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/* |
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* Software License Agreement (BSD License) |
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* |
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* Copyright (c) 2021, INRIA |
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* All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* * Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* * Redistributions in binary form must reproduce the above |
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* copyright notice, this list of conditions and the following |
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* disclaimer in the documentation and/or other materials provided |
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* with the distribution. |
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* * Neither the name of Open Source Robotics Foundation nor the names of its |
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* contributors may be used to endorse or promote products derived |
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* from this software without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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*/ |
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/** \author Justin Carpentier */ |
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#include "coal/hfield.h" |
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#include "coal/BV/BV.h" |
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#include "coal/shape/convex.h" |
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#include "coal/internal/BV_splitter.h" |
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#include "coal/internal/BV_fitter.h" |
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#include <iostream> |
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#include <string.h> |
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namespace coal { |
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template <> |
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NODE_TYPE HeightField<AABB>::getNodeType() const { |
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return HF_AABB; |
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} |
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template <> |
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NODE_TYPE HeightField<OBB>::getNodeType() const { |
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return BV_UNKNOWN; // HF_OBB; |
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} |
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template <> |
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NODE_TYPE HeightField<RSS>::getNodeType() const { |
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return BV_UNKNOWN; // HF_RSS; |
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} |
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template <> |
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NODE_TYPE HeightField<kIOS>::getNodeType() const { |
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return BV_UNKNOWN; // BV_kIOS; |
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} |
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template <> |
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NODE_TYPE HeightField<OBBRSS>::getNodeType() const { |
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return HF_OBBRSS; |
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} |
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template <> |
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NODE_TYPE HeightField<KDOP<16> >::getNodeType() const { |
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return BV_UNKNOWN; // BV_KDOP16; |
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} |
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template <> |
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NODE_TYPE HeightField<KDOP<18> >::getNodeType() const { |
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return BV_UNKNOWN; // BV_KDOP18; |
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} |
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template <> |
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NODE_TYPE HeightField<KDOP<24> >::getNodeType() const { |
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return BV_UNKNOWN; // BV_KDOP24; |
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} |
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// template class HeightField<KDOP<16> >; |
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// template class HeightField<KDOP<18> >; |
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// template class HeightField<KDOP<24> >; |
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template class HeightField<OBB>; |
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template class HeightField<AABB>; |
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template class HeightField<RSS>; |
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// template class HeightField<kIOS>; |
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template class HeightField<OBBRSS>; |
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} // namespace coal |
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