Directory: | ./ |
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File: | src/distance_func_matrix.cpp |
Date: | 2025-04-01 09:23:31 |
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1 | /* | ||
2 | * Software License Agreement (BSD License) | ||
3 | * | ||
4 | * Copyright (c) 2011-2014, Willow Garage, Inc. | ||
5 | * Copyright (c) 2014-2015, Open Source Robotics Foundation | ||
6 | * All rights reserved. | ||
7 | * | ||
8 | * Redistribution and use in source and binary forms, with or without | ||
9 | * modification, are permitted provided that the following conditions | ||
10 | * are met: | ||
11 | * | ||
12 | * * Redistributions of source code must retain the above copyright | ||
13 | * notice, this list of conditions and the following disclaimer. | ||
14 | * * Redistributions in binary form must reproduce the above | ||
15 | * copyright notice, this list of conditions and the following | ||
16 | * disclaimer in the documentation and/or other materials provided | ||
17 | * with the distribution. | ||
18 | * * Neither the name of Open Source Robotics Foundation nor the names of its | ||
19 | * contributors may be used to endorse or promote products derived | ||
20 | * from this software without specific prior written permission. | ||
21 | * | ||
22 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
23 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
24 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
25 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
26 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
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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{static Scalar distance( | |
87 | const CollisionGeometry* o1, const Transform3s& tf1, | ||
88 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
89 | const GJKSolver* nsolver, const DistanceRequest& request, | ||
90 | DistanceResult& result){ | ||
91 | ✗ | if (request.isSatisfied(result)) return result.min_distance; | |
92 | ✗ | MeshShapeDistanceTraversalNode<T_BVH, T_SH> node; | |
93 | ✗ | const BVHModel<T_BVH>* obj1 = static_cast<const BVHModel<T_BVH>*>(o1); | |
94 | ✗ | BVHModel<T_BVH>* obj1_tmp = new BVHModel<T_BVH>(*obj1); | |
95 | ✗ | Transform3s tf1_tmp = tf1; | |
96 | ✗ | const T_SH* obj2 = static_cast<const T_SH*>(o2); | |
97 | |||
98 | ✗ | initialize(node, *obj1_tmp, tf1_tmp, *obj2, tf2, nsolver, request, result); | |
99 | ✗ | ::coal::distance(&node); | |
100 | |||
101 | ✗ | delete obj1_tmp; | |
102 | ✗ | return result.min_distance; | |
103 | ✗ | } // namespace coal | |
104 | } | ||
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{static Scalar distance( | |
172 | const CollisionGeometry* o1, const Transform3s& tf1, | ||
173 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
174 | const GJKSolver* nsolver, const DistanceRequest& request, | ||
175 | DistanceResult& result){COAL_UNUSED_VARIABLE(o1); | ||
176 | COAL_UNUSED_VARIABLE(tf1); | ||
177 | COAL_UNUSED_VARIABLE(o2); | ||
178 | COAL_UNUSED_VARIABLE(tf2); | ||
179 | COAL_UNUSED_VARIABLE(nsolver); | ||
180 | COAL_UNUSED_VARIABLE(request); | ||
181 | // TODO(jcarpent) | ||
182 | ✗ | COAL_THROW_PRETTY( | |
183 | "Distance between a height field and a shape is not implemented", | ||
184 | std::invalid_argument); | ||
185 | // if(request.isSatisfied(result)) return result.min_distance; | ||
186 | // HeightFieldShapeDistanceTraversalNode<T_HF, T_SH> node; | ||
187 | // | ||
188 | // const HeightField<T_HF>* obj1 = static_cast<const HeightField<T_HF>* | ||
189 | // >(o1); const T_SH* obj2 = static_cast<const T_SH*>(o2); | ||
190 | // | ||
191 | // initialize(node, *obj1, tf1, *obj2, tf2, nsolver, request, result); | ||
192 | // fcl::distance(&node); | ||
193 | |||
194 | return result.min_distance; | ||
195 | } | ||
196 | } | ||
197 | ; | ||
198 | |||
199 | template <typename T_BVH> | ||
200 | ✗ | Scalar BVHDistance(const CollisionGeometry* o1, const Transform3s& tf1, | |
201 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
202 | const DistanceRequest& request, DistanceResult& result) { | ||
203 | ✗ | if (request.isSatisfied(result)) return result.min_distance; | |
204 | ✗ | MeshDistanceTraversalNode<T_BVH> node; | |
205 | ✗ | const BVHModel<T_BVH>* obj1 = static_cast<const BVHModel<T_BVH>*>(o1); | |
206 | ✗ | const BVHModel<T_BVH>* obj2 = static_cast<const BVHModel<T_BVH>*>(o2); | |
207 | ✗ | BVHModel<T_BVH>* obj1_tmp = new BVHModel<T_BVH>(*obj1); | |
208 | ✗ | Transform3s tf1_tmp = tf1; | |
209 | ✗ | BVHModel<T_BVH>* obj2_tmp = new BVHModel<T_BVH>(*obj2); | |
210 | ✗ | Transform3s tf2_tmp = tf2; | |
211 | |||
212 | ✗ | initialize(node, *obj1_tmp, tf1_tmp, *obj2_tmp, tf2_tmp, request, result); | |
213 | ✗ | distance(&node); | |
214 | ✗ | delete obj1_tmp; | |
215 | ✗ | delete obj2_tmp; | |
216 | |||
217 | ✗ | return result.min_distance; | |
218 | } | ||
219 | |||
220 | namespace details { | ||
221 | template <typename OrientedMeshDistanceTraversalNode, typename T_BVH> | ||
222 | 14290 | Scalar orientedMeshDistance(const CollisionGeometry* o1, const Transform3s& tf1, | |
223 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
224 | const DistanceRequest& request, | ||
225 | DistanceResult& result) { | ||
226 |
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14290 | if (request.isSatisfied(result)) return result.min_distance; |
227 |
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14290 | OrientedMeshDistanceTraversalNode node; |
228 | 14290 | const BVHModel<T_BVH>* obj1 = static_cast<const BVHModel<T_BVH>*>(o1); | |
229 | 14290 | const BVHModel<T_BVH>* obj2 = static_cast<const BVHModel<T_BVH>*>(o2); | |
230 | |||
231 |
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14290 | initialize(node, *obj1, tf1, *obj2, tf2, request, result); |
232 |
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14290 | distance(&node); |
233 | |||
234 | 14290 | return result.min_distance; | |
235 | } | ||
236 | |||
237 | } // namespace details | ||
238 | |||
239 | template <> | ||
240 | ✗ | Scalar BVHDistance<RSS>(const CollisionGeometry* o1, const Transform3s& tf1, | |
241 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
242 | const DistanceRequest& request, | ||
243 | DistanceResult& result) { | ||
244 | ✗ | return details::orientedMeshDistance<MeshDistanceTraversalNodeRSS, RSS>( | |
245 | ✗ | o1, tf1, o2, tf2, request, result); | |
246 | } | ||
247 | |||
248 | template <> | ||
249 | ✗ | Scalar BVHDistance<kIOS>(const CollisionGeometry* o1, const Transform3s& tf1, | |
250 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
251 | const DistanceRequest& request, | ||
252 | DistanceResult& result) { | ||
253 | ✗ | return details::orientedMeshDistance<MeshDistanceTraversalNodekIOS, kIOS>( | |
254 | ✗ | o1, tf1, o2, tf2, request, result); | |
255 | } | ||
256 | |||
257 | template <> | ||
258 | 7145 | Scalar BVHDistance<OBBRSS>(const CollisionGeometry* o1, const Transform3s& tf1, | |
259 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
260 | const DistanceRequest& request, | ||
261 | DistanceResult& result) { | ||
262 | 7145 | return details::orientedMeshDistance<MeshDistanceTraversalNodeOBBRSS, OBBRSS>( | |
263 | 7145 | o1, tf1, o2, tf2, request, result); | |
264 | } | ||
265 | |||
266 | template <typename T_BVH> | ||
267 | 14290 | Scalar BVHDistance(const CollisionGeometry* o1, const Transform3s& tf1, | |
268 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
269 | const GJKSolver* /*nsolver*/, const DistanceRequest& request, | ||
270 | DistanceResult& result) { | ||
271 | 14290 | return BVHDistance<T_BVH>(o1, tf1, o2, tf2, request, result); | |
272 | } | ||
273 | |||
274 | 10 | DistanceFunctionMatrix::DistanceFunctionMatrix() { | |
275 |
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230 | for (int i = 0; i < NODE_COUNT; ++i) { |
276 |
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5060 | for (int j = 0; j < NODE_COUNT; ++j) distance_matrix[i][j] = NULL; |
277 | } | ||
278 | |||
279 | 10 | distance_matrix[GEOM_BOX][GEOM_BOX] = &ShapeShapeDistance<Box, Box>; | |
280 | 10 | distance_matrix[GEOM_BOX][GEOM_SPHERE] = &ShapeShapeDistance<Box, Sphere>; | |
281 | 10 | distance_matrix[GEOM_BOX][GEOM_CAPSULE] = &ShapeShapeDistance<Box, Capsule>; | |
282 | 10 | distance_matrix[GEOM_BOX][GEOM_CONE] = &ShapeShapeDistance<Box, Cone>; | |
283 | 10 | distance_matrix[GEOM_BOX][GEOM_CYLINDER] = &ShapeShapeDistance<Box, Cylinder>; | |
284 | 10 | distance_matrix[GEOM_BOX][GEOM_CONVEX] = &ShapeShapeDistance<Box, ConvexBase>; | |
285 | 10 | distance_matrix[GEOM_BOX][GEOM_PLANE] = &ShapeShapeDistance<Box, Plane>; | |
286 | 10 | distance_matrix[GEOM_BOX][GEOM_HALFSPACE] = | |
287 | &ShapeShapeDistance<Box, Halfspace>; | ||
288 | 10 | distance_matrix[GEOM_BOX][GEOM_ELLIPSOID] = | |
289 | &ShapeShapeDistance<Box, Ellipsoid>; | ||
290 | |||
291 | 10 | distance_matrix[GEOM_SPHERE][GEOM_BOX] = &ShapeShapeDistance<Sphere, Box>; | |
292 | 10 | distance_matrix[GEOM_SPHERE][GEOM_SPHERE] = | |
293 | &ShapeShapeDistance<Sphere, Sphere>; | ||
294 | 10 | distance_matrix[GEOM_SPHERE][GEOM_CAPSULE] = | |
295 | &ShapeShapeDistance<Sphere, Capsule>; | ||
296 | 10 | distance_matrix[GEOM_SPHERE][GEOM_CONE] = &ShapeShapeDistance<Sphere, Cone>; | |
297 | 10 | distance_matrix[GEOM_SPHERE][GEOM_CYLINDER] = | |
298 | &ShapeShapeDistance<Sphere, Cylinder>; | ||
299 | 10 | distance_matrix[GEOM_SPHERE][GEOM_CONVEX] = | |
300 | &ShapeShapeDistance<Sphere, ConvexBase>; | ||
301 | 10 | distance_matrix[GEOM_SPHERE][GEOM_PLANE] = &ShapeShapeDistance<Sphere, Plane>; | |
302 | 10 | distance_matrix[GEOM_SPHERE][GEOM_HALFSPACE] = | |
303 | &ShapeShapeDistance<Sphere, Halfspace>; | ||
304 | 10 | distance_matrix[GEOM_SPHERE][GEOM_ELLIPSOID] = | |
305 | &ShapeShapeDistance<Sphere, Ellipsoid>; | ||
306 | |||
307 | 10 | distance_matrix[GEOM_ELLIPSOID][GEOM_BOX] = | |
308 | &ShapeShapeDistance<Ellipsoid, Box>; | ||
309 | 10 | distance_matrix[GEOM_ELLIPSOID][GEOM_SPHERE] = | |
310 | &ShapeShapeDistance<Ellipsoid, Sphere>; | ||
311 | 10 | distance_matrix[GEOM_ELLIPSOID][GEOM_CAPSULE] = | |
312 | &ShapeShapeDistance<Ellipsoid, Capsule>; | ||
313 | 10 | distance_matrix[GEOM_ELLIPSOID][GEOM_CONE] = | |
314 | &ShapeShapeDistance<Ellipsoid, Cone>; | ||
315 | 10 | distance_matrix[GEOM_ELLIPSOID][GEOM_CYLINDER] = | |
316 | &ShapeShapeDistance<Ellipsoid, Cylinder>; | ||
317 | 10 | distance_matrix[GEOM_ELLIPSOID][GEOM_CONVEX] = | |
318 | &ShapeShapeDistance<Ellipsoid, ConvexBase>; | ||
319 | 10 | distance_matrix[GEOM_ELLIPSOID][GEOM_PLANE] = | |
320 | &ShapeShapeDistance<Ellipsoid, Plane>; | ||
321 | 10 | distance_matrix[GEOM_ELLIPSOID][GEOM_HALFSPACE] = | |
322 | &ShapeShapeDistance<Ellipsoid, Halfspace>; | ||
323 | 10 | distance_matrix[GEOM_ELLIPSOID][GEOM_ELLIPSOID] = | |
324 | &ShapeShapeDistance<Ellipsoid, Ellipsoid>; | ||
325 | |||
326 | 10 | distance_matrix[GEOM_CAPSULE][GEOM_BOX] = &ShapeShapeDistance<Capsule, Box>; | |
327 | 10 | distance_matrix[GEOM_CAPSULE][GEOM_SPHERE] = | |
328 | &ShapeShapeDistance<Capsule, Sphere>; | ||
329 | 10 | distance_matrix[GEOM_CAPSULE][GEOM_CAPSULE] = | |
330 | &ShapeShapeDistance<Capsule, Capsule>; | ||
331 | 10 | distance_matrix[GEOM_CAPSULE][GEOM_CONE] = &ShapeShapeDistance<Capsule, Cone>; | |
332 | 10 | distance_matrix[GEOM_CAPSULE][GEOM_CYLINDER] = | |
333 | &ShapeShapeDistance<Capsule, Cylinder>; | ||
334 | 10 | distance_matrix[GEOM_CAPSULE][GEOM_CONVEX] = | |
335 | &ShapeShapeDistance<Capsule, ConvexBase>; | ||
336 | 10 | distance_matrix[GEOM_CAPSULE][GEOM_PLANE] = | |
337 | &ShapeShapeDistance<Capsule, Plane>; | ||
338 | 10 | distance_matrix[GEOM_CAPSULE][GEOM_HALFSPACE] = | |
339 | &ShapeShapeDistance<Capsule, Halfspace>; | ||
340 | 10 | distance_matrix[GEOM_CAPSULE][GEOM_ELLIPSOID] = | |
341 | &ShapeShapeDistance<Capsule, Ellipsoid>; | ||
342 | |||
343 | 10 | distance_matrix[GEOM_CONE][GEOM_BOX] = &ShapeShapeDistance<Cone, Box>; | |
344 | 10 | distance_matrix[GEOM_CONE][GEOM_SPHERE] = &ShapeShapeDistance<Cone, Sphere>; | |
345 | 10 | distance_matrix[GEOM_CONE][GEOM_CAPSULE] = &ShapeShapeDistance<Cone, Capsule>; | |
346 | 10 | distance_matrix[GEOM_CONE][GEOM_CONE] = &ShapeShapeDistance<Cone, Cone>; | |
347 | 10 | distance_matrix[GEOM_CONE][GEOM_CYLINDER] = | |
348 | &ShapeShapeDistance<Cone, Cylinder>; | ||
349 | 10 | distance_matrix[GEOM_CONE][GEOM_CONVEX] = | |
350 | &ShapeShapeDistance<Cone, ConvexBase>; | ||
351 | 10 | distance_matrix[GEOM_CONE][GEOM_PLANE] = &ShapeShapeDistance<Cone, Plane>; | |
352 | 10 | distance_matrix[GEOM_CONE][GEOM_HALFSPACE] = | |
353 | &ShapeShapeDistance<Cone, Halfspace>; | ||
354 | 10 | distance_matrix[GEOM_CONE][GEOM_ELLIPSOID] = | |
355 | &ShapeShapeDistance<Cone, Ellipsoid>; | ||
356 | |||
357 | 10 | distance_matrix[GEOM_CYLINDER][GEOM_BOX] = &ShapeShapeDistance<Cylinder, Box>; | |
358 | 10 | distance_matrix[GEOM_CYLINDER][GEOM_SPHERE] = | |
359 | &ShapeShapeDistance<Cylinder, Sphere>; | ||
360 | 10 | distance_matrix[GEOM_CYLINDER][GEOM_CAPSULE] = | |
361 | &ShapeShapeDistance<Cylinder, Capsule>; | ||
362 | 10 | distance_matrix[GEOM_CYLINDER][GEOM_CONE] = | |
363 | &ShapeShapeDistance<Cylinder, Cone>; | ||
364 | 10 | distance_matrix[GEOM_CYLINDER][GEOM_CYLINDER] = | |
365 | &ShapeShapeDistance<Cylinder, Cylinder>; | ||
366 | 10 | distance_matrix[GEOM_CYLINDER][GEOM_CONVEX] = | |
367 | &ShapeShapeDistance<Cylinder, ConvexBase>; | ||
368 | 10 | distance_matrix[GEOM_CYLINDER][GEOM_PLANE] = | |
369 | &ShapeShapeDistance<Cylinder, Plane>; | ||
370 | 10 | distance_matrix[GEOM_CYLINDER][GEOM_HALFSPACE] = | |
371 | &ShapeShapeDistance<Cylinder, Halfspace>; | ||
372 | 10 | distance_matrix[GEOM_CYLINDER][GEOM_ELLIPSOID] = | |
373 | &ShapeShapeDistance<Cylinder, Ellipsoid>; | ||
374 | |||
375 | 10 | distance_matrix[GEOM_CONVEX][GEOM_BOX] = &ShapeShapeDistance<ConvexBase, Box>; | |
376 | 10 | distance_matrix[GEOM_CONVEX][GEOM_SPHERE] = | |
377 | &ShapeShapeDistance<ConvexBase, Sphere>; | ||
378 | 10 | distance_matrix[GEOM_CONVEX][GEOM_CAPSULE] = | |
379 | &ShapeShapeDistance<ConvexBase, Capsule>; | ||
380 | 10 | distance_matrix[GEOM_CONVEX][GEOM_CONE] = | |
381 | &ShapeShapeDistance<ConvexBase, Cone>; | ||
382 | 10 | distance_matrix[GEOM_CONVEX][GEOM_CYLINDER] = | |
383 | &ShapeShapeDistance<ConvexBase, Cylinder>; | ||
384 | 10 | distance_matrix[GEOM_CONVEX][GEOM_CONVEX] = | |
385 | &ShapeShapeDistance<ConvexBase, ConvexBase>; | ||
386 | 10 | distance_matrix[GEOM_CONVEX][GEOM_PLANE] = | |
387 | &ShapeShapeDistance<ConvexBase, Plane>; | ||
388 | 10 | distance_matrix[GEOM_CONVEX][GEOM_HALFSPACE] = | |
389 | &ShapeShapeDistance<ConvexBase, Halfspace>; | ||
390 | 10 | distance_matrix[GEOM_CONVEX][GEOM_ELLIPSOID] = | |
391 | &ShapeShapeDistance<ConvexBase, Ellipsoid>; | ||
392 | |||
393 | 10 | distance_matrix[GEOM_PLANE][GEOM_BOX] = &ShapeShapeDistance<Plane, Box>; | |
394 | 10 | distance_matrix[GEOM_PLANE][GEOM_SPHERE] = &ShapeShapeDistance<Plane, Sphere>; | |
395 | 10 | distance_matrix[GEOM_PLANE][GEOM_CAPSULE] = | |
396 | &ShapeShapeDistance<Plane, Capsule>; | ||
397 | 10 | distance_matrix[GEOM_PLANE][GEOM_CONE] = &ShapeShapeDistance<Plane, Cone>; | |
398 | 10 | distance_matrix[GEOM_PLANE][GEOM_CYLINDER] = | |
399 | &ShapeShapeDistance<Plane, Cylinder>; | ||
400 | 10 | distance_matrix[GEOM_PLANE][GEOM_CONVEX] = | |
401 | &ShapeShapeDistance<Plane, ConvexBase>; | ||
402 | 10 | distance_matrix[GEOM_PLANE][GEOM_PLANE] = &ShapeShapeDistance<Plane, Plane>; | |
403 | 10 | distance_matrix[GEOM_PLANE][GEOM_HALFSPACE] = | |
404 | &ShapeShapeDistance<Plane, Halfspace>; | ||
405 | 10 | distance_matrix[GEOM_PLANE][GEOM_ELLIPSOID] = | |
406 | &ShapeShapeDistance<Plane, Ellipsoid>; | ||
407 | |||
408 | 10 | distance_matrix[GEOM_HALFSPACE][GEOM_BOX] = | |
409 | &ShapeShapeDistance<Halfspace, Box>; | ||
410 | 10 | distance_matrix[GEOM_HALFSPACE][GEOM_SPHERE] = | |
411 | &ShapeShapeDistance<Halfspace, Sphere>; | ||
412 | 10 | distance_matrix[GEOM_HALFSPACE][GEOM_CAPSULE] = | |
413 | &ShapeShapeDistance<Halfspace, Capsule>; | ||
414 | 10 | distance_matrix[GEOM_HALFSPACE][GEOM_CONE] = | |
415 | &ShapeShapeDistance<Halfspace, Cone>; | ||
416 | 10 | distance_matrix[GEOM_HALFSPACE][GEOM_CYLINDER] = | |
417 | &ShapeShapeDistance<Halfspace, Cylinder>; | ||
418 | 10 | distance_matrix[GEOM_HALFSPACE][GEOM_CONVEX] = | |
419 | &ShapeShapeDistance<Halfspace, ConvexBase>; | ||
420 | 10 | distance_matrix[GEOM_HALFSPACE][GEOM_PLANE] = | |
421 | &ShapeShapeDistance<Halfspace, Plane>; | ||
422 | 10 | distance_matrix[GEOM_HALFSPACE][GEOM_HALFSPACE] = | |
423 | &ShapeShapeDistance<Halfspace, Halfspace>; | ||
424 | 10 | distance_matrix[GEOM_HALFSPACE][GEOM_ELLIPSOID] = | |
425 | &ShapeShapeDistance<Halfspace, Ellipsoid>; | ||
426 | |||
427 | /* AABB distance not implemented */ | ||
428 | /* | ||
429 | distance_matrix[BV_AABB][GEOM_BOX] = &BVHShapeDistancer<AABB, Box>::distance; | ||
430 | distance_matrix[BV_AABB][GEOM_SPHERE] = &BVHShapeDistancer<AABB, | ||
431 | Sphere>::distance; distance_matrix[BV_AABB][GEOM_CAPSULE] = | ||
432 | &BVHShapeDistancer<AABB, Capsule>::distance; | ||
433 | distance_matrix[BV_AABB][GEOM_CONE] = &BVHShapeDistancer<AABB, | ||
434 | Cone>::distance; distance_matrix[BV_AABB][GEOM_CYLINDER] = | ||
435 | &BVHShapeDistancer<AABB, Cylinder>::distance; | ||
436 | distance_matrix[BV_AABB][GEOM_CONVEX] = &BVHShapeDistancer<AABB, | ||
437 | ConvexBase>::distance; distance_matrix[BV_AABB][GEOM_PLANE] = | ||
438 | &BVHShapeDistancer<AABB, Plane>::distance; | ||
439 | distance_matrix[BV_AABB][GEOM_HALFSPACE] = &BVHShapeDistancer<AABB, | ||
440 | Halfspace>::distance; | ||
441 | */ | ||
442 | |||
443 | 10 | distance_matrix[BV_OBB][GEOM_BOX] = &BVHShapeDistancer<OBB, Box>::distance; | |
444 | 10 | distance_matrix[BV_OBB][GEOM_SPHERE] = | |
445 | &BVHShapeDistancer<OBB, Sphere>::distance; | ||
446 | 10 | distance_matrix[BV_OBB][GEOM_CAPSULE] = | |
447 | &BVHShapeDistancer<OBB, Capsule>::distance; | ||
448 | 10 | distance_matrix[BV_OBB][GEOM_CONE] = &BVHShapeDistancer<OBB, Cone>::distance; | |
449 | 10 | distance_matrix[BV_OBB][GEOM_CYLINDER] = | |
450 | &BVHShapeDistancer<OBB, Cylinder>::distance; | ||
451 | 10 | distance_matrix[BV_OBB][GEOM_CONVEX] = | |
452 | &BVHShapeDistancer<OBB, ConvexBase>::distance; | ||
453 | 10 | distance_matrix[BV_OBB][GEOM_PLANE] = | |
454 | &BVHShapeDistancer<OBB, Plane>::distance; | ||
455 | 10 | distance_matrix[BV_OBB][GEOM_HALFSPACE] = | |
456 | &BVHShapeDistancer<OBB, Halfspace>::distance; | ||
457 | 10 | distance_matrix[BV_OBB][GEOM_ELLIPSOID] = | |
458 | &BVHShapeDistancer<OBB, Ellipsoid>::distance; | ||
459 | |||
460 | 10 | distance_matrix[BV_RSS][GEOM_BOX] = &BVHShapeDistancer<RSS, Box>::distance; | |
461 | 10 | distance_matrix[BV_RSS][GEOM_SPHERE] = | |
462 | &BVHShapeDistancer<RSS, Sphere>::distance; | ||
463 | 10 | distance_matrix[BV_RSS][GEOM_CAPSULE] = | |
464 | &BVHShapeDistancer<RSS, Capsule>::distance; | ||
465 | 10 | distance_matrix[BV_RSS][GEOM_CONE] = &BVHShapeDistancer<RSS, Cone>::distance; | |
466 | 10 | distance_matrix[BV_RSS][GEOM_CYLINDER] = | |
467 | &BVHShapeDistancer<RSS, Cylinder>::distance; | ||
468 | 10 | distance_matrix[BV_RSS][GEOM_CONVEX] = | |
469 | &BVHShapeDistancer<RSS, ConvexBase>::distance; | ||
470 | 10 | distance_matrix[BV_RSS][GEOM_PLANE] = | |
471 | &BVHShapeDistancer<RSS, Plane>::distance; | ||
472 | 10 | distance_matrix[BV_RSS][GEOM_HALFSPACE] = | |
473 | &BVHShapeDistancer<RSS, Halfspace>::distance; | ||
474 | 10 | distance_matrix[BV_RSS][GEOM_ELLIPSOID] = | |
475 | &BVHShapeDistancer<RSS, Ellipsoid>::distance; | ||
476 | |||
477 | /* KDOP distance not implemented */ | ||
478 | /* | ||
479 | distance_matrix[BV_KDOP16][GEOM_BOX] = &BVHShapeDistancer<KDOP<16>, | ||
480 | Box>::distance; distance_matrix[BV_KDOP16][GEOM_SPHERE] = | ||
481 | &BVHShapeDistancer<KDOP<16>, Sphere>::distance; | ||
482 | distance_matrix[BV_KDOP16][GEOM_CAPSULE] = &BVHShapeDistancer<KDOP<16>, | ||
483 | Capsule>::distance; distance_matrix[BV_KDOP16][GEOM_CONE] = | ||
484 | &BVHShapeDistancer<KDOP<16>, Cone>::distance; | ||
485 | distance_matrix[BV_KDOP16][GEOM_CYLINDER] = &BVHShapeDistancer<KDOP<16>, | ||
486 | Cylinder>::distance; distance_matrix[BV_KDOP16][GEOM_CONVEX] = | ||
487 | &BVHShapeDistancer<KDOP<16>, ConvexBase>::distance; | ||
488 | distance_matrix[BV_KDOP16][GEOM_PLANE] = &BVHShapeDistancer<KDOP<16>, | ||
489 | Plane>::distance; distance_matrix[BV_KDOP16][GEOM_HALFSPACE] = | ||
490 | &BVHShapeDistancer<KDOP<16>, Halfspace>::distance; | ||
491 | |||
492 | distance_matrix[BV_KDOP18][GEOM_BOX] = &BVHShapeDistancer<KDOP<18>, | ||
493 | Box>::distance; distance_matrix[BV_KDOP18][GEOM_SPHERE] = | ||
494 | &BVHShapeDistancer<KDOP<18>, Sphere>::distance; | ||
495 | distance_matrix[BV_KDOP18][GEOM_CAPSULE] = &BVHShapeDistancer<KDOP<18>, | ||
496 | Capsule>::distance; distance_matrix[BV_KDOP18][GEOM_CONE] = | ||
497 | &BVHShapeDistancer<KDOP<18>, Cone>::distance; | ||
498 | distance_matrix[BV_KDOP18][GEOM_CYLINDER] = &BVHShapeDistancer<KDOP<18>, | ||
499 | Cylinder>::distance; distance_matrix[BV_KDOP18][GEOM_CONVEX] = | ||
500 | &BVHShapeDistancer<KDOP<18>, ConvexBase>::distance; | ||
501 | distance_matrix[BV_KDOP18][GEOM_PLANE] = &BVHShapeDistancer<KDOP<18>, | ||
502 | Plane>::distance; distance_matrix[BV_KDOP18][GEOM_HALFSPACE] = | ||
503 | &BVHShapeDistancer<KDOP<18>, Halfspace>::distance; | ||
504 | |||
505 | distance_matrix[BV_KDOP24][GEOM_BOX] = &BVHShapeDistancer<KDOP<24>, | ||
506 | Box>::distance; distance_matrix[BV_KDOP24][GEOM_SPHERE] = | ||
507 | &BVHShapeDistancer<KDOP<24>, Sphere>::distance; | ||
508 | distance_matrix[BV_KDOP24][GEOM_CAPSULE] = &BVHShapeDistancer<KDOP<24>, | ||
509 | Capsule>::distance; distance_matrix[BV_KDOP24][GEOM_CONE] = | ||
510 | &BVHShapeDistancer<KDOP<24>, Cone>::distance; | ||
511 | distance_matrix[BV_KDOP24][GEOM_CYLINDER] = &BVHShapeDistancer<KDOP<24>, | ||
512 | Cylinder>::distance; distance_matrix[BV_KDOP24][GEOM_CONVEX] = | ||
513 | &BVHShapeDistancer<KDOP<24>, ConvexBase>::distance; | ||
514 | distance_matrix[BV_KDOP24][GEOM_PLANE] = &BVHShapeDistancer<KDOP<24>, | ||
515 | Plane>::distance; distance_matrix[BV_KDOP24][GEOM_HALFSPACE] = | ||
516 | &BVHShapeDistancer<KDOP<24>, Halfspace>::distance; | ||
517 | */ | ||
518 | |||
519 | 10 | distance_matrix[BV_kIOS][GEOM_BOX] = &BVHShapeDistancer<kIOS, Box>::distance; | |
520 | 10 | distance_matrix[BV_kIOS][GEOM_SPHERE] = | |
521 | &BVHShapeDistancer<kIOS, Sphere>::distance; | ||
522 | 10 | distance_matrix[BV_kIOS][GEOM_CAPSULE] = | |
523 | &BVHShapeDistancer<kIOS, Capsule>::distance; | ||
524 | 10 | distance_matrix[BV_kIOS][GEOM_CONE] = | |
525 | &BVHShapeDistancer<kIOS, Cone>::distance; | ||
526 | 10 | distance_matrix[BV_kIOS][GEOM_CYLINDER] = | |
527 | &BVHShapeDistancer<kIOS, Cylinder>::distance; | ||
528 | 10 | distance_matrix[BV_kIOS][GEOM_CONVEX] = | |
529 | &BVHShapeDistancer<kIOS, ConvexBase>::distance; | ||
530 | 10 | distance_matrix[BV_kIOS][GEOM_PLANE] = | |
531 | &BVHShapeDistancer<kIOS, Plane>::distance; | ||
532 | 10 | distance_matrix[BV_kIOS][GEOM_HALFSPACE] = | |
533 | &BVHShapeDistancer<kIOS, Halfspace>::distance; | ||
534 | 10 | distance_matrix[BV_kIOS][GEOM_ELLIPSOID] = | |
535 | &BVHShapeDistancer<kIOS, Ellipsoid>::distance; | ||
536 | |||
537 | 10 | distance_matrix[BV_OBBRSS][GEOM_BOX] = | |
538 | &BVHShapeDistancer<OBBRSS, Box>::distance; | ||
539 | 10 | distance_matrix[BV_OBBRSS][GEOM_SPHERE] = | |
540 | &BVHShapeDistancer<OBBRSS, Sphere>::distance; | ||
541 | 10 | distance_matrix[BV_OBBRSS][GEOM_CAPSULE] = | |
542 | &BVHShapeDistancer<OBBRSS, Capsule>::distance; | ||
543 | 10 | distance_matrix[BV_OBBRSS][GEOM_CONE] = | |
544 | &BVHShapeDistancer<OBBRSS, Cone>::distance; | ||
545 | 10 | distance_matrix[BV_OBBRSS][GEOM_CYLINDER] = | |
546 | &BVHShapeDistancer<OBBRSS, Cylinder>::distance; | ||
547 | 10 | distance_matrix[BV_OBBRSS][GEOM_CONVEX] = | |
548 | &BVHShapeDistancer<OBBRSS, ConvexBase>::distance; | ||
549 | 10 | distance_matrix[BV_OBBRSS][GEOM_PLANE] = | |
550 | &BVHShapeDistancer<OBBRSS, Plane>::distance; | ||
551 | 10 | distance_matrix[BV_OBBRSS][GEOM_HALFSPACE] = | |
552 | &BVHShapeDistancer<OBBRSS, Halfspace>::distance; | ||
553 | 10 | distance_matrix[BV_OBBRSS][GEOM_ELLIPSOID] = | |
554 | &BVHShapeDistancer<OBBRSS, Ellipsoid>::distance; | ||
555 | |||
556 | 10 | distance_matrix[HF_AABB][GEOM_BOX] = | |
557 | &HeightFieldShapeDistancer<AABB, Box>::distance; | ||
558 | 10 | distance_matrix[HF_AABB][GEOM_SPHERE] = | |
559 | &HeightFieldShapeDistancer<AABB, Sphere>::distance; | ||
560 | 10 | distance_matrix[HF_AABB][GEOM_CAPSULE] = | |
561 | &HeightFieldShapeDistancer<AABB, Capsule>::distance; | ||
562 | 10 | distance_matrix[HF_AABB][GEOM_CONE] = | |
563 | &HeightFieldShapeDistancer<AABB, Cone>::distance; | ||
564 | 10 | distance_matrix[HF_AABB][GEOM_CYLINDER] = | |
565 | &HeightFieldShapeDistancer<AABB, Cylinder>::distance; | ||
566 | 10 | distance_matrix[HF_AABB][GEOM_CONVEX] = | |
567 | &HeightFieldShapeDistancer<AABB, ConvexBase>::distance; | ||
568 | 10 | distance_matrix[HF_AABB][GEOM_PLANE] = | |
569 | &HeightFieldShapeDistancer<AABB, Plane>::distance; | ||
570 | 10 | distance_matrix[HF_AABB][GEOM_HALFSPACE] = | |
571 | &HeightFieldShapeDistancer<AABB, Halfspace>::distance; | ||
572 | 10 | distance_matrix[HF_AABB][GEOM_ELLIPSOID] = | |
573 | &HeightFieldShapeDistancer<AABB, Ellipsoid>::distance; | ||
574 | |||
575 | 10 | distance_matrix[HF_OBBRSS][GEOM_BOX] = | |
576 | &HeightFieldShapeDistancer<OBBRSS, Box>::distance; | ||
577 | 10 | distance_matrix[HF_OBBRSS][GEOM_SPHERE] = | |
578 | &HeightFieldShapeDistancer<OBBRSS, Sphere>::distance; | ||
579 | 10 | distance_matrix[HF_OBBRSS][GEOM_CAPSULE] = | |
580 | &HeightFieldShapeDistancer<OBBRSS, Capsule>::distance; | ||
581 | 10 | distance_matrix[HF_OBBRSS][GEOM_CONE] = | |
582 | &HeightFieldShapeDistancer<OBBRSS, Cone>::distance; | ||
583 | 10 | distance_matrix[HF_OBBRSS][GEOM_CYLINDER] = | |
584 | &HeightFieldShapeDistancer<OBBRSS, Cylinder>::distance; | ||
585 | 10 | distance_matrix[HF_OBBRSS][GEOM_CONVEX] = | |
586 | &HeightFieldShapeDistancer<OBBRSS, ConvexBase>::distance; | ||
587 | 10 | distance_matrix[HF_OBBRSS][GEOM_PLANE] = | |
588 | &HeightFieldShapeDistancer<OBBRSS, Plane>::distance; | ||
589 | 10 | distance_matrix[HF_OBBRSS][GEOM_HALFSPACE] = | |
590 | &HeightFieldShapeDistancer<OBBRSS, Halfspace>::distance; | ||
591 | 10 | distance_matrix[HF_OBBRSS][GEOM_ELLIPSOID] = | |
592 | &HeightFieldShapeDistancer<OBBRSS, Ellipsoid>::distance; | ||
593 | |||
594 | 10 | distance_matrix[BV_AABB][BV_AABB] = &BVHDistance<AABB>; | |
595 | 10 | distance_matrix[BV_OBB][BV_OBB] = &BVHDistance<OBB>; | |
596 | 10 | distance_matrix[BV_RSS][BV_RSS] = &BVHDistance<RSS>; | |
597 | 10 | distance_matrix[BV_kIOS][BV_kIOS] = &BVHDistance<kIOS>; | |
598 | 10 | distance_matrix[BV_OBBRSS][BV_OBBRSS] = &BVHDistance<OBBRSS>; | |
599 | |||
600 | #ifdef COAL_HAS_OCTOMAP | ||
601 | 10 | distance_matrix[GEOM_OCTREE][GEOM_BOX] = &Distance<OcTree, Box>; | |
602 | 10 | distance_matrix[GEOM_OCTREE][GEOM_SPHERE] = &Distance<OcTree, Sphere>; | |
603 | 10 | distance_matrix[GEOM_OCTREE][GEOM_CAPSULE] = &Distance<OcTree, Capsule>; | |
604 | 10 | distance_matrix[GEOM_OCTREE][GEOM_CONE] = &Distance<OcTree, Cone>; | |
605 | 10 | distance_matrix[GEOM_OCTREE][GEOM_CYLINDER] = &Distance<OcTree, Cylinder>; | |
606 | 10 | distance_matrix[GEOM_OCTREE][GEOM_CONVEX] = &Distance<OcTree, ConvexBase>; | |
607 | 10 | distance_matrix[GEOM_OCTREE][GEOM_PLANE] = &Distance<OcTree, Plane>; | |
608 | 10 | distance_matrix[GEOM_OCTREE][GEOM_HALFSPACE] = &Distance<OcTree, Halfspace>; | |
609 | 10 | distance_matrix[GEOM_OCTREE][GEOM_ELLIPSOID] = &Distance<OcTree, Ellipsoid>; | |
610 | |||
611 | 10 | distance_matrix[GEOM_BOX][GEOM_OCTREE] = &Distance<Box, OcTree>; | |
612 | 10 | distance_matrix[GEOM_SPHERE][GEOM_OCTREE] = &Distance<Sphere, OcTree>; | |
613 | 10 | distance_matrix[GEOM_CAPSULE][GEOM_OCTREE] = &Distance<Capsule, OcTree>; | |
614 | 10 | distance_matrix[GEOM_CONE][GEOM_OCTREE] = &Distance<Cone, OcTree>; | |
615 | 10 | distance_matrix[GEOM_CYLINDER][GEOM_OCTREE] = &Distance<Cylinder, OcTree>; | |
616 | 10 | distance_matrix[GEOM_CONVEX][GEOM_OCTREE] = &Distance<ConvexBase, OcTree>; | |
617 | 10 | distance_matrix[GEOM_PLANE][GEOM_OCTREE] = &Distance<Plane, OcTree>; | |
618 | 10 | distance_matrix[GEOM_HALFSPACE][GEOM_OCTREE] = &Distance<Halfspace, OcTree>; | |
619 | |||
620 | 10 | distance_matrix[GEOM_OCTREE][GEOM_OCTREE] = &Distance<OcTree, OcTree>; | |
621 | |||
622 | 10 | distance_matrix[GEOM_OCTREE][BV_AABB] = &Distance<OcTree, BVHModel<AABB> >; | |
623 | 10 | distance_matrix[GEOM_OCTREE][BV_OBB] = &Distance<OcTree, BVHModel<OBB> >; | |
624 | 10 | distance_matrix[GEOM_OCTREE][BV_RSS] = &Distance<OcTree, BVHModel<RSS> >; | |
625 | 10 | distance_matrix[GEOM_OCTREE][BV_OBBRSS] = | |
626 | &Distance<OcTree, BVHModel<OBBRSS> >; | ||
627 | 10 | distance_matrix[GEOM_OCTREE][BV_kIOS] = &Distance<OcTree, BVHModel<kIOS> >; | |
628 | 10 | distance_matrix[GEOM_OCTREE][BV_KDOP16] = | |
629 | &Distance<OcTree, BVHModel<KDOP<16> > >; | ||
630 | 10 | distance_matrix[GEOM_OCTREE][BV_KDOP18] = | |
631 | &Distance<OcTree, BVHModel<KDOP<18> > >; | ||
632 | 10 | distance_matrix[GEOM_OCTREE][BV_KDOP24] = | |
633 | &Distance<OcTree, BVHModel<KDOP<24> > >; | ||
634 | |||
635 | 10 | distance_matrix[BV_AABB][GEOM_OCTREE] = &Distance<BVHModel<AABB>, OcTree>; | |
636 | 10 | distance_matrix[BV_OBB][GEOM_OCTREE] = &Distance<BVHModel<OBB>, OcTree>; | |
637 | 10 | distance_matrix[BV_RSS][GEOM_OCTREE] = &Distance<BVHModel<RSS>, OcTree>; | |
638 | 10 | distance_matrix[BV_OBBRSS][GEOM_OCTREE] = &Distance<BVHModel<OBBRSS>, OcTree>; | |
639 | 10 | distance_matrix[BV_kIOS][GEOM_OCTREE] = &Distance<BVHModel<kIOS>, OcTree>; | |
640 | 10 | distance_matrix[BV_KDOP16][GEOM_OCTREE] = | |
641 | &Distance<BVHModel<KDOP<16> >, OcTree>; | ||
642 | 10 | distance_matrix[BV_KDOP18][GEOM_OCTREE] = | |
643 | &Distance<BVHModel<KDOP<18> >, OcTree>; | ||
644 | 10 | distance_matrix[BV_KDOP24][GEOM_OCTREE] = | |
645 | &Distance<BVHModel<KDOP<24> >, OcTree>; | ||
646 | 10 | distance_matrix[GEOM_OCTREE][HF_AABB] = &distance_function_not_implemented; | |
647 | 10 | distance_matrix[GEOM_OCTREE][HF_OBBRSS] = &distance_function_not_implemented; | |
648 | 10 | distance_matrix[HF_AABB][GEOM_OCTREE] = &distance_function_not_implemented; | |
649 | 10 | distance_matrix[HF_OBBRSS][GEOM_OCTREE] = &distance_function_not_implemented; | |
650 | #endif | ||
651 | 10 | } | |
652 | // template struct DistanceFunctionMatrix; | ||
653 | } // namespace coal | ||
654 |