| Directory: | ./ |
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| File: | src/distance_func_matrix.cpp |
| Date: | 2025-05-02 10:16:21 |
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| Lines: | 233 | 286 | 81.5% |
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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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240 | for (int i = 0; i < NODE_COUNT; ++i) { |
| 277 |
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5520 | for (int j = 0; j < NODE_COUNT; ++j) distance_matrix[i][j] = NULL; |
| 278 | } | ||
| 279 | |||
| 280 | // clang-format off | ||
| 281 | 10 | distance_matrix[GEOM_BOX][GEOM_BOX] = &ShapeShapeDistance<Box, Box>; | |
| 282 | 10 | distance_matrix[GEOM_BOX][GEOM_SPHERE] = &ShapeShapeDistance<Box, Sphere>; | |
| 283 | 10 | distance_matrix[GEOM_BOX][GEOM_CAPSULE] = &ShapeShapeDistance<Box, Capsule>; | |
| 284 | 10 | distance_matrix[GEOM_BOX][GEOM_CONE] = &ShapeShapeDistance<Box, Cone>; | |
| 285 | 10 | distance_matrix[GEOM_BOX][GEOM_CYLINDER] = &ShapeShapeDistance<Box, Cylinder>; | |
| 286 | 10 | distance_matrix[GEOM_BOX][GEOM_CONVEX16] = &ShapeShapeDistance<Box, ConvexBase16>; | |
| 287 | 10 | distance_matrix[GEOM_BOX][GEOM_CONVEX32] = &ShapeShapeDistance<Box, ConvexBase32>; | |
| 288 | 10 | distance_matrix[GEOM_BOX][GEOM_PLANE] = &ShapeShapeDistance<Box, Plane>; | |
| 289 | 10 | distance_matrix[GEOM_BOX][GEOM_HALFSPACE] = &ShapeShapeDistance<Box, Halfspace>; | |
| 290 | 10 | distance_matrix[GEOM_BOX][GEOM_ELLIPSOID] = &ShapeShapeDistance<Box, Ellipsoid>; | |
| 291 | |||
| 292 | 10 | distance_matrix[GEOM_SPHERE][GEOM_BOX] = &ShapeShapeDistance<Sphere, Box>; | |
| 293 | 10 | distance_matrix[GEOM_SPHERE][GEOM_SPHERE] = &ShapeShapeDistance<Sphere, Sphere>; | |
| 294 | 10 | distance_matrix[GEOM_SPHERE][GEOM_CAPSULE] = &ShapeShapeDistance<Sphere, Capsule>; | |
| 295 | 10 | distance_matrix[GEOM_SPHERE][GEOM_CONE] = &ShapeShapeDistance<Sphere, Cone>; | |
| 296 | 10 | distance_matrix[GEOM_SPHERE][GEOM_CYLINDER] = &ShapeShapeDistance<Sphere, Cylinder>; | |
| 297 | 10 | distance_matrix[GEOM_SPHERE][GEOM_CONVEX16] = &ShapeShapeDistance<Sphere, ConvexBase16>; | |
| 298 | 10 | distance_matrix[GEOM_SPHERE][GEOM_CONVEX32] = &ShapeShapeDistance<Sphere, ConvexBase32>; | |
| 299 | 10 | distance_matrix[GEOM_SPHERE][GEOM_PLANE] = &ShapeShapeDistance<Sphere, Plane>; | |
| 300 | 10 | distance_matrix[GEOM_SPHERE][GEOM_HALFSPACE] = &ShapeShapeDistance<Sphere, Halfspace>; | |
| 301 | 10 | distance_matrix[GEOM_SPHERE][GEOM_ELLIPSOID] = &ShapeShapeDistance<Sphere, Ellipsoid>; | |
| 302 | |||
| 303 | 10 | distance_matrix[GEOM_ELLIPSOID][GEOM_BOX] = &ShapeShapeDistance<Ellipsoid, Box>; | |
| 304 | 10 | distance_matrix[GEOM_ELLIPSOID][GEOM_SPHERE] = &ShapeShapeDistance<Ellipsoid, Sphere>; | |
| 305 | 10 | distance_matrix[GEOM_ELLIPSOID][GEOM_CAPSULE] = &ShapeShapeDistance<Ellipsoid, Capsule>; | |
| 306 | 10 | distance_matrix[GEOM_ELLIPSOID][GEOM_CONE] = &ShapeShapeDistance<Ellipsoid, Cone>; | |
| 307 | 10 | distance_matrix[GEOM_ELLIPSOID][GEOM_CYLINDER] = &ShapeShapeDistance<Ellipsoid, Cylinder>; | |
| 308 | 10 | distance_matrix[GEOM_ELLIPSOID][GEOM_CONVEX16] = &ShapeShapeDistance<Ellipsoid, ConvexBase16>; | |
| 309 | 10 | distance_matrix[GEOM_ELLIPSOID][GEOM_CONVEX32] = &ShapeShapeDistance<Ellipsoid, ConvexBase32>; | |
| 310 | 10 | distance_matrix[GEOM_ELLIPSOID][GEOM_PLANE] = &ShapeShapeDistance<Ellipsoid, Plane>; | |
| 311 | 10 | distance_matrix[GEOM_ELLIPSOID][GEOM_HALFSPACE] = &ShapeShapeDistance<Ellipsoid, Halfspace>; | |
| 312 | 10 | distance_matrix[GEOM_ELLIPSOID][GEOM_ELLIPSOID] = &ShapeShapeDistance<Ellipsoid, Ellipsoid>; | |
| 313 | |||
| 314 | 10 | distance_matrix[GEOM_CAPSULE][GEOM_BOX] = &ShapeShapeDistance<Capsule, Box>; | |
| 315 | 10 | distance_matrix[GEOM_CAPSULE][GEOM_SPHERE] = &ShapeShapeDistance<Capsule, Sphere>; | |
| 316 | 10 | distance_matrix[GEOM_CAPSULE][GEOM_CAPSULE] = &ShapeShapeDistance<Capsule, Capsule>; | |
| 317 | 10 | distance_matrix[GEOM_CAPSULE][GEOM_CONE] = &ShapeShapeDistance<Capsule, Cone>; | |
| 318 | 10 | distance_matrix[GEOM_CAPSULE][GEOM_CYLINDER] = &ShapeShapeDistance<Capsule, Cylinder>; | |
| 319 | 10 | distance_matrix[GEOM_CAPSULE][GEOM_CONVEX16] = &ShapeShapeDistance<Capsule, ConvexBase16>; | |
| 320 | 10 | distance_matrix[GEOM_CAPSULE][GEOM_CONVEX32] = &ShapeShapeDistance<Capsule, ConvexBase32>; | |
| 321 | 10 | distance_matrix[GEOM_CAPSULE][GEOM_PLANE] = &ShapeShapeDistance<Capsule, Plane>; | |
| 322 | 10 | distance_matrix[GEOM_CAPSULE][GEOM_HALFSPACE] = &ShapeShapeDistance<Capsule, Halfspace>; | |
| 323 | 10 | distance_matrix[GEOM_CAPSULE][GEOM_ELLIPSOID] = &ShapeShapeDistance<Capsule, Ellipsoid>; | |
| 324 | |||
| 325 | 10 | distance_matrix[GEOM_CONE][GEOM_BOX] = &ShapeShapeDistance<Cone, Box>; | |
| 326 | 10 | distance_matrix[GEOM_CONE][GEOM_SPHERE] = &ShapeShapeDistance<Cone, Sphere>; | |
| 327 | 10 | distance_matrix[GEOM_CONE][GEOM_CAPSULE] = &ShapeShapeDistance<Cone, Capsule>; | |
| 328 | 10 | distance_matrix[GEOM_CONE][GEOM_CONE] = &ShapeShapeDistance<Cone, Cone>; | |
| 329 | 10 | distance_matrix[GEOM_CONE][GEOM_CYLINDER] = &ShapeShapeDistance<Cone, Cylinder>; | |
| 330 | 10 | distance_matrix[GEOM_CONE][GEOM_CONVEX16] = &ShapeShapeDistance<Cone, ConvexBase16>; | |
| 331 | 10 | distance_matrix[GEOM_CONE][GEOM_CONVEX32] = &ShapeShapeDistance<Cone, ConvexBase32>; | |
| 332 | 10 | distance_matrix[GEOM_CONE][GEOM_PLANE] = &ShapeShapeDistance<Cone, Plane>; | |
| 333 | 10 | distance_matrix[GEOM_CONE][GEOM_HALFSPACE] = &ShapeShapeDistance<Cone, Halfspace>; | |
| 334 | 10 | distance_matrix[GEOM_CONE][GEOM_ELLIPSOID] = &ShapeShapeDistance<Cone, Ellipsoid>; | |
| 335 | |||
| 336 | 10 | distance_matrix[GEOM_CYLINDER][GEOM_BOX] = &ShapeShapeDistance<Cylinder, Box>; | |
| 337 | 10 | distance_matrix[GEOM_CYLINDER][GEOM_SPHERE] = &ShapeShapeDistance<Cylinder, Sphere>; | |
| 338 | 10 | distance_matrix[GEOM_CYLINDER][GEOM_CAPSULE] = &ShapeShapeDistance<Cylinder, Capsule>; | |
| 339 | 10 | distance_matrix[GEOM_CYLINDER][GEOM_CONE] = &ShapeShapeDistance<Cylinder, Cone>; | |
| 340 | 10 | distance_matrix[GEOM_CYLINDER][GEOM_CYLINDER] = &ShapeShapeDistance<Cylinder, Cylinder>; | |
| 341 | 10 | distance_matrix[GEOM_CYLINDER][GEOM_CONVEX16] = &ShapeShapeDistance<Cylinder, ConvexBase16>; | |
| 342 | 10 | distance_matrix[GEOM_CYLINDER][GEOM_CONVEX32] = &ShapeShapeDistance<Cylinder, ConvexBase32>; | |
| 343 | 10 | distance_matrix[GEOM_CYLINDER][GEOM_PLANE] = &ShapeShapeDistance<Cylinder, Plane>; | |
| 344 | 10 | distance_matrix[GEOM_CYLINDER][GEOM_HALFSPACE] = &ShapeShapeDistance<Cylinder, Halfspace>; | |
| 345 | 10 | distance_matrix[GEOM_CYLINDER][GEOM_ELLIPSOID] = &ShapeShapeDistance<Cylinder, Ellipsoid>; | |
| 346 | |||
| 347 | 10 | distance_matrix[GEOM_CONVEX16][GEOM_BOX] = &ShapeShapeDistance<ConvexBase16, Box>; | |
| 348 | 10 | distance_matrix[GEOM_CONVEX16][GEOM_SPHERE] = &ShapeShapeDistance<ConvexBase16, Sphere>; | |
| 349 | 10 | distance_matrix[GEOM_CONVEX16][GEOM_CAPSULE] = &ShapeShapeDistance<ConvexBase16, Capsule>; | |
| 350 | 10 | distance_matrix[GEOM_CONVEX16][GEOM_CONE] = &ShapeShapeDistance<ConvexBase16, Cone>; | |
| 351 | 10 | distance_matrix[GEOM_CONVEX16][GEOM_CYLINDER] = &ShapeShapeDistance<ConvexBase16, Cylinder>; | |
| 352 | 10 | distance_matrix[GEOM_CONVEX16][GEOM_CONVEX16] = &ShapeShapeDistance<ConvexBase16, ConvexBase16>; | |
| 353 | 10 | distance_matrix[GEOM_CONVEX16][GEOM_CONVEX32] = &ShapeShapeDistance<ConvexBase16, ConvexBase32>; | |
| 354 | 10 | distance_matrix[GEOM_CONVEX16][GEOM_PLANE] = &ShapeShapeDistance<ConvexBase16, Plane>; | |
| 355 | 10 | distance_matrix[GEOM_CONVEX16][GEOM_HALFSPACE] = &ShapeShapeDistance<ConvexBase16, Halfspace>; | |
| 356 | 10 | distance_matrix[GEOM_CONVEX16][GEOM_ELLIPSOID] = &ShapeShapeDistance<ConvexBase16, Ellipsoid>; | |
| 357 | |||
| 358 | 10 | distance_matrix[GEOM_CONVEX32][GEOM_BOX] = &ShapeShapeDistance<ConvexBase32, Box>; | |
| 359 | 10 | distance_matrix[GEOM_CONVEX32][GEOM_SPHERE] = &ShapeShapeDistance<ConvexBase32, Sphere>; | |
| 360 | 10 | distance_matrix[GEOM_CONVEX32][GEOM_CAPSULE] = &ShapeShapeDistance<ConvexBase32, Capsule>; | |
| 361 | 10 | distance_matrix[GEOM_CONVEX32][GEOM_CONE] = &ShapeShapeDistance<ConvexBase32, Cone>; | |
| 362 | 10 | distance_matrix[GEOM_CONVEX32][GEOM_CYLINDER] = &ShapeShapeDistance<ConvexBase32, Cylinder>; | |
| 363 | 10 | distance_matrix[GEOM_CONVEX32][GEOM_CONVEX16] = &ShapeShapeDistance<ConvexBase32, ConvexBase16>; | |
| 364 | 10 | distance_matrix[GEOM_CONVEX32][GEOM_CONVEX32] = &ShapeShapeDistance<ConvexBase32, ConvexBase32>; | |
| 365 | 10 | distance_matrix[GEOM_CONVEX32][GEOM_PLANE] = &ShapeShapeDistance<ConvexBase32, Plane>; | |
| 366 | 10 | distance_matrix[GEOM_CONVEX32][GEOM_HALFSPACE] = &ShapeShapeDistance<ConvexBase32, Halfspace>; | |
| 367 | 10 | distance_matrix[GEOM_CONVEX32][GEOM_ELLIPSOID] = &ShapeShapeDistance<ConvexBase32, Ellipsoid>; | |
| 368 | |||
| 369 | 10 | distance_matrix[GEOM_PLANE][GEOM_BOX] = &ShapeShapeDistance<Plane, Box>; | |
| 370 | 10 | distance_matrix[GEOM_PLANE][GEOM_SPHERE] = &ShapeShapeDistance<Plane, Sphere>; | |
| 371 | 10 | distance_matrix[GEOM_PLANE][GEOM_CAPSULE] = &ShapeShapeDistance<Plane, Capsule>; | |
| 372 | 10 | distance_matrix[GEOM_PLANE][GEOM_CONE] = &ShapeShapeDistance<Plane, Cone>; | |
| 373 | 10 | distance_matrix[GEOM_PLANE][GEOM_CYLINDER] = &ShapeShapeDistance<Plane, Cylinder>; | |
| 374 | 10 | distance_matrix[GEOM_PLANE][GEOM_CONVEX16] = &ShapeShapeDistance<Plane, ConvexBase16>; | |
| 375 | 10 | distance_matrix[GEOM_PLANE][GEOM_CONVEX32] = &ShapeShapeDistance<Plane, ConvexBase32>; | |
| 376 | 10 | distance_matrix[GEOM_PLANE][GEOM_PLANE] = &ShapeShapeDistance<Plane, Plane>; | |
| 377 | 10 | distance_matrix[GEOM_PLANE][GEOM_HALFSPACE] = &ShapeShapeDistance<Plane, Halfspace>; | |
| 378 | 10 | distance_matrix[GEOM_PLANE][GEOM_ELLIPSOID] = &ShapeShapeDistance<Plane, Ellipsoid>; | |
| 379 | |||
| 380 | 10 | distance_matrix[GEOM_HALFSPACE][GEOM_BOX] = &ShapeShapeDistance<Halfspace, Box>; | |
| 381 | 10 | distance_matrix[GEOM_HALFSPACE][GEOM_SPHERE] = &ShapeShapeDistance<Halfspace, Sphere>; | |
| 382 | 10 | distance_matrix[GEOM_HALFSPACE][GEOM_CAPSULE] = &ShapeShapeDistance<Halfspace, Capsule>; | |
| 383 | 10 | distance_matrix[GEOM_HALFSPACE][GEOM_CONE] = &ShapeShapeDistance<Halfspace, Cone>; | |
| 384 | 10 | distance_matrix[GEOM_HALFSPACE][GEOM_CYLINDER] = &ShapeShapeDistance<Halfspace, Cylinder>; | |
| 385 | 10 | distance_matrix[GEOM_HALFSPACE][GEOM_CONVEX16] = &ShapeShapeDistance<Halfspace, ConvexBase16>; | |
| 386 | 10 | distance_matrix[GEOM_HALFSPACE][GEOM_CONVEX32] = &ShapeShapeDistance<Halfspace, ConvexBase32>; | |
| 387 | 10 | distance_matrix[GEOM_HALFSPACE][GEOM_PLANE] = &ShapeShapeDistance<Halfspace, Plane>; | |
| 388 | 10 | distance_matrix[GEOM_HALFSPACE][GEOM_HALFSPACE] = &ShapeShapeDistance<Halfspace, Halfspace>; | |
| 389 | 10 | distance_matrix[GEOM_HALFSPACE][GEOM_ELLIPSOID] = &ShapeShapeDistance<Halfspace, Ellipsoid>; | |
| 390 | // clang-format on | ||
| 391 | |||
| 392 | /* AABB distance not implemented */ | ||
| 393 | /* | ||
| 394 | distance_matrix[BV_AABB][GEOM_BOX] = &BVHShapeDistancer<AABB, Box>::distance; | ||
| 395 | distance_matrix[BV_AABB][GEOM_SPHERE] = &BVHShapeDistancer<AABB, | ||
| 396 | Sphere>::distance; distance_matrix[BV_AABB][GEOM_CAPSULE] = | ||
| 397 | &BVHShapeDistancer<AABB, Capsule>::distance; | ||
| 398 | distance_matrix[BV_AABB][GEOM_CONE] = &BVHShapeDistancer<AABB, | ||
| 399 | Cone>::distance; distance_matrix[BV_AABB][GEOM_CYLINDER] = | ||
| 400 | &BVHShapeDistancer<AABB, Cylinder>::distance; | ||
| 401 | distance_matrix[BV_AABB][GEOM_CONVEX] = &BVHShapeDistancer<AABB, | ||
| 402 | ConvexBase>::distance; distance_matrix[BV_AABB][GEOM_PLANE] = | ||
| 403 | &BVHShapeDistancer<AABB, Plane>::distance; | ||
| 404 | distance_matrix[BV_AABB][GEOM_HALFSPACE] = &BVHShapeDistancer<AABB, | ||
| 405 | Halfspace>::distance; | ||
| 406 | */ | ||
| 407 | |||
| 408 | // clang-format off | ||
| 409 | 10 | distance_matrix[BV_OBB][GEOM_BOX] = &BVHShapeDistancer<OBB, Box>::distance; | |
| 410 | 10 | distance_matrix[BV_OBB][GEOM_SPHERE] = &BVHShapeDistancer<OBB, Sphere>::distance; | |
| 411 | 10 | distance_matrix[BV_OBB][GEOM_CAPSULE] = &BVHShapeDistancer<OBB, Capsule>::distance; | |
| 412 | 10 | distance_matrix[BV_OBB][GEOM_CONE] = &BVHShapeDistancer<OBB, Cone>::distance; | |
| 413 | 10 | distance_matrix[BV_OBB][GEOM_CYLINDER] = &BVHShapeDistancer<OBB, Cylinder>::distance; | |
| 414 | 10 | distance_matrix[BV_OBB][GEOM_CONVEX16] = &BVHShapeDistancer<OBB, ConvexBase16>::distance; | |
| 415 | 10 | distance_matrix[BV_OBB][GEOM_CONVEX32] = &BVHShapeDistancer<OBB, ConvexBase32>::distance; | |
| 416 | 10 | distance_matrix[BV_OBB][GEOM_PLANE] = &BVHShapeDistancer<OBB, Plane>::distance; | |
| 417 | 10 | distance_matrix[BV_OBB][GEOM_HALFSPACE] = &BVHShapeDistancer<OBB, Halfspace>::distance; | |
| 418 | 10 | distance_matrix[BV_OBB][GEOM_ELLIPSOID] = &BVHShapeDistancer<OBB, Ellipsoid>::distance; | |
| 419 | |||
| 420 | 10 | distance_matrix[BV_RSS][GEOM_BOX] = &BVHShapeDistancer<RSS, Box>::distance; | |
| 421 | 10 | distance_matrix[BV_RSS][GEOM_SPHERE] = &BVHShapeDistancer<RSS, Sphere>::distance; | |
| 422 | 10 | distance_matrix[BV_RSS][GEOM_CAPSULE] = &BVHShapeDistancer<RSS, Capsule>::distance; | |
| 423 | 10 | distance_matrix[BV_RSS][GEOM_CONE] = &BVHShapeDistancer<RSS, Cone>::distance; | |
| 424 | 10 | distance_matrix[BV_RSS][GEOM_CYLINDER] = &BVHShapeDistancer<RSS, Cylinder>::distance; | |
| 425 | 10 | distance_matrix[BV_RSS][GEOM_CONVEX16] = &BVHShapeDistancer<RSS, ConvexBase16>::distance; | |
| 426 | 10 | distance_matrix[BV_RSS][GEOM_CONVEX32] = &BVHShapeDistancer<RSS, ConvexBase32>::distance; | |
| 427 | 10 | distance_matrix[BV_RSS][GEOM_PLANE] = &BVHShapeDistancer<RSS, Plane>::distance; | |
| 428 | 10 | distance_matrix[BV_RSS][GEOM_HALFSPACE] = &BVHShapeDistancer<RSS, Halfspace>::distance; | |
| 429 | 10 | distance_matrix[BV_RSS][GEOM_ELLIPSOID] = &BVHShapeDistancer<RSS, Ellipsoid>::distance; | |
| 430 | // clang-format on | ||
| 431 | |||
| 432 | /* KDOP distance not implemented */ | ||
| 433 | /* | ||
| 434 | distance_matrix[BV_KDOP16][GEOM_BOX] = &BVHShapeDistancer<KDOP<16>, | ||
| 435 | Box>::distance; distance_matrix[BV_KDOP16][GEOM_SPHERE] = | ||
| 436 | &BVHShapeDistancer<KDOP<16>, Sphere>::distance; | ||
| 437 | distance_matrix[BV_KDOP16][GEOM_CAPSULE] = &BVHShapeDistancer<KDOP<16>, | ||
| 438 | Capsule>::distance; distance_matrix[BV_KDOP16][GEOM_CONE] = | ||
| 439 | &BVHShapeDistancer<KDOP<16>, Cone>::distance; | ||
| 440 | distance_matrix[BV_KDOP16][GEOM_CYLINDER] = &BVHShapeDistancer<KDOP<16>, | ||
| 441 | Cylinder>::distance; distance_matrix[BV_KDOP16][GEOM_CONVEX] = | ||
| 442 | &BVHShapeDistancer<KDOP<16>, ConvexBase>::distance; | ||
| 443 | distance_matrix[BV_KDOP16][GEOM_PLANE] = &BVHShapeDistancer<KDOP<16>, | ||
| 444 | Plane>::distance; distance_matrix[BV_KDOP16][GEOM_HALFSPACE] = | ||
| 445 | &BVHShapeDistancer<KDOP<16>, Halfspace>::distance; | ||
| 446 | |||
| 447 | distance_matrix[BV_KDOP18][GEOM_BOX] = &BVHShapeDistancer<KDOP<18>, | ||
| 448 | Box>::distance; distance_matrix[BV_KDOP18][GEOM_SPHERE] = | ||
| 449 | &BVHShapeDistancer<KDOP<18>, Sphere>::distance; | ||
| 450 | distance_matrix[BV_KDOP18][GEOM_CAPSULE] = &BVHShapeDistancer<KDOP<18>, | ||
| 451 | Capsule>::distance; distance_matrix[BV_KDOP18][GEOM_CONE] = | ||
| 452 | &BVHShapeDistancer<KDOP<18>, Cone>::distance; | ||
| 453 | distance_matrix[BV_KDOP18][GEOM_CYLINDER] = &BVHShapeDistancer<KDOP<18>, | ||
| 454 | Cylinder>::distance; distance_matrix[BV_KDOP18][GEOM_CONVEX] = | ||
| 455 | &BVHShapeDistancer<KDOP<18>, ConvexBase>::distance; | ||
| 456 | distance_matrix[BV_KDOP18][GEOM_PLANE] = &BVHShapeDistancer<KDOP<18>, | ||
| 457 | Plane>::distance; distance_matrix[BV_KDOP18][GEOM_HALFSPACE] = | ||
| 458 | &BVHShapeDistancer<KDOP<18>, Halfspace>::distance; | ||
| 459 | |||
| 460 | distance_matrix[BV_KDOP24][GEOM_BOX] = &BVHShapeDistancer<KDOP<24>, | ||
| 461 | Box>::distance; distance_matrix[BV_KDOP24][GEOM_SPHERE] = | ||
| 462 | &BVHShapeDistancer<KDOP<24>, Sphere>::distance; | ||
| 463 | distance_matrix[BV_KDOP24][GEOM_CAPSULE] = &BVHShapeDistancer<KDOP<24>, | ||
| 464 | Capsule>::distance; distance_matrix[BV_KDOP24][GEOM_CONE] = | ||
| 465 | &BVHShapeDistancer<KDOP<24>, Cone>::distance; | ||
| 466 | distance_matrix[BV_KDOP24][GEOM_CYLINDER] = &BVHShapeDistancer<KDOP<24>, | ||
| 467 | Cylinder>::distance; distance_matrix[BV_KDOP24][GEOM_CONVEX] = | ||
| 468 | &BVHShapeDistancer<KDOP<24>, ConvexBase>::distance; | ||
| 469 | distance_matrix[BV_KDOP24][GEOM_PLANE] = &BVHShapeDistancer<KDOP<24>, | ||
| 470 | Plane>::distance; distance_matrix[BV_KDOP24][GEOM_HALFSPACE] = | ||
| 471 | &BVHShapeDistancer<KDOP<24>, Halfspace>::distance; | ||
| 472 | */ | ||
| 473 | |||
| 474 | // clang-format off | ||
| 475 | 10 | distance_matrix[BV_kIOS][GEOM_BOX] = &BVHShapeDistancer<kIOS, Box>::distance; | |
| 476 | 10 | distance_matrix[BV_kIOS][GEOM_SPHERE] = &BVHShapeDistancer<kIOS, Sphere>::distance; | |
| 477 | 10 | distance_matrix[BV_kIOS][GEOM_CAPSULE] = &BVHShapeDistancer<kIOS, Capsule>::distance; | |
| 478 | 10 | distance_matrix[BV_kIOS][GEOM_CONE] = &BVHShapeDistancer<kIOS, Cone>::distance; | |
| 479 | 10 | distance_matrix[BV_kIOS][GEOM_CYLINDER] = &BVHShapeDistancer<kIOS, Cylinder>::distance; | |
| 480 | 10 | distance_matrix[BV_kIOS][GEOM_CONVEX16] = &BVHShapeDistancer<kIOS, ConvexBase16>::distance; | |
| 481 | 10 | distance_matrix[BV_kIOS][GEOM_CONVEX32] = &BVHShapeDistancer<kIOS, ConvexBase32>::distance; | |
| 482 | 10 | distance_matrix[BV_kIOS][GEOM_PLANE] = &BVHShapeDistancer<kIOS, Plane>::distance; | |
| 483 | 10 | distance_matrix[BV_kIOS][GEOM_HALFSPACE] = &BVHShapeDistancer<kIOS, Halfspace>::distance; | |
| 484 | 10 | distance_matrix[BV_kIOS][GEOM_ELLIPSOID] = &BVHShapeDistancer<kIOS, Ellipsoid>::distance; | |
| 485 | |||
| 486 | 10 | distance_matrix[BV_OBBRSS][GEOM_BOX] = &BVHShapeDistancer<OBBRSS, Box>::distance; | |
| 487 | 10 | distance_matrix[BV_OBBRSS][GEOM_SPHERE] = &BVHShapeDistancer<OBBRSS, Sphere>::distance; | |
| 488 | 10 | distance_matrix[BV_OBBRSS][GEOM_CAPSULE] = &BVHShapeDistancer<OBBRSS, Capsule>::distance; | |
| 489 | 10 | distance_matrix[BV_OBBRSS][GEOM_CONE] = &BVHShapeDistancer<OBBRSS, Cone>::distance; | |
| 490 | 10 | distance_matrix[BV_OBBRSS][GEOM_CYLINDER] = &BVHShapeDistancer<OBBRSS, Cylinder>::distance; | |
| 491 | 10 | distance_matrix[BV_OBBRSS][GEOM_CONVEX16] = &BVHShapeDistancer<OBBRSS, ConvexBase16>::distance; | |
| 492 | 10 | distance_matrix[BV_OBBRSS][GEOM_CONVEX32] = &BVHShapeDistancer<OBBRSS, ConvexBase32>::distance; | |
| 493 | 10 | distance_matrix[BV_OBBRSS][GEOM_PLANE] = &BVHShapeDistancer<OBBRSS, Plane>::distance; | |
| 494 | 10 | distance_matrix[BV_OBBRSS][GEOM_HALFSPACE] = &BVHShapeDistancer<OBBRSS, Halfspace>::distance; | |
| 495 | 10 | distance_matrix[BV_OBBRSS][GEOM_ELLIPSOID] = &BVHShapeDistancer<OBBRSS, Ellipsoid>::distance; | |
| 496 | |||
| 497 | 10 | distance_matrix[HF_AABB][GEOM_BOX] = &HeightFieldShapeDistancer<AABB, Box>::distance; | |
| 498 | 10 | distance_matrix[HF_AABB][GEOM_SPHERE] = &HeightFieldShapeDistancer<AABB, Sphere>::distance; | |
| 499 | 10 | distance_matrix[HF_AABB][GEOM_CAPSULE] = &HeightFieldShapeDistancer<AABB, Capsule>::distance; | |
| 500 | 10 | distance_matrix[HF_AABB][GEOM_CONE] = &HeightFieldShapeDistancer<AABB, Cone>::distance; | |
| 501 | 10 | distance_matrix[HF_AABB][GEOM_CYLINDER] = &HeightFieldShapeDistancer<AABB, Cylinder>::distance; | |
| 502 | 10 | distance_matrix[HF_AABB][GEOM_CONVEX16] = &HeightFieldShapeDistancer<AABB, ConvexBase16>::distance; | |
| 503 | 10 | distance_matrix[HF_AABB][GEOM_CONVEX32] = &HeightFieldShapeDistancer<AABB, ConvexBase32>::distance; | |
| 504 | 10 | distance_matrix[HF_AABB][GEOM_PLANE] = &HeightFieldShapeDistancer<AABB, Plane>::distance; | |
| 505 | 10 | distance_matrix[HF_AABB][GEOM_HALFSPACE] = &HeightFieldShapeDistancer<AABB, Halfspace>::distance; | |
| 506 | 10 | distance_matrix[HF_AABB][GEOM_ELLIPSOID] = &HeightFieldShapeDistancer<AABB, Ellipsoid>::distance; | |
| 507 | |||
| 508 | 10 | distance_matrix[HF_OBBRSS][GEOM_BOX] = &HeightFieldShapeDistancer<OBBRSS, Box>::distance; | |
| 509 | 10 | distance_matrix[HF_OBBRSS][GEOM_SPHERE] = &HeightFieldShapeDistancer<OBBRSS, Sphere>::distance; | |
| 510 | 10 | distance_matrix[HF_OBBRSS][GEOM_CAPSULE] = &HeightFieldShapeDistancer<OBBRSS, Capsule>::distance; | |
| 511 | 10 | distance_matrix[HF_OBBRSS][GEOM_CONE] = &HeightFieldShapeDistancer<OBBRSS, Cone>::distance; | |
| 512 | 10 | distance_matrix[HF_OBBRSS][GEOM_CYLINDER] = &HeightFieldShapeDistancer<OBBRSS, Cylinder>::distance; | |
| 513 | 10 | distance_matrix[HF_OBBRSS][GEOM_CONVEX16] = &HeightFieldShapeDistancer<OBBRSS, ConvexBase16>::distance; | |
| 514 | 10 | distance_matrix[HF_OBBRSS][GEOM_CONVEX32] = &HeightFieldShapeDistancer<OBBRSS, ConvexBase32>::distance; | |
| 515 | 10 | distance_matrix[HF_OBBRSS][GEOM_PLANE] = &HeightFieldShapeDistancer<OBBRSS, Plane>::distance; | |
| 516 | 10 | distance_matrix[HF_OBBRSS][GEOM_HALFSPACE] = &HeightFieldShapeDistancer<OBBRSS, Halfspace>::distance; | |
| 517 | 10 | distance_matrix[HF_OBBRSS][GEOM_ELLIPSOID] = &HeightFieldShapeDistancer<OBBRSS, Ellipsoid>::distance; | |
| 518 | |||
| 519 | 10 | distance_matrix[BV_AABB][BV_AABB] = &BVHDistance<AABB>; | |
| 520 | 10 | distance_matrix[BV_OBB][BV_OBB] = &BVHDistance<OBB>; | |
| 521 | 10 | distance_matrix[BV_RSS][BV_RSS] = &BVHDistance<RSS>; | |
| 522 | 10 | distance_matrix[BV_kIOS][BV_kIOS] = &BVHDistance<kIOS>; | |
| 523 | 10 | distance_matrix[BV_OBBRSS][BV_OBBRSS] = &BVHDistance<OBBRSS>; | |
| 524 | |||
| 525 | #ifdef COAL_HAS_OCTOMAP | ||
| 526 | 10 | distance_matrix[GEOM_OCTREE][GEOM_BOX] = &Distance<OcTree, Box>; | |
| 527 | 10 | distance_matrix[GEOM_OCTREE][GEOM_SPHERE] = &Distance<OcTree, Sphere>; | |
| 528 | 10 | distance_matrix[GEOM_OCTREE][GEOM_CAPSULE] = &Distance<OcTree, Capsule>; | |
| 529 | 10 | distance_matrix[GEOM_OCTREE][GEOM_CONE] = &Distance<OcTree, Cone>; | |
| 530 | 10 | distance_matrix[GEOM_OCTREE][GEOM_CYLINDER] = &Distance<OcTree, Cylinder>; | |
| 531 | 10 | distance_matrix[GEOM_OCTREE][GEOM_CONVEX16] = &Distance<OcTree, ConvexBase16>; | |
| 532 | 10 | distance_matrix[GEOM_OCTREE][GEOM_CONVEX32] = &Distance<OcTree, ConvexBase32>; | |
| 533 | 10 | distance_matrix[GEOM_OCTREE][GEOM_PLANE] = &Distance<OcTree, Plane>; | |
| 534 | 10 | distance_matrix[GEOM_OCTREE][GEOM_HALFSPACE] = &Distance<OcTree, Halfspace>; | |
| 535 | 10 | distance_matrix[GEOM_OCTREE][GEOM_ELLIPSOID] = &Distance<OcTree, Ellipsoid>; | |
| 536 | |||
| 537 | 10 | distance_matrix[GEOM_BOX][GEOM_OCTREE] = &Distance<Box, OcTree>; | |
| 538 | 10 | distance_matrix[GEOM_SPHERE][GEOM_OCTREE] = &Distance<Sphere, OcTree>; | |
| 539 | 10 | distance_matrix[GEOM_CAPSULE][GEOM_OCTREE] = &Distance<Capsule, OcTree>; | |
| 540 | 10 | distance_matrix[GEOM_CONE][GEOM_OCTREE] = &Distance<Cone, OcTree>; | |
| 541 | 10 | distance_matrix[GEOM_CYLINDER][GEOM_OCTREE] = &Distance<Cylinder, OcTree>; | |
| 542 | 10 | distance_matrix[GEOM_CONVEX16][GEOM_OCTREE] = &Distance<ConvexBase16, OcTree>; | |
| 543 | 10 | distance_matrix[GEOM_CONVEX32][GEOM_OCTREE] = &Distance<ConvexBase32, OcTree>; | |
| 544 | 10 | distance_matrix[GEOM_PLANE][GEOM_OCTREE] = &Distance<Plane, OcTree>; | |
| 545 | 10 | distance_matrix[GEOM_HALFSPACE][GEOM_OCTREE] = &Distance<Halfspace, OcTree>; | |
| 546 | |||
| 547 | 10 | distance_matrix[GEOM_OCTREE][GEOM_OCTREE] = &Distance<OcTree, OcTree>; | |
| 548 | |||
| 549 | 10 | distance_matrix[GEOM_OCTREE][BV_AABB] = &Distance<OcTree, BVHModel<AABB> >; | |
| 550 | 10 | distance_matrix[GEOM_OCTREE][BV_OBB] = &Distance<OcTree, BVHModel<OBB> >; | |
| 551 | 10 | distance_matrix[GEOM_OCTREE][BV_RSS] = &Distance<OcTree, BVHModel<RSS> >; | |
| 552 | 10 | distance_matrix[GEOM_OCTREE][BV_OBBRSS] = &Distance<OcTree, BVHModel<OBBRSS> >; | |
| 553 | 10 | distance_matrix[GEOM_OCTREE][BV_kIOS] = &Distance<OcTree, BVHModel<kIOS> >; | |
| 554 | 10 | distance_matrix[GEOM_OCTREE][BV_KDOP16] = &Distance<OcTree, BVHModel<KDOP<16> > >; | |
| 555 | 10 | distance_matrix[GEOM_OCTREE][BV_KDOP18] = &Distance<OcTree, BVHModel<KDOP<18> > >; | |
| 556 | 10 | distance_matrix[GEOM_OCTREE][BV_KDOP24] = &Distance<OcTree, BVHModel<KDOP<24> > >; | |
| 557 | |||
| 558 | 10 | distance_matrix[BV_AABB][GEOM_OCTREE] = &Distance<BVHModel<AABB>, OcTree>; | |
| 559 | 10 | distance_matrix[BV_OBB][GEOM_OCTREE] = &Distance<BVHModel<OBB>, OcTree>; | |
| 560 | 10 | distance_matrix[BV_RSS][GEOM_OCTREE] = &Distance<BVHModel<RSS>, OcTree>; | |
| 561 | 10 | distance_matrix[BV_OBBRSS][GEOM_OCTREE] = &Distance<BVHModel<OBBRSS>, OcTree>; | |
| 562 | 10 | distance_matrix[BV_kIOS][GEOM_OCTREE] = &Distance<BVHModel<kIOS>, OcTree>; | |
| 563 | 10 | distance_matrix[BV_KDOP16][GEOM_OCTREE] = &Distance<BVHModel<KDOP<16> >, OcTree>; | |
| 564 | 10 | distance_matrix[BV_KDOP18][GEOM_OCTREE] = &Distance<BVHModel<KDOP<18> >, OcTree>; | |
| 565 | 10 | distance_matrix[BV_KDOP24][GEOM_OCTREE] = &Distance<BVHModel<KDOP<24> >, OcTree>; | |
| 566 | 10 | distance_matrix[GEOM_OCTREE][HF_AABB] = &distance_function_not_implemented; | |
| 567 | 10 | distance_matrix[GEOM_OCTREE][HF_OBBRSS] = &distance_function_not_implemented; | |
| 568 | 10 | distance_matrix[HF_AABB][GEOM_OCTREE] = &distance_function_not_implemented; | |
| 569 | 10 | distance_matrix[HF_OBBRSS][GEOM_OCTREE] = &distance_function_not_implemented; | |
| 570 | #endif | ||
| 571 | // clang-format on | ||
| 572 | 10 | } | |
| 573 | // template struct DistanceFunctionMatrix; | ||
| 574 | } // namespace coal | ||
| 575 |