sphere_sphere.cpp

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/*
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 *  Copyright (c) 2018-2019, CNRS
 *  Author: Florent Lamiraux
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#include "coal/math/transform.h"
#include "coal/shape/geometric_shapes.h"
#include "coal/internal/shape_shape_func.h"
#include "coal/internal/traversal_node_base.h"
 
#include "../narrowphase/details.h"
 
// Note that partial specialization of template functions is not allowed.
// Therefore, two implementations with the default narrow phase solvers are
// provided. If another narrow phase solver were to be used, the default
// template implementation would be called, unless the function is also
// specialized for this new type.
//
// One solution would be to make narrow phase solvers derive from an abstract
// class and specialize the template for this abstract class.
namespace coal {
struct GJKSolver;
 
namespace internal {
template <>
CoalScalar ShapeShapeDistance<Sphere, Sphere>(
    const CollisionGeometry* o1, const Transform3s& tf1,
    const CollisionGeometry* o2, const Transform3s& tf2, const GJKSolver*,
    const bool, Vec3s& p1, Vec3s& p2, Vec3s& normal) {
  const Sphere& s1 = static_cast<const Sphere&>(*o1);
  const Sphere& s2 = static_cast<const Sphere&>(*o2);
  return details::sphereSphereDistance(s1, tf1, s2, tf2, p1, p2, normal);
}
}  // namespace internal
 
}  // namespace coal