIOS, Plane>::run; | |
| 322 | 2 | contact_patch_matrix[BV_kIOS][GEOM_HALFSPACE] = &BVHShapeComputeContactPatch<kIOS, Halfspace>::run; | |
| 323 | 2 | contact_patch_matrix[BV_kIOS][GEOM_ELLIPSOID] = &BVHShapeComputeContactPatch<kIOS, Ellipsoid>::run; | |
| 324 | |||
| 325 | 2 | contact_patch_matrix[BV_OBBRSS][GEOM_BOX] = &BVHShapeComputeContactPatch<OBBRSS, Box>::run; | |
| 326 | 2 | contact_patch_matrix[BV_OBBRSS][GEOM_SPHERE] = &BVHShapeComputeContactPatch<OBBRSS, Sphere>::run; | |
| 327 | 2 | contact_patch_matrix[BV_OBBRSS][GEOM_CAPSULE] = &BVHShapeComputeContactPatch<OBBRSS, Capsule>::run; | |
| 328 | 2 | contact_patch_matrix[BV_OBBRSS][GEOM_CONE] = &BVHShapeComputeContactPatch<OBBRSS, Cone>::run; | |
| 329 | 2 | contact_patch_matrix[BV_OBBRSS][GEOM_CYLINDER] = &BVHShapeComputeContactPatch<OBBRSS, Cylinder>::run; | |
| 330 | 2 | contact_patch_matrix[BV_OBBRSS][GEOM_CONVEX] = &BVHShapeComputeContactPatch<OBBRSS, ConvexBase>::run; | |
| 331 | 2 | contact_patch_matrix[BV_OBBRSS][GEOM_PLANE] = &BVHShapeComputeContactPatch<OBBRSS, Plane>::run; | |
| 332 | 2 | contact_patch_matrix[BV_OBBRSS][GEOM_HALFSPACE] = &BVHShapeComputeContactPatch<OBBRSS, Halfspace>::run; | |
| 333 | 2 | contact_patch_matrix[BV_OBBRSS][GEOM_ELLIPSOID] = &BVHShapeComputeContactPatch<OBBRSS, Ellipsoid>::run; | |
| 334 | |||
| 335 | 2 | contact_patch_matrix[HF_AABB][GEOM_BOX] = &HeightFieldShapeComputeContactPatch<AABB, Box>::run; | |
| 336 | 2 | contact_patch_matrix[HF_AABB][GEOM_SPHERE] = &HeightFieldShapeComputeContactPatch<AABB, Sphere>::run; | |
| 337 | 2 | contact_patch_matrix[HF_AABB][GEOM_CAPSULE] = &HeightFieldShapeComputeContactPatch<AABB, Capsule>::run; | |
| 338 | 2 | contact_patch_matrix[HF_AABB][GEOM_CONE] = &HeightFieldShapeComputeContactPatch<AABB, Cone>::run; | |
| 339 | 2 | contact_patch_matrix[HF_AABB][GEOM_CYLINDER] = &HeightFieldShapeComputeContactPatch<AABB, Cylinder>::run; | |
| 340 | 2 | contact_patch_matrix[HF_AABB][GEOM_CONVEX] = &HeightFieldShapeComputeContactPatch<AABB, ConvexBase>::run; | |
| 341 | 2 | contact_patch_matrix[HF_AABB][GEOM_PLANE] = &HeightFieldShapeComputeContactPatch<AABB, Plane>::run; | |
| 342 | 2 | contact_patch_matrix[HF_AABB][GEOM_HALFSPACE] = &HeightFieldShapeComputeContactPatch<AABB, Halfspace>::run; | |
| 343 | 2 | contact_patch_matrix[HF_AABB][GEOM_ELLIPSOID] = &HeightFieldShapeComputeContactPatch<AABB, Ellipsoid>::run; | |
| 344 | |||
| 345 | 2 | contact_patch_matrix[HF_OBBRSS][GEOM_BOX] = &HeightFieldShapeComputeContactPatch<OBBRSS, Box>::run; | |
| 346 | 2 | contact_patch_matrix[HF_OBBRSS][GEOM_SPHERE] = &HeightFieldShapeComputeContactPatch<OBBRSS, Sphere>::run; | |
| 347 | 2 | contact_patch_matrix[HF_OBBRSS][GEOM_CAPSULE] = &HeightFieldShapeComputeContactPatch<OBBRSS, Capsule>::run; | |
| 348 | 2 | contact_patch_matrix[HF_OBBRSS][GEOM_CONE] = &HeightFieldShapeComputeContactPatch<OBBRSS, Cone>::run; | |
| 349 | 2 | contact_patch_matrix[HF_OBBRSS][GEOM_CYLINDER] = &HeightFieldShapeComputeContactPatch<OBBRSS, Cylinder>::run; | |
| 350 | 2 | contact_patch_matrix[HF_OBBRSS][GEOM_CONVEX] = &HeightFieldShapeComputeContactPatch<OBBRSS, ConvexBase>::run; | |
| 351 | 2 | contact_patch_matrix[HF_OBBRSS][GEOM_PLANE] = &HeightFieldShapeComputeContactPatch<OBBRSS, Plane>::run; | |
| 352 | 2 | contact_patch_matrix[HF_OBBRSS][GEOM_HALFSPACE] = &HeightFieldShapeComputeContactPatch<OBBRSS, Halfspace>::run; | |
| 353 | 2 | contact_patch_matrix[HF_OBBRSS][GEOM_ELLIPSOID] = &HeightFieldShapeComputeContactPatch<OBBRSS, Ellipsoid>::run; | |
| 354 | |||
| 355 | 2 | contact_patch_matrix[BV_AABB][BV_AABB] = &BVHComputeContactPatch<AABB>::run; | |
| 356 | 2 | contact_patch_matrix[BV_OBB][BV_OBB] = &BVHComputeContactPatch<OBB>::run; | |
| 357 | 2 | contact_patch_matrix[BV_RSS][BV_RSS] = &BVHComputeContactPatch<RSS>::run; | |
| 358 | 2 | contact_patch_matrix[BV_KDOP16][BV_KDOP16] = &BVHComputeContactPatch<KDOP<16>>::run; | |
| 359 | 2 | contact_patch_matrix[BV_KDOP18][BV_KDOP18] = &BVHComputeContactPatch<KDOP<18>>::run; | |
| 360 | 2 | contact_patch_matrix[BV_KDOP24][BV_KDOP24] = &BVHComputeContactPatch<KDOP<24>>::run; | |
| 361 | 2 | contact_patch_matrix[BV_kIOS][BV_kIOS] = &BVHComputeContactPatch<kIOS>::run; | |
| 362 | 2 | contact_patch_matrix[BV_OBBRSS][BV_OBBRSS] = &BVHComputeContactPatch<OBBRSS>::run; | |
| 363 | |||
| 364 | // TODO(louis): octrees | ||
| 365 | #ifdef COAL_HAS_OCTOMAP | ||
| 366 | 2 | contact_patch_matrix[GEOM_OCTREE][GEOM_OCTREE] = &contact_patch_function_not_implemented; | |
| 367 | 2 | contact_patch_matrix[GEOM_OCTREE][GEOM_BOX] = &contact_patch_function_not_implemented; | |
| 368 | 2 | contact_patch_matrix[GEOM_OCTREE][GEOM_SPHERE] = &contact_patch_function_not_implemented; | |
| 369 | 2 | contact_patch_matrix[GEOM_OCTREE][GEOM_CAPSULE] = &contact_patch_function_not_implemented; | |
| 370 | 2 | contact_patch_matrix[GEOM_OCTREE][GEOM_CONE] = &contact_patch_function_not_implemented; | |
| 371 | 2 | contact_patch_matrix[GEOM_OCTREE][GEOM_CYLINDER] = &contact_patch_function_not_implemented; | |
| 372 | 2 | contact_patch_matrix[GEOM_OCTREE][GEOM_CONVEX] = &contact_patch_function_not_implemented; | |
| 373 | 2 | contact_patch_matrix[GEOM_OCTREE][GEOM_PLANE] = &contact_patch_function_not_implemented; | |
| 374 | 2 | contact_patch_matrix[GEOM_OCTREE][GEOM_HALFSPACE] = &contact_patch_function_not_implemented; | |
| 375 | 2 | contact_patch_matrix[GEOM_OCTREE][GEOM_ELLIPSOID] = &contact_patch_function_not_implemented; | |
| 376 | 2 | contact_patch_matrix[GEOM_OCTREE][GEOM_TRIANGLE] = &contact_patch_function_not_implemented; | |
| 377 | 2 | contact_patch_matrix[GEOM_OCTREE][BV_AABB] = &contact_patch_function_not_implemented; | |
| 378 | 2 | contact_patch_matrix[GEOM_OCTREE][BV_OBB] = &contact_patch_function_not_implemented; | |
| 379 | 2 | contact_patch_matrix[GEOM_OCTREE][BV_RSS] = &contact_patch_function_not_implemented; | |
| 380 | 2 | contact_patch_matrix[GEOM_OCTREE][BV_OBBRSS] = &contact_patch_function_not_implemented; | |
| 381 | 2 | contact_patch_matrix[GEOM_OCTREE][BV_kIOS] = &contact_patch_function_not_implemented; | |
| 382 | 2 | contact_patch_matrix[GEOM_OCTREE][BV_KDOP16] = &contact_patch_function_not_implemented; | |
| 383 | 2 | contact_patch_matrix[GEOM_OCTREE][BV_KDOP18] = &contact_patch_function_not_implemented; | |
| 384 | 2 | contact_patch_matrix[GEOM_OCTREE][BV_KDOP24] = &contact_patch_function_not_implemented; | |
| 385 | 2 | contact_patch_matrix[GEOM_OCTREE][HF_AABB] = &contact_patch_function_not_implemented; | |
| 386 | 2 | contact_patch_matrix[GEOM_OCTREE][HF_OBBRSS] = &contact_patch_function_not_implemented; | |
| 387 | |||
| 388 | 2 | contact_patch_matrix[GEOM_BOX][GEOM_OCTREE] = &contact_patch_function_not_implemented; | |
| 389 | 2 | contact_patch_matrix[GEOM_SPHERE][GEOM_OCTREE] = &contact_patch_function_not_implemented; | |
| 390 | 2 | contact_patch_matrix[GEOM_CAPSULE][GEOM_OCTREE] = &contact_patch_function_not_implemented; | |
| 391 | 2 | contact_patch_matrix[GEOM_CONE][GEOM_OCTREE] = &contact_patch_function_not_implemented; | |
| 392 | 2 | contact_patch_matrix[GEOM_CYLINDER][GEOM_OCTREE] = &contact_patch_function_not_implemented; | |
| 393 | 2 | contact_patch_matrix[GEOM_CONVEX][GEOM_OCTREE] = &contact_patch_function_not_implemented; | |
| 394 | 2 | contact_patch_matrix[GEOM_PLANE][GEOM_OCTREE] = &contact_patch_function_not_implemented; | |
| 395 | 2 | contact_patch_matrix[GEOM_HALFSPACE][GEOM_OCTREE] = &contact_patch_function_not_implemented; | |
| 396 | 2 | contact_patch_matrix[GEOM_ELLIPSOID][GEOM_OCTREE] = &contact_patch_function_not_implemented; | |
| 397 | 2 | contact_patch_matrix[GEOM_TRIANGLE][GEOM_OCTREE] = &contact_patch_function_not_implemented; | |
| 398 | 2 | contact_patch_matrix[BV_AABB][GEOM_OCTREE] = &contact_patch_function_not_implemented; | |
| 399 | 2 | contact_patch_matrix[BV_OBB][GEOM_OCTREE] = &contact_patch_function_not_implemented; | |
| 400 | 2 | contact_patch_matrix[BV_RSS][GEOM_OCTREE] = &contact_patch_function_not_implemented; | |
| 401 | 2 | contact_patch_matrix[BV_OBBRSS][GEOM_OCTREE] = &contact_patch_function_not_implemented; | |
| 402 | 2 | contact_patch_matrix[BV_kIOS][GEOM_OCTREE] = &contact_patch_function_not_implemented; | |
| 403 | 2 | contact_patch_matrix[BV_KDOP16][GEOM_OCTREE] = &contact_patch_function_not_implemented; | |
| 404 | 2 | contact_patch_matrix[BV_KDOP18][GEOM_OCTREE] = &contact_patch_function_not_implemented; | |
| 405 | 2 | contact_patch_matrix[BV_KDOP24][GEOM_OCTREE] = &contact_patch_function_not_implemented; | |
| 406 | 2 | contact_patch_matrix[HF_AABB][GEOM_OCTREE] = &contact_patch_function_not_implemented; | |
| 407 | 2 | contact_patch_matrix[HF_OBBRSS][GEOM_OCTREE] = &contact_patch_function_not_implemented; | |
| 408 | #endif | ||
| 409 | // clang-format on | ||
| 410 | 2 | } | |
| 411 | |||
| 412 | } // namespace coal | ||
| 413 |