Directory: | ./ |
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File: | src/distance_func_matrix.cpp |
Date: | 2025-04-13 14:25:19 |
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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/distance_func_matrix.h" | ||
39 | |||
40 | #include <../src/collision_node.h> | ||
41 | #include "coal/internal/shape_shape_func.h" | ||
42 | #include "coal/internal/traversal_node_setup.h" | ||
43 | #include "coal/internal/shape_shape_func.h" | ||
44 | #include <../src/traits_traversal.h> | ||
45 | |||
46 | namespace coal { | ||
47 | |||
48 | #ifdef COAL_HAS_OCTOMAP | ||
49 | |||
50 | template <typename TypeA, typename TypeB> | ||
51 | ✗ | Scalar Distance(const CollisionGeometry* o1, const Transform3s& tf1, | |
52 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
53 | const GJKSolver* nsolver, const DistanceRequest& request, | ||
54 | DistanceResult& result) { | ||
55 | ✗ | if (request.isSatisfied(result)) return result.min_distance; | |
56 | ✗ | typename TraversalTraitsDistance<TypeA, TypeB>::CollisionTraversal_t node; | |
57 | ✗ | const TypeA* obj1 = static_cast<const TypeA*>(o1); | |
58 | ✗ | const TypeB* obj2 = static_cast<const TypeB*>(o2); | |
59 | ✗ | OcTreeSolver otsolver(nsolver); | |
60 | |||
61 | ✗ | initialize(node, *obj1, tf1, *obj2, tf2, &otsolver, request, result); | |
62 | ✗ | distance(&node); | |
63 | |||
64 | ✗ | return result.min_distance; | |
65 | } | ||
66 | |||
67 | #endif | ||
68 | |||
69 | ✗ | COAL_LOCAL Scalar distance_function_not_implemented( | |
70 | const CollisionGeometry* o1, const Transform3s& /*tf1*/, | ||
71 | const CollisionGeometry* o2, const Transform3s& /*tf2*/, | ||
72 | const GJKSolver* /*nsolver*/, const DistanceRequest& /*request*/, | ||
73 | DistanceResult& /*result*/) { | ||
74 | ✗ | NODE_TYPE node_type1 = o1->getNodeType(); | |
75 | ✗ | NODE_TYPE node_type2 = o2->getNodeType(); | |
76 | |||
77 | ✗ | COAL_THROW_PRETTY("Distance function between node type " | |
78 | << std::string(get_node_type_name(node_type1)) | ||
79 | << " and node type " | ||
80 | << std::string(get_node_type_name(node_type2)) | ||
81 | << " is not yet supported.", | ||
82 | std::invalid_argument); | ||
83 | } | ||
84 | |||
85 | template <typename T_BVH, typename T_SH> | ||
86 | struct COAL_LOCAL BVHShapeDistancer { | ||
87 | ✗ | static Scalar distance(const CollisionGeometry* o1, const Transform3s& tf1, | |
88 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
89 | const GJKSolver* nsolver, | ||
90 | const DistanceRequest& request, | ||
91 | DistanceResult& result) { | ||
92 | ✗ | if (request.isSatisfied(result)) return result.min_distance; | |
93 | ✗ | MeshShapeDistanceTraversalNode<T_BVH, T_SH> node; | |
94 | ✗ | const BVHModel<T_BVH>* obj1 = static_cast<const BVHModel<T_BVH>*>(o1); | |
95 | ✗ | BVHModel<T_BVH>* obj1_tmp = new BVHModel<T_BVH>(*obj1); | |
96 | ✗ | Transform3s tf1_tmp = tf1; | |
97 | ✗ | const T_SH* obj2 = static_cast<const T_SH*>(o2); | |
98 | |||
99 | ✗ | initialize(node, *obj1_tmp, tf1_tmp, *obj2, tf2, nsolver, request, result); | |
100 | ✗ | ::coal::distance(&node); | |
101 | |||
102 | ✗ | delete obj1_tmp; | |
103 | ✗ | return result.min_distance; | |
104 | ✗ | } // namespace coal | |
105 | }; | ||
106 | |||
107 | namespace details { | ||
108 | |||
109 | template <typename OrientedMeshShapeDistanceTraversalNode, typename T_BVH, | ||
110 | typename T_SH> | ||
111 | 204 | Scalar orientedBVHShapeDistance(const CollisionGeometry* o1, | |
112 | const Transform3s& tf1, | ||
113 | const CollisionGeometry* o2, | ||
114 | const Transform3s& tf2, | ||
115 | const GJKSolver* nsolver, | ||
116 | const DistanceRequest& request, | ||
117 | DistanceResult& result) { | ||
118 |
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204 | if (request.isSatisfied(result)) return result.min_distance; |
119 |
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204 | OrientedMeshShapeDistanceTraversalNode node; |
120 | 204 | const BVHModel<T_BVH>* obj1 = static_cast<const BVHModel<T_BVH>*>(o1); | |
121 | 204 | const T_SH* obj2 = static_cast<const T_SH*>(o2); | |
122 | |||
123 |
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204 | initialize(node, *obj1, tf1, *obj2, tf2, nsolver, request, result); |
124 |
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204 | ::coal::distance(&node); |
125 | |||
126 | 204 | return result.min_distance; | |
127 | } | ||
128 | |||
129 | } // namespace details | ||
130 | |||
131 | template <typename T_SH> | ||
132 | struct COAL_LOCAL BVHShapeDistancer<RSS, T_SH> { | ||
133 | ✗ | static Scalar distance(const CollisionGeometry* o1, const Transform3s& tf1, | |
134 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
135 | const GJKSolver* nsolver, | ||
136 | const DistanceRequest& request, | ||
137 | DistanceResult& result) { | ||
138 | return details::orientedBVHShapeDistance< | ||
139 | ✗ | MeshShapeDistanceTraversalNodeRSS<T_SH>, RSS, T_SH>( | |
140 | ✗ | o1, tf1, o2, tf2, nsolver, request, result); | |
141 | } | ||
142 | }; | ||
143 | |||
144 | template <typename T_SH> | ||
145 | struct COAL_LOCAL BVHShapeDistancer<kIOS, T_SH> { | ||
146 | ✗ | static Scalar distance(const CollisionGeometry* o1, const Transform3s& tf1, | |
147 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
148 | const GJKSolver* nsolver, | ||
149 | const DistanceRequest& request, | ||
150 | DistanceResult& result) { | ||
151 | return details::orientedBVHShapeDistance< | ||
152 | ✗ | MeshShapeDistanceTraversalNodekIOS<T_SH>, kIOS, T_SH>( | |
153 | ✗ | o1, tf1, o2, tf2, nsolver, request, result); | |
154 | } | ||
155 | }; | ||
156 | |||
157 | template <typename T_SH> | ||
158 | struct COAL_LOCAL BVHShapeDistancer<OBBRSS, T_SH> { | ||
159 | 204 | static Scalar distance(const CollisionGeometry* o1, const Transform3s& tf1, | |
160 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
161 | const GJKSolver* nsolver, | ||
162 | const DistanceRequest& request, | ||
163 | DistanceResult& result) { | ||
164 | return details::orientedBVHShapeDistance< | ||
165 | 204 | MeshShapeDistanceTraversalNodeOBBRSS<T_SH>, OBBRSS, T_SH>( | |
166 | 204 | o1, tf1, o2, tf2, nsolver, request, result); | |
167 | } | ||
168 | }; | ||
169 | |||
170 | template <typename T_HF, typename T_SH> | ||
171 | struct COAL_LOCAL HeightFieldShapeDistancer { | ||
172 | ✗ | static Scalar distance(const CollisionGeometry* o1, const Transform3s& tf1, | |
173 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
174 | const GJKSolver* nsolver, | ||
175 | const DistanceRequest& request, | ||
176 | DistanceResult& result) { | ||
177 | COAL_UNUSED_VARIABLE(o1); | ||
178 | COAL_UNUSED_VARIABLE(tf1); | ||
179 | COAL_UNUSED_VARIABLE(o2); | ||
180 | COAL_UNUSED_VARIABLE(tf2); | ||
181 | COAL_UNUSED_VARIABLE(nsolver); | ||
182 | COAL_UNUSED_VARIABLE(request); | ||
183 | // TODO(jcarpent) | ||
184 | ✗ | COAL_THROW_PRETTY( | |
185 | "Distance between a height field and a shape is not implemented", | ||
186 | std::invalid_argument); | ||
187 | // if(request.isSatisfied(result)) return result.min_distance; | ||
188 | // HeightFieldShapeDistanceTraversalNode<T_HF, T_SH> node; | ||
189 | // | ||
190 | // const HeightField<T_HF>* obj1 = static_cast<const HeightField<T_HF>* | ||
191 | // >(o1); const T_SH* obj2 = static_cast<const T_SH*>(o2); | ||
192 | // | ||
193 | // initialize(node, *obj1, tf1, *obj2, tf2, nsolver, request, result); | ||
194 | // fcl::distance(&node); | ||
195 | |||
196 | return result.min_distance; | ||
197 | } | ||
198 | }; | ||
199 | |||
200 | template <typename T_BVH> | ||
201 | ✗ | Scalar BVHDistance(const CollisionGeometry* o1, const Transform3s& tf1, | |
202 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
203 | const DistanceRequest& request, DistanceResult& result) { | ||
204 | ✗ | if (request.isSatisfied(result)) return result.min_distance; | |
205 | ✗ | MeshDistanceTraversalNode<T_BVH> node; | |
206 | ✗ | const BVHModel<T_BVH>* obj1 = static_cast<const BVHModel<T_BVH>*>(o1); | |
207 | ✗ | const BVHModel<T_BVH>* obj2 = static_cast<const BVHModel<T_BVH>*>(o2); | |
208 | ✗ | BVHModel<T_BVH>* obj1_tmp = new BVHModel<T_BVH>(*obj1); | |
209 | ✗ | Transform3s tf1_tmp = tf1; | |
210 | ✗ | BVHModel<T_BVH>* obj2_tmp = new BVHModel<T_BVH>(*obj2); | |
211 | ✗ | Transform3s tf2_tmp = tf2; | |
212 | |||
213 | ✗ | initialize(node, *obj1_tmp, tf1_tmp, *obj2_tmp, tf2_tmp, request, result); | |
214 | ✗ | distance(&node); | |
215 | ✗ | delete obj1_tmp; | |
216 | ✗ | delete obj2_tmp; | |
217 | |||
218 | ✗ | return result.min_distance; | |
219 | } | ||
220 | |||
221 | namespace details { | ||
222 | template <typename OrientedMeshDistanceTraversalNode, typename T_BVH> | ||
223 | 14282 | Scalar orientedMeshDistance(const CollisionGeometry* o1, const Transform3s& tf1, | |
224 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
225 | const DistanceRequest& request, | ||
226 | DistanceResult& result) { | ||
227 |
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14282 | if (request.isSatisfied(result)) return result.min_distance; |
228 |
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14282 | OrientedMeshDistanceTraversalNode node; |
229 | 14282 | const BVHModel<T_BVH>* obj1 = static_cast<const BVHModel<T_BVH>*>(o1); | |
230 | 14282 | const BVHModel<T_BVH>* obj2 = static_cast<const BVHModel<T_BVH>*>(o2); | |
231 | |||
232 |
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14282 | initialize(node, *obj1, tf1, *obj2, tf2, request, result); |
233 |
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14282 | distance(&node); |
234 | |||
235 | 14282 | return result.min_distance; | |
236 | } | ||
237 | |||
238 | } // namespace details | ||
239 | |||
240 | template <> | ||
241 | ✗ | Scalar BVHDistance<RSS>(const CollisionGeometry* o1, const Transform3s& tf1, | |
242 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
243 | const DistanceRequest& request, | ||
244 | DistanceResult& result) { | ||
245 | ✗ | return details::orientedMeshDistance<MeshDistanceTraversalNodeRSS, RSS>( | |
246 | ✗ | o1, tf1, o2, tf2, request, result); | |
247 | } | ||
248 | |||
249 | template <> | ||
250 | ✗ | Scalar BVHDistance<kIOS>(const CollisionGeometry* o1, const Transform3s& tf1, | |
251 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
252 | const DistanceRequest& request, | ||
253 | DistanceResult& result) { | ||
254 | ✗ | return details::orientedMeshDistance<MeshDistanceTraversalNodekIOS, kIOS>( | |
255 | ✗ | o1, tf1, o2, tf2, request, result); | |
256 | } | ||
257 | |||
258 | template <> | ||
259 | 7141 | Scalar BVHDistance<OBBRSS>(const CollisionGeometry* o1, const Transform3s& tf1, | |
260 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
261 | const DistanceRequest& request, | ||
262 | DistanceResult& result) { | ||
263 | 7141 | return details::orientedMeshDistance<MeshDistanceTraversalNodeOBBRSS, OBBRSS>( | |
264 | 7141 | o1, tf1, o2, tf2, request, result); | |
265 | } | ||
266 | |||
267 | template <typename T_BVH> | ||
268 | 14282 | Scalar BVHDistance(const CollisionGeometry* o1, const Transform3s& tf1, | |
269 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
270 | const GJKSolver* /*nsolver*/, const DistanceRequest& request, | ||
271 | DistanceResult& result) { | ||
272 | 14282 | return BVHDistance<T_BVH>(o1, tf1, o2, tf2, request, result); | |
273 | } | ||
274 | |||
275 | 10 | DistanceFunctionMatrix::DistanceFunctionMatrix() { | |
276 |
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230 | for (int i = 0; i < NODE_COUNT; ++i) { |
277 |
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5060 | for (int j = 0; j < NODE_COUNT; ++j) distance_matrix[i][j] = NULL; |
278 | } | ||
279 | |||
280 | 10 | distance_matrix[GEOM_BOX][GEOM_BOX] = &ShapeShapeDistance<Box, Box>; | |
281 | 10 | distance_matrix[GEOM_BOX][GEOM_SPHERE] = &ShapeShapeDistance<Box, Sphere>; | |
282 | 10 | distance_matrix[GEOM_BOX][GEOM_CAPSULE] = &ShapeShapeDistance<Box, Capsule>; | |
283 | 10 | distance_matrix[GEOM_BOX][GEOM_CONE] = &ShapeShapeDistance<Box, Cone>; | |
284 | 10 | distance_matrix[GEOM_BOX][GEOM_CYLINDER] = &ShapeShapeDistance<Box, Cylinder>; | |
285 | 10 | distance_matrix[GEOM_BOX][GEOM_CONVEX] = &ShapeShapeDistance<Box, ConvexBase>; | |
286 | 10 | distance_matrix[GEOM_BOX][GEOM_PLANE] = &ShapeShapeDistance<Box, Plane>; | |
287 | 10 | distance_matrix[GEOM_BOX][GEOM_HALFSPACE] = | |
288 | &ShapeShapeDistance<Box, Halfspace>; | ||
289 | 10 | distance_matrix[GEOM_BOX][GEOM_ELLIPSOID] = | |
290 | &ShapeShapeDistance<Box, Ellipsoid>; | ||
291 | |||
292 | 10 | distance_matrix[GEOM_SPHERE][GEOM_BOX] = &ShapeShapeDistance<Sphere, Box>; | |
293 | 10 | distance_matrix[GEOM_SPHERE][GEOM_SPHERE] = | |
294 | &ShapeShapeDistance<Sphere, Sphere>; | ||
295 | 10 | distance_matrix[GEOM_SPHERE][GEOM_CAPSULE] = | |
296 | &ShapeShapeDistance<Sphere, Capsule>; | ||
297 | 10 | distance_matrix[GEOM_SPHERE][GEOM_CONE] = &ShapeShapeDistance<Sphere, Cone>; | |
298 | 10 | distance_matrix[GEOM_SPHERE][GEOM_CYLINDER] = | |
299 | &ShapeShapeDistance<Sphere, Cylinder>; | ||
300 | 10 | distance_matrix[GEOM_SPHERE][GEOM_CONVEX] = | |
301 | &ShapeShapeDistance<Sphere, ConvexBase>; | ||
302 | 10 | distance_matrix[GEOM_SPHERE][GEOM_PLANE] = &ShapeShapeDistance<Sphere, Plane>; | |
303 | 10 | distance_matrix[GEOM_SPHERE][GEOM_HALFSPACE] = | |
304 | &ShapeShapeDistance<Sphere, Halfspace>; | ||
305 | 10 | distance_matrix[GEOM_SPHERE][GEOM_ELLIPSOID] = | |
306 | &ShapeShapeDistance<Sphere, Ellipsoid>; | ||
307 | |||
308 | 10 | distance_matrix[GEOM_ELLIPSOID][GEOM_BOX] = | |
309 | &ShapeShapeDistance<Ellipsoid, Box>; | ||
310 | 10 | distance_matrix[GEOM_ELLIPSOID][GEOM_SPHERE] = | |
311 | &ShapeShapeDistance<Ellipsoid, Sphere>; | ||
312 | 10 | distance_matrix[GEOM_ELLIPSOID][GEOM_CAPSULE] = | |
313 | &ShapeShapeDistance<Ellipsoid, Capsule>; | ||
314 | 10 | distance_matrix[GEOM_ELLIPSOID][GEOM_CONE] = | |
315 | &ShapeShapeDistance<Ellipsoid, Cone>; | ||
316 | 10 | distance_matrix[GEOM_ELLIPSOID][GEOM_CYLINDER] = | |
317 | &ShapeShapeDistance<Ellipsoid, Cylinder>; | ||
318 | 10 | distance_matrix[GEOM_ELLIPSOID][GEOM_CONVEX] = | |
319 | &ShapeShapeDistance<Ellipsoid, ConvexBase>; | ||
320 | 10 | distance_matrix[GEOM_ELLIPSOID][GEOM_PLANE] = | |
321 | &ShapeShapeDistance<Ellipsoid, Plane>; | ||
322 | 10 | distance_matrix[GEOM_ELLIPSOID][GEOM_HALFSPACE] = | |
323 | &ShapeShapeDistance<Ellipsoid, Halfspace>; | ||
324 | 10 | distance_matrix[GEOM_ELLIPSOID][GEOM_ELLIPSOID] = | |
325 | &ShapeShapeDistance<Ellipsoid, Ellipsoid>; | ||
326 | |||
327 | 10 | distance_matrix[GEOM_CAPSULE][GEOM_BOX] = &ShapeShapeDistance<Capsule, Box>; | |
328 | 10 | distance_matrix[GEOM_CAPSULE][GEOM_SPHERE] = | |
329 | &ShapeShapeDistance<Capsule, Sphere>; | ||
330 | 10 | distance_matrix[GEOM_CAPSULE][GEOM_CAPSULE] = | |
331 | &ShapeShapeDistance<Capsule, Capsule>; | ||
332 | 10 | distance_matrix[GEOM_CAPSULE][GEOM_CONE] = &ShapeShapeDistance<Capsule, Cone>; | |
333 | 10 | distance_matrix[GEOM_CAPSULE][GEOM_CYLINDER] = | |
334 | &ShapeShapeDistance<Capsule, Cylinder>; | ||
335 | 10 | distance_matrix[GEOM_CAPSULE][GEOM_CONVEX] = | |
336 | &ShapeShapeDistance<Capsule, ConvexBase>; | ||
337 | 10 | distance_matrix[GEOM_CAPSULE][GEOM_PLANE] = | |
338 | &ShapeShapeDistance<Capsule, Plane>; | ||
339 | 10 | distance_matrix[GEOM_CAPSULE][GEOM_HALFSPACE] = | |
340 | &ShapeShapeDistance<Capsule, Halfspace>; | ||
341 | 10 | distance_matrix[GEOM_CAPSULE][GEOM_ELLIPSOID] = | |
342 | &ShapeShapeDistance<Capsule, Ellipsoid>; | ||
343 | |||
344 | 10 | distance_matrix[GEOM_CONE][GEOM_BOX] = &ShapeShapeDistance<Cone, Box>; | |
345 | 10 | distance_matrix[GEOM_CONE][GEOM_SPHERE] = &ShapeShapeDistance<Cone, Sphere>; | |
346 | 10 | distance_matrix[GEOM_CONE][GEOM_CAPSULE] = &ShapeShapeDistance<Cone, Capsule>; | |
347 | 10 | distance_matrix[GEOM_CONE][GEOM_CONE] = &ShapeShapeDistance<Cone, Cone>; | |
348 | 10 | distance_matrix[GEOM_CONE][GEOM_CYLINDER] = | |
349 | &ShapeShapeDistance<Cone, Cylinder>; | ||
350 | 10 | distance_matrix[GEOM_CONE][GEOM_CONVEX] = | |
351 | &ShapeShapeDistance<Cone, ConvexBase>; | ||
352 | 10 | distance_matrix[GEOM_CONE][GEOM_PLANE] = &ShapeShapeDistance<Cone, Plane>; | |
353 | 10 | distance_matrix[GEOM_CONE][GEOM_HALFSPACE] = | |
354 | &ShapeShapeDistance<Cone, Halfspace>; | ||
355 | 10 | distance_matrix[GEOM_CONE][GEOM_ELLIPSOID] = | |
356 | &ShapeShapeDistance<Cone, Ellipsoid>; | ||
357 | |||
358 | 10 | distance_matrix[GEOM_CYLINDER][GEOM_BOX] = &ShapeShapeDistance<Cylinder, Box>; | |
359 | 10 | distance_matrix[GEOM_CYLINDER][GEOM_SPHERE] = | |
360 | &ShapeShapeDistance<Cylinder, Sphere>; | ||
361 | 10 | distance_matrix[GEOM_CYLINDER][GEOM_CAPSULE] = | |
362 | &ShapeShapeDistance<Cylinder, Capsule>; | ||
363 | 10 | distance_matrix[GEOM_CYLINDER][GEOM_CONE] = | |
364 | &ShapeShapeDistance<Cylinder, Cone>; | ||
365 | 10 | distance_matrix[GEOM_CYLINDER][GEOM_CYLINDER] = | |
366 | &ShapeShapeDistance<Cylinder, Cylinder>; | ||
367 | 10 | distance_matrix[GEOM_CYLINDER][GEOM_CONVEX] = | |
368 | &ShapeShapeDistance<Cylinder, ConvexBase>; | ||
369 | 10 | distance_matrix[GEOM_CYLINDER][GEOM_PLANE] = | |
370 | &ShapeShapeDistance<Cylinder, Plane>; | ||
371 | 10 | distance_matrix[GEOM_CYLINDER][GEOM_HALFSPACE] = | |
372 | &ShapeShapeDistance<Cylinder, Halfspace>; | ||
373 | 10 | distance_matrix[GEOM_CYLINDER][GEOM_ELLIPSOID] = | |
374 | &ShapeShapeDistance<Cylinder, Ellipsoid>; | ||
375 | |||
376 | 10 | distance_matrix[GEOM_CONVEX][GEOM_BOX] = &ShapeShapeDistance<ConvexBase, Box>; | |
377 | 10 | distance_matrix[GEOM_CONVEX][GEOM_SPHERE] = | |
378 | &ShapeShapeDistance<ConvexBase, Sphere>; | ||
379 | 10 | distance_matrix[GEOM_CONVEX][GEOM_CAPSULE] = | |
380 | &ShapeShapeDistance<ConvexBase, Capsule>; | ||
381 | 10 | distance_matrix[GEOM_CONVEX][GEOM_CONE] = | |
382 | &ShapeShapeDistance<ConvexBase, Cone>; | ||
383 | 10 | distance_matrix[GEOM_CONVEX][GEOM_CYLINDER] = | |
384 | &ShapeShapeDistance<ConvexBase, Cylinder>; | ||
385 | 10 | distance_matrix[GEOM_CONVEX][GEOM_CONVEX] = | |
386 | &ShapeShapeDistance<ConvexBase, ConvexBase>; | ||
387 | 10 | distance_matrix[GEOM_CONVEX][GEOM_PLANE] = | |
388 | &ShapeShapeDistance<ConvexBase, Plane>; | ||
389 | 10 | distance_matrix[GEOM_CONVEX][GEOM_HALFSPACE] = | |
390 | &ShapeShapeDistance<ConvexBase, Halfspace>; | ||
391 | 10 | distance_matrix[GEOM_CONVEX][GEOM_ELLIPSOID] = | |
392 | &ShapeShapeDistance<ConvexBase, Ellipsoid>; | ||
393 | |||
394 | 10 | distance_matrix[GEOM_PLANE][GEOM_BOX] = &ShapeShapeDistance<Plane, Box>; | |
395 | 10 | distance_matrix[GEOM_PLANE][GEOM_SPHERE] = &ShapeShapeDistance<Plane, Sphere>; | |
396 | 10 | distance_matrix[GEOM_PLANE][GEOM_CAPSULE] = | |
397 | &ShapeShapeDistance<Plane, Capsule>; | ||
398 | 10 | distance_matrix[GEOM_PLANE][GEOM_CONE] = &ShapeShapeDistance<Plane, Cone>; | |
399 | 10 | distance_matrix[GEOM_PLANE][GEOM_CYLINDER] = | |
400 | &ShapeShapeDistance<Plane, Cylinder>; | ||
401 | 10 | distance_matrix[GEOM_PLANE][GEOM_CONVEX] = | |
402 | &ShapeShapeDistance<Plane, ConvexBase>; | ||
403 | 10 | distance_matrix[GEOM_PLANE][GEOM_PLANE] = &ShapeShapeDistance<Plane, Plane>; | |
404 | 10 | distance_matrix[GEOM_PLANE][GEOM_HALFSPACE] = | |
405 | &ShapeShapeDistance<Plane, Halfspace>; | ||
406 | 10 | distance_matrix[GEOM_PLANE][GEOM_ELLIPSOID] = | |
407 | &ShapeShapeDistance<Plane, Ellipsoid>; | ||
408 | |||
409 | 10 | distance_matrix[GEOM_HALFSPACE][GEOM_BOX] = | |
410 | &ShapeShapeDistance<Halfspace, Box>; | ||
411 | 10 | distance_matrix[GEOM_HALFSPACE][GEOM_SPHERE] = | |
412 | &ShapeShapeDistance<Halfspace, Sphere>; | ||
413 | 10 | distance_matrix[GEOM_HALFSPACE][GEOM_CAPSULE] = | |
414 | &ShapeShapeDistance<Halfspace, Capsule>; | ||
415 | 10 | distance_matrix[GEOM_HALFSPACE][GEOM_CONE] = | |
416 | &ShapeShapeDistance<Halfspace, Cone>; | ||
417 | 10 | distance_matrix[GEOM_HALFSPACE][GEOM_CYLINDER] = | |
418 | &ShapeShapeDistance<Halfspace, Cylinder>; | ||
419 | 10 | distance_matrix[GEOM_HALFSPACE][GEOM_CONVEX] = | |
420 | &ShapeShapeDistance<Halfspace, ConvexBase>; | ||
421 | 10 | distance_matrix[GEOM_HALFSPACE][GEOM_PLANE] = | |
422 | &ShapeShapeDistance<Halfspace, Plane>; | ||
423 | 10 | distance_matrix[GEOM_HALFSPACE][GEOM_HALFSPACE] = | |
424 | &ShapeShapeDistance<Halfspace, Halfspace>; | ||
425 | 10 | distance_matrix[GEOM_HALFSPACE][GEOM_ELLIPSOID] = | |
426 | &ShapeShapeDistance<Halfspace, Ellipsoid>; | ||
427 | |||
428 | /* AABB distance not implemented */ | ||
429 | /* | ||
430 | distance_matrix[BV_AABB][GEOM_BOX] = &BVHShapeDistancer<AABB, Box>::distance; | ||
431 | distance_matrix[BV_AABB][GEOM_SPHERE] = &BVHShapeDistancer<AABB, | ||
432 | Sphere>::distance; distance_matrix[BV_AABB][GEOM_CAPSULE] = | ||
433 | &BVHShapeDistancer<AABB, Capsule>::distance; | ||
434 | distance_matrix[BV_AABB][GEOM_CONE] = &BVHShapeDistancer<AABB, | ||
435 | Cone>::distance; distance_matrix[BV_AABB][GEOM_CYLINDER] = | ||
436 | &BVHShapeDistancer<AABB, Cylinder>::distance; | ||
437 | distance_matrix[BV_AABB][GEOM_CONVEX] = &BVHShapeDistancer<AABB, | ||
438 | ConvexBase>::distance; distance_matrix[BV_AABB][GEOM_PLANE] = | ||
439 | &BVHShapeDistancer<AABB, Plane>::distance; | ||
440 | distance_matrix[BV_AABB][GEOM_HALFSPACE] = &BVHShapeDistancer<AABB, | ||
441 | Halfspace>::distance; | ||
442 | */ | ||
443 | |||
444 | 10 | distance_matrix[BV_OBB][GEOM_BOX] = &BVHShapeDistancer<OBB, Box>::distance; | |
445 | 10 | distance_matrix[BV_OBB][GEOM_SPHERE] = | |
446 | &BVHShapeDistancer<OBB, Sphere>::distance; | ||
447 | 10 | distance_matrix[BV_OBB][GEOM_CAPSULE] = | |
448 | &BVHShapeDistancer<OBB, Capsule>::distance; | ||
449 | 10 | distance_matrix[BV_OBB][GEOM_CONE] = &BVHShapeDistancer<OBB, Cone>::distance; | |
450 | 10 | distance_matrix[BV_OBB][GEOM_CYLINDER] = | |
451 | &BVHShapeDistancer<OBB, Cylinder>::distance; | ||
452 | 10 | distance_matrix[BV_OBB][GEOM_CONVEX] = | |
453 | &BVHShapeDistancer<OBB, ConvexBase>::distance; | ||
454 | 10 | distance_matrix[BV_OBB][GEOM_PLANE] = | |
455 | &BVHShapeDistancer<OBB, Plane>::distance; | ||
456 | 10 | distance_matrix[BV_OBB][GEOM_HALFSPACE] = | |
457 | &BVHShapeDistancer<OBB, Halfspace>::distance; | ||
458 | 10 | distance_matrix[BV_OBB][GEOM_ELLIPSOID] = | |
459 | &BVHShapeDistancer<OBB, Ellipsoid>::distance; | ||
460 | |||
461 | 10 | distance_matrix[BV_RSS][GEOM_BOX] = &BVHShapeDistancer<RSS, Box>::distance; | |
462 | 10 | distance_matrix[BV_RSS][GEOM_SPHERE] = | |
463 | &BVHShapeDistancer<RSS, Sphere>::distance; | ||
464 | 10 | distance_matrix[BV_RSS][GEOM_CAPSULE] = | |
465 | &BVHShapeDistancer<RSS, Capsule>::distance; | ||
466 | 10 | distance_matrix[BV_RSS][GEOM_CONE] = &BVHShapeDistancer<RSS, Cone>::distance; | |
467 | 10 | distance_matrix[BV_RSS][GEOM_CYLINDER] = | |
468 | &BVHShapeDistancer<RSS, Cylinder>::distance; | ||
469 | 10 | distance_matrix[BV_RSS][GEOM_CONVEX] = | |
470 | &BVHShapeDistancer<RSS, ConvexBase>::distance; | ||
471 | 10 | distance_matrix[BV_RSS][GEOM_PLANE] = | |
472 | &BVHShapeDistancer<RSS, Plane>::distance; | ||
473 | 10 | distance_matrix[BV_RSS][GEOM_HALFSPACE] = | |
474 | &BVHShapeDistancer<RSS, Halfspace>::distance; | ||
475 | 10 | distance_matrix[BV_RSS][GEOM_ELLIPSOID] = | |
476 | &BVHShapeDistancer<RSS, Ellipsoid>::distance; | ||
477 | |||
478 | /* KDOP distance not implemented */ | ||
479 | /* | ||
480 | distance_matrix[BV_KDOP16][GEOM_BOX] = &BVHShapeDistancer<KDOP<16>, | ||
481 | Box>::distance; distance_matrix[BV_KDOP16][GEOM_SPHERE] = | ||
482 | &BVHShapeDistancer<KDOP<16>, Sphere>::distance; | ||
483 | distance_matrix[BV_KDOP16][GEOM_CAPSULE] = &BVHShapeDistancer<KDOP<16>, | ||
484 | Capsule>::distance; distance_matrix[BV_KDOP16][GEOM_CONE] = | ||
485 | &BVHShapeDistancer<KDOP<16>, Cone>::distance; | ||
486 | distance_matrix[BV_KDOP16][GEOM_CYLINDER] = &BVHShapeDistancer<KDOP<16>, | ||
487 | Cylinder>::distance; distance_matrix[BV_KDOP16][GEOM_CONVEX] = | ||
488 | &BVHShapeDistancer<KDOP<16>, ConvexBase>::distance; | ||
489 | distance_matrix[BV_KDOP16][GEOM_PLANE] = &BVHShapeDistancer<KDOP<16>, | ||
490 | Plane>::distance; distance_matrix[BV_KDOP16][GEOM_HALFSPACE] = | ||
491 | &BVHShapeDistancer<KDOP<16>, Halfspace>::distance; | ||
492 | |||
493 | distance_matrix[BV_KDOP18][GEOM_BOX] = &BVHShapeDistancer<KDOP<18>, | ||
494 | Box>::distance; distance_matrix[BV_KDOP18][GEOM_SPHERE] = | ||
495 | &BVHShapeDistancer<KDOP<18>, Sphere>::distance; | ||
496 | distance_matrix[BV_KDOP18][GEOM_CAPSULE] = &BVHShapeDistancer<KDOP<18>, | ||
497 | Capsule>::distance; distance_matrix[BV_KDOP18][GEOM_CONE] = | ||
498 | &BVHShapeDistancer<KDOP<18>, Cone>::distance; | ||
499 | distance_matrix[BV_KDOP18][GEOM_CYLINDER] = &BVHShapeDistancer<KDOP<18>, | ||
500 | Cylinder>::distance; distance_matrix[BV_KDOP18][GEOM_CONVEX] = | ||
501 | &BVHShapeDistancer<KDOP<18>, ConvexBase>::distance; | ||
502 | distance_matrix[BV_KDOP18][GEOM_PLANE] = &BVHShapeDistancer<KDOP<18>, | ||
503 | Plane>::distance; distance_matrix[BV_KDOP18][GEOM_HALFSPACE] = | ||
504 | &BVHShapeDistancer<KDOP<18>, Halfspace>::distance; | ||
505 | |||
506 | distance_matrix[BV_KDOP24][GEOM_BOX] = &BVHShapeDistancer<KDOP<24>, | ||
507 | Box>::distance; distance_matrix[BV_KDOP24][GEOM_SPHERE] = | ||
508 | &BVHShapeDistancer<KDOP<24>, Sphere>::distance; | ||
509 | distance_matrix[BV_KDOP24][GEOM_CAPSULE] = &BVHShapeDistancer<KDOP<24>, | ||
510 | Capsule>::distance; distance_matrix[BV_KDOP24][GEOM_CONE] = | ||
511 | &BVHShapeDistancer<KDOP<24>, Cone>::distance; | ||
512 | distance_matrix[BV_KDOP24][GEOM_CYLINDER] = &BVHShapeDistancer<KDOP<24>, | ||
513 | Cylinder>::distance; distance_matrix[BV_KDOP24][GEOM_CONVEX] = | ||
514 | &BVHShapeDistancer<KDOP<24>, ConvexBase>::distance; | ||
515 | distance_matrix[BV_KDOP24][GEOM_PLANE] = &BVHShapeDistancer<KDOP<24>, | ||
516 | Plane>::distance; distance_matrix[BV_KDOP24][GEOM_HALFSPACE] = | ||
517 | &BVHShapeDistancer<KDOP<24>, Halfspace>::distance; | ||
518 | */ | ||
519 | |||
520 | 10 | distance_matrix[BV_kIOS][GEOM_BOX] = &BVHShapeDistancer<kIOS, Box>::distance; | |
521 | 10 | distance_matrix[BV_kIOS][GEOM_SPHERE] = | |
522 | &BVHShapeDistancer<kIOS, Sphere>::distance; | ||
523 | 10 | distance_matrix[BV_kIOS][GEOM_CAPSULE] = | |
524 | &BVHShapeDistancer<kIOS, Capsule>::distance; | ||
525 | 10 | distance_matrix[BV_kIOS][GEOM_CONE] = | |
526 | &BVHShapeDistancer<kIOS, Cone>::distance; | ||
527 | 10 | distance_matrix[BV_kIOS][GEOM_CYLINDER] = | |
528 | &BVHShapeDistancer<kIOS, Cylinder>::distance; | ||
529 | 10 | distance_matrix[BV_kIOS][GEOM_CONVEX] = | |
530 | &BVHShapeDistancer<kIOS, ConvexBase>::distance; | ||
531 | 10 | distance_matrix[BV_kIOS][GEOM_PLANE] = | |
532 | &BVHShapeDistancer<kIOS, Plane>::distance; | ||
533 | 10 | distance_matrix[BV_kIOS][GEOM_HALFSPACE] = | |
534 | &BVHShapeDistancer<kIOS, Halfspace>::distance; | ||
535 | 10 | distance_matrix[BV_kIOS][GEOM_ELLIPSOID] = | |
536 | &BVHShapeDistancer<kIOS, Ellipsoid>::distance; | ||
537 | |||
538 | 10 | distance_matrix[BV_OBBRSS][GEOM_BOX] = | |
539 | &BVHShapeDistancer<OBBRSS, Box>::distance; | ||
540 | 10 | distance_matrix[BV_OBBRSS][GEOM_SPHERE] = | |
541 | &BVHShapeDistancer<OBBRSS, Sphere>::distance; | ||
542 | 10 | distance_matrix[BV_OBBRSS][GEOM_CAPSULE] = | |
543 | &BVHShapeDistancer<OBBRSS, Capsule>::distance; | ||
544 | 10 | distance_matrix[BV_OBBRSS][GEOM_CONE] = | |
545 | &BVHShapeDistancer<OBBRSS, Cone>::distance; | ||
546 | 10 | distance_matrix[BV_OBBRSS][GEOM_CYLINDER] = | |
547 | &BVHShapeDistancer<OBBRSS, Cylinder>::distance; | ||
548 | 10 | distance_matrix[BV_OBBRSS][GEOM_CONVEX] = | |
549 | &BVHShapeDistancer<OBBRSS, ConvexBase>::distance; | ||
550 | 10 | distance_matrix[BV_OBBRSS][GEOM_PLANE] = | |
551 | &BVHShapeDistancer<OBBRSS, Plane>::distance; | ||
552 | 10 | distance_matrix[BV_OBBRSS][GEOM_HALFSPACE] = | |
553 | &BVHShapeDistancer<OBBRSS, Halfspace>::distance; | ||
554 | 10 | distance_matrix[BV_OBBRSS][GEOM_ELLIPSOID] = | |
555 | &BVHShapeDistancer<OBBRSS, Ellipsoid>::distance; | ||
556 | |||
557 | 10 | distance_matrix[HF_AABB][GEOM_BOX] = | |
558 | &HeightFieldShapeDistancer<AABB, Box>::distance; | ||
559 | 10 | distance_matrix[HF_AABB][GEOM_SPHERE] = | |
560 | &HeightFieldShapeDistancer<AABB, Sphere>::distance; | ||
561 | 10 | distance_matrix[HF_AABB][GEOM_CAPSULE] = | |
562 | &HeightFieldShapeDistancer<AABB, Capsule>::distance; | ||
563 | 10 | distance_matrix[HF_AABB][GEOM_CONE] = | |
564 | &HeightFieldShapeDistancer<AABB, Cone>::distance; | ||
565 | 10 | distance_matrix[HF_AABB][GEOM_CYLINDER] = | |
566 | &HeightFieldShapeDistancer<AABB, Cylinder>::distance; | ||
567 | 10 | distance_matrix[HF_AABB][GEOM_CONVEX] = | |
568 | &HeightFieldShapeDistancer<AABB, ConvexBase>::distance; | ||
569 | 10 | distance_matrix[HF_AABB][GEOM_PLANE] = | |
570 | &HeightFieldShapeDistancer<AABB, Plane>::distance; | ||
571 | 10 | distance_matrix[HF_AABB][GEOM_HALFSPACE] = | |
572 | &HeightFieldShapeDistancer<AABB, Halfspace>::distance; | ||
573 | 10 | distance_matrix[HF_AABB][GEOM_ELLIPSOID] = | |
574 | &HeightFieldShapeDistancer<AABB, Ellipsoid>::distance; | ||
575 | |||
576 | 10 | distance_matrix[HF_OBBRSS][GEOM_BOX] = | |
577 | &HeightFieldShapeDistancer<OBBRSS, Box>::distance; | ||
578 | 10 | distance_matrix[HF_OBBRSS][GEOM_SPHERE] = | |
579 | &HeightFieldShapeDistancer<OBBRSS, Sphere>::distance; | ||
580 | 10 | distance_matrix[HF_OBBRSS][GEOM_CAPSULE] = | |
581 | &HeightFieldShapeDistancer<OBBRSS, Capsule>::distance; | ||
582 | 10 | distance_matrix[HF_OBBRSS][GEOM_CONE] = | |
583 | &HeightFieldShapeDistancer<OBBRSS, Cone>::distance; | ||
584 | 10 | distance_matrix[HF_OBBRSS][GEOM_CYLINDER] = | |
585 | &HeightFieldShapeDistancer<OBBRSS, Cylinder>::distance; | ||
586 | 10 | distance_matrix[HF_OBBRSS][GEOM_CONVEX] = | |
587 | &HeightFieldShapeDistancer<OBBRSS, ConvexBase>::distance; | ||
588 | 10 | distance_matrix[HF_OBBRSS][GEOM_PLANE] = | |
589 | &HeightFieldShapeDistancer<OBBRSS, Plane>::distance; | ||
590 | 10 | distance_matrix[HF_OBBRSS][GEOM_HALFSPACE] = | |
591 | &HeightFieldShapeDistancer<OBBRSS, Halfspace>::distance; | ||
592 | 10 | distance_matrix[HF_OBBRSS][GEOM_ELLIPSOID] = | |
593 | &HeightFieldShapeDistancer<OBBRSS, Ellipsoid>::distance; | ||
594 | |||
595 | 10 | distance_matrix[BV_AABB][BV_AABB] = &BVHDistance<AABB>; | |
596 | 10 | distance_matrix[BV_OBB][BV_OBB] = &BVHDistance<OBB>; | |
597 | 10 | distance_matrix[BV_RSS][BV_RSS] = &BVHDistance<RSS>; | |
598 | 10 | distance_matrix[BV_kIOS][BV_kIOS] = &BVHDistance<kIOS>; | |
599 | 10 | distance_matrix[BV_OBBRSS][BV_OBBRSS] = &BVHDistance<OBBRSS>; | |
600 | |||
601 | #ifdef COAL_HAS_OCTOMAP | ||
602 | 10 | distance_matrix[GEOM_OCTREE][GEOM_BOX] = &Distance<OcTree, Box>; | |
603 | 10 | distance_matrix[GEOM_OCTREE][GEOM_SPHERE] = &Distance<OcTree, Sphere>; | |
604 | 10 | distance_matrix[GEOM_OCTREE][GEOM_CAPSULE] = &Distance<OcTree, Capsule>; | |
605 | 10 | distance_matrix[GEOM_OCTREE][GEOM_CONE] = &Distance<OcTree, Cone>; | |
606 | 10 | distance_matrix[GEOM_OCTREE][GEOM_CYLINDER] = &Distance<OcTree, Cylinder>; | |
607 | 10 | distance_matrix[GEOM_OCTREE][GEOM_CONVEX] = &Distance<OcTree, ConvexBase>; | |
608 | 10 | distance_matrix[GEOM_OCTREE][GEOM_PLANE] = &Distance<OcTree, Plane>; | |
609 | 10 | distance_matrix[GEOM_OCTREE][GEOM_HALFSPACE] = &Distance<OcTree, Halfspace>; | |
610 | 10 | distance_matrix[GEOM_OCTREE][GEOM_ELLIPSOID] = &Distance<OcTree, Ellipsoid>; | |
611 | |||
612 | 10 | distance_matrix[GEOM_BOX][GEOM_OCTREE] = &Distance<Box, OcTree>; | |
613 | 10 | distance_matrix[GEOM_SPHERE][GEOM_OCTREE] = &Distance<Sphere, OcTree>; | |
614 | 10 | distance_matrix[GEOM_CAPSULE][GEOM_OCTREE] = &Distance<Capsule, OcTree>; | |
615 | 10 | distance_matrix[GEOM_CONE][GEOM_OCTREE] = &Distance<Cone, OcTree>; | |
616 | 10 | distance_matrix[GEOM_CYLINDER][GEOM_OCTREE] = &Distance<Cylinder, OcTree>; | |
617 | 10 | distance_matrix[GEOM_CONVEX][GEOM_OCTREE] = &Distance<ConvexBase, OcTree>; | |
618 | 10 | distance_matrix[GEOM_PLANE][GEOM_OCTREE] = &Distance<Plane, OcTree>; | |
619 | 10 | distance_matrix[GEOM_HALFSPACE][GEOM_OCTREE] = &Distance<Halfspace, OcTree>; | |
620 | |||
621 | 10 | distance_matrix[GEOM_OCTREE][GEOM_OCTREE] = &Distance<OcTree, OcTree>; | |
622 | |||
623 | 10 | distance_matrix[GEOM_OCTREE][BV_AABB] = &Distance<OcTree, BVHModel<AABB> >; | |
624 | 10 | distance_matrix[GEOM_OCTREE][BV_OBB] = &Distance<OcTree, BVHModel<OBB> >; | |
625 | 10 | distance_matrix[GEOM_OCTREE][BV_RSS] = &Distance<OcTree, BVHModel<RSS> >; | |
626 | 10 | distance_matrix[GEOM_OCTREE][BV_OBBRSS] = | |
627 | &Distance<OcTree, BVHModel<OBBRSS> >; | ||
628 | 10 | distance_matrix[GEOM_OCTREE][BV_kIOS] = &Distance<OcTree, BVHModel<kIOS> >; | |
629 | 10 | distance_matrix[GEOM_OCTREE][BV_KDOP16] = | |
630 | &Distance<OcTree, BVHModel<KDOP<16> > >; | ||
631 | 10 | distance_matrix[GEOM_OCTREE][BV_KDOP18] = | |
632 | &Distance<OcTree, BVHModel<KDOP<18> > >; | ||
633 | 10 | distance_matrix[GEOM_OCTREE][BV_KDOP24] = | |
634 | &Distance<OcTree, BVHModel<KDOP<24> > >; | ||
635 | |||
636 | 10 | distance_matrix[BV_AABB][GEOM_OCTREE] = &Distance<BVHModel<AABB>, OcTree>; | |
637 | 10 | distance_matrix[BV_OBB][GEOM_OCTREE] = &Distance<BVHModel<OBB>, OcTree>; | |
638 | 10 | distance_matrix[BV_RSS][GEOM_OCTREE] = &Distance<BVHModel<RSS>, OcTree>; | |
639 | 10 | distance_matrix[BV_OBBRSS][GEOM_OCTREE] = &Distance<BVHModel<OBBRSS>, OcTree>; | |
640 | 10 | distance_matrix[BV_kIOS][GEOM_OCTREE] = &Distance<BVHModel<kIOS>, OcTree>; | |
641 | 10 | distance_matrix[BV_KDOP16][GEOM_OCTREE] = | |
642 | &Distance<BVHModel<KDOP<16> >, OcTree>; | ||
643 | 10 | distance_matrix[BV_KDOP18][GEOM_OCTREE] = | |
644 | &Distance<BVHModel<KDOP<18> >, OcTree>; | ||
645 | 10 | distance_matrix[BV_KDOP24][GEOM_OCTREE] = | |
646 | &Distance<BVHModel<KDOP<24> >, OcTree>; | ||
647 | 10 | distance_matrix[GEOM_OCTREE][HF_AABB] = &distance_function_not_implemented; | |
648 | 10 | distance_matrix[GEOM_OCTREE][HF_OBBRSS] = &distance_function_not_implemented; | |
649 | 10 | distance_matrix[HF_AABB][GEOM_OCTREE] = &distance_function_not_implemented; | |
650 | 10 | distance_matrix[HF_OBBRSS][GEOM_OCTREE] = &distance_function_not_implemented; | |
651 | #endif | ||
652 | 10 | } | |
653 | // template struct DistanceFunctionMatrix; | ||
654 | } // namespace coal | ||
655 |