distance.cpp
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00001 /*
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00034 
00037 #include "fcl/distance.h"
00038 #include "fcl/distance_func_matrix.h"
00039 #include "fcl/narrowphase/narrowphase.h"
00040 
00041 #include <iostream>
00042 
00043 namespace fcl
00044 {
00045 
00046 template<typename GJKSolver>
00047 DistanceFunctionMatrix<GJKSolver>& getDistanceFunctionLookTable()
00048 {
00049   static DistanceFunctionMatrix<GJKSolver> table;
00050   return table;
00051 }
00052 
00053 template<typename NarrowPhaseSolver>
00054 FCL_REAL distance(const CollisionObject* o1, const CollisionObject* o2, const NarrowPhaseSolver* nsolver,
00055                   const DistanceRequest& request, DistanceResult& result)
00056 {
00057   return distance<NarrowPhaseSolver>(o1->getCollisionGeometry(), o1->getTransform(), o2->getCollisionGeometry(), o2->getTransform(), nsolver,
00058                                      request, result);
00059 }
00060 
00061 template<typename NarrowPhaseSolver>
00062 FCL_REAL distance(const CollisionGeometry* o1, const Transform3f& tf1, 
00063                   const CollisionGeometry* o2, const Transform3f& tf2,
00064                   const NarrowPhaseSolver* nsolver_,
00065                   const DistanceRequest& request, DistanceResult& result)
00066 {
00067   const NarrowPhaseSolver* nsolver = nsolver_;
00068   if(!nsolver_) 
00069     nsolver = new NarrowPhaseSolver();
00070 
00071   const DistanceFunctionMatrix<NarrowPhaseSolver>& looktable = getDistanceFunctionLookTable<NarrowPhaseSolver>();
00072 
00073   OBJECT_TYPE object_type1 = o1->getObjectType();
00074   NODE_TYPE node_type1 = o1->getNodeType();
00075   OBJECT_TYPE object_type2 = o2->getObjectType();
00076   NODE_TYPE node_type2 = o2->getNodeType();
00077 
00078   FCL_REAL res = std::numeric_limits<FCL_REAL>::max();
00079 
00080   if(object_type1 == OT_GEOM && object_type2 == OT_BVH)
00081   {
00082     if(!looktable.distance_matrix[node_type2][node_type1])
00083     {
00084       std::cerr << "Warning: distance function between node type " << node_type1 << " and node type " << node_type2 << " is not supported" << std::endl;
00085     }
00086     else
00087     {
00088       res = looktable.distance_matrix[node_type2][node_type1](o2, tf2, o1, tf1, nsolver, request, result);
00089     }
00090   }
00091   else
00092   {
00093     if(!looktable.distance_matrix[node_type1][node_type2])
00094     {
00095       std::cerr << "Warning: distance function between node type " << node_type1 << " and node type " << node_type2 << " is not supported" << std::endl;
00096     }
00097     else
00098     {
00099       res = looktable.distance_matrix[node_type1][node_type2](o1, tf1, o2, tf2, nsolver, request, result);    
00100     }
00101   }
00102 
00103   if(!nsolver_)
00104     delete nsolver;
00105 
00106   return res;
00107 }
00108 
00109 template FCL_REAL distance(const CollisionObject* o1, const CollisionObject* o2, const GJKSolver_libccd* nsolver, const DistanceRequest& request, DistanceResult& result);
00110 template FCL_REAL distance(const CollisionObject* o1, const CollisionObject* o2, const GJKSolver_indep* nsolver, const DistanceRequest& request, DistanceResult& result);
00111 template FCL_REAL distance(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const GJKSolver_libccd* nsolver, const DistanceRequest& request, DistanceResult& result);
00112 template FCL_REAL distance(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const GJKSolver_indep* nsolver, const DistanceRequest& request, DistanceResult& result);
00113 
00114 FCL_REAL distance(const CollisionObject* o1, const CollisionObject* o2, const DistanceRequest& request, DistanceResult& result)
00115 {
00116   GJKSolver_libccd solver;
00117   return distance<GJKSolver_libccd>(o1, o2, &solver, request, result);
00118 }
00119 
00120 FCL_REAL distance(const CollisionGeometry* o1, const Transform3f& tf1,
00121                   const CollisionGeometry* o2, const Transform3f& tf2,
00122                   const DistanceRequest& request, DistanceResult& result)
00123 {
00124   GJKSolver_libccd solver;
00125   return distance<GJKSolver_libccd>(o1, tf1, o2, tf2, &solver, request, result);
00126   // GJKSolver_indep solver;
00127   // return distance<GJKSolver_indep>(o1, tf1, o2, tf2, &solver, request, result);
00128 }
00129 
00130 
00131 }
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fcl
Author(s): Jia Pan
autogenerated on Tue Jan 15 2013 16:05:30