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add missing template instantiation for conservativeAdvancement
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Now partial template instantiation are available for RSS/OBBRSS
which resemble the situation of 0.5.0 where

MeshConservativeAdvancementTraversalNodeRSS/OBBRSS are used and not
MeshConservativeAdvancementTraversalNode

The later refitting the whole tree, while the former two only work with
transformations locally stored in the node.

Refactors code to avoid duplication

resolves flexible-collision-library#297
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@geoynomous
geoynomous committed Jun 3, 2018
1 parent 2b0f911 commit 4916672
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Showing 4 changed files with 81 additions and 33 deletions.
75 changes: 61 additions & 14 deletions include/fcl/narrowphase/detail/conservative_advancement_func_matrix-inl.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -70,17 +70,16 @@ namespace fcl
namespace detail
{

//==============================================================================
template<typename BV>
bool conservativeAdvancement(const BVHModel<BV>& o1,
const MotionBase<typename BV::S>* motion1,
const BVHModel<BV>& o2,
const MotionBase<typename BV::S>* motion2,
const CollisionRequest<typename BV::S>& request,
CollisionResult<typename BV::S>& result,
typename BV::S& toc)
{
using S = typename BV::S;

template<typename S, typename TraversalNode>
bool conservativeAdvancementExec(TraversalNode& node,
const BVHModel<typename TraversalNode::BV>& o1,
const MotionBase<S>* motion1,
const BVHModel<typename TraversalNode::BV>& o2,
const MotionBase<S>* motion2,
const CollisionRequest<S>& request,
CollisionResult<S>& result,
S& toc) {

Transform3<S> tf1;
Transform3<S> tf2;
Expand All @@ -94,13 +93,11 @@ bool conservativeAdvancement(const BVHModel<BV>& o1,
return true;
}

typedef typename TraversalNode::BV BV;

BVHModel<BV>* o1_tmp = new BVHModel<BV>(o1);
BVHModel<BV>* o2_tmp = new BVHModel<BV>(o2);


MeshConservativeAdvancementTraversalNode<BV> node;

node.motion1 = motion1;
node.motion2 = motion2;

Expand Down Expand Up @@ -146,6 +143,56 @@ bool conservativeAdvancement(const BVHModel<BV>& o1,
return false;
}



//==============================================================================
template<typename BV>
bool conservativeAdvancement(const BVHModel<BV>& o1,
const MotionBase<typename BV::S>* motion1,
const BVHModel<BV>& o2,
const MotionBase<typename BV::S>* motion2,
const CollisionRequest<typename BV::S>& request,
CollisionResult<typename BV::S>& result,
typename BV::S& toc)
{

MeshConservativeAdvancementTraversalNode<BV> node;

return conservativeAdvancementExec(node, o1, motion1, o2, motion2, request, result, toc);

}


template<typename S>
bool conservativeAdvancement(const BVHModel<RSS<S>>& o1,
const MotionBase<S>* motion1,
const BVHModel<RSS<S>>& o2,
const MotionBase<S>* motion2,
const CollisionRequest<S>& request,
CollisionResult<S>& result,
S& toc)
{

MeshConservativeAdvancementTraversalNodeRSS<S> node;

return conservativeAdvancementExec(node, o1, motion1, o2, motion2, request, result, toc);
}

template<typename S>
bool conservativeAdvancement(const BVHModel<OBBRSS<S>>& o1,
const MotionBase<S>* motion1,
const BVHModel<OBBRSS<S>>& o2,
const MotionBase<S>* motion2,
const CollisionRequest<S>& request,
CollisionResult<S>& result,
S& toc)
{

MeshConservativeAdvancementTraversalNodeOBBRSS<S> node;

return conservativeAdvancementExec(node, o1, motion1, o2, motion2, request, result, toc);
}

template<typename BV, typename ConservativeAdvancementOrientedNode>
bool conservativeAdvancementMeshOriented(const BVHModel<BV>& o1,
const MotionBase<typename BV::S>* motion1,
Expand Down
16 changes: 8 additions & 8 deletions .../narrowphase/detail/traversal/distance/mesh_conservative_advancement_traversal_node-inl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -57,9 +57,9 @@ class FCL_EXPORT MeshConservativeAdvancementTraversalNodeRSS<double>;
extern template
bool initialize(
MeshConservativeAdvancementTraversalNodeRSS<double>& node,
const BVHModel<RSS<double>>& model1,
BVHModel<RSS<double>>& model1,
const Transform3<double>& tf1,
const BVHModel<RSS<double>>& model2,
BVHModel<RSS<double>>& model2,
const Transform3<double>& tf2,
double w);

Expand All @@ -71,9 +71,9 @@ class FCL_EXPORT MeshConservativeAdvancementTraversalNodeOBBRSS<double>;
extern template
bool initialize(
MeshConservativeAdvancementTraversalNodeOBBRSS<double>& node,
const BVHModel<OBBRSS<double>>& model1,
BVHModel<OBBRSS<double>>& model1,
const Transform3<double>& tf1,
const BVHModel<OBBRSS<double>>& model2,
BVHModel<OBBRSS<double>>& model2,
const Transform3<double>& tf2,
double w);

Expand Down Expand Up @@ -776,9 +776,9 @@ bool setupMeshConservativeAdvancementOrientedDistanceNode(
template <typename S>
bool initialize(
MeshConservativeAdvancementTraversalNodeRSS<S>& node,
const BVHModel<RSS<S>>& model1,
BVHModel<RSS<S>>& model1,
const Transform3<S>& tf1,
const BVHModel<RSS<S>>& model2,
BVHModel<RSS<S>>& model2,
const Transform3<S>& tf2,
S w)
{
Expand All @@ -790,9 +790,9 @@ bool initialize(
template <typename S>
bool initialize(
MeshConservativeAdvancementTraversalNodeOBBRSS<S>& node,
const BVHModel<OBBRSS<S>>& model1,
BVHModel<OBBRSS<S>>& model1,
const Transform3<S>& tf1,
const BVHModel<OBBRSS<S>>& model2,
BVHModel<OBBRSS<S>>& model2,
const Transform3<S>& tf2,
S w)
{
Expand Down
15 changes: 8 additions & 7 deletions .../fcl/narrowphase/detail/traversal/distance/mesh_conservative_advancement_traversal_node.h
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Original file line number Diff line number Diff line change
Expand Up @@ -49,13 +49,14 @@ namespace detail
{

/// @brief continuous collision node using conservative advancement. when using this default version, must refit the BVH in current configuration (R_t, T_t) into default configuration
template <typename BV>
template <typename BV_>
class FCL_EXPORT MeshConservativeAdvancementTraversalNode
: public MeshDistanceTraversalNode<BV>
: public MeshDistanceTraversalNode<BV_>
{
public:

using S = typename BV::S;
typedef BV_ BV;
typedef typename BV::S S;

MeshConservativeAdvancementTraversalNode(S w_ = 1);

Expand Down Expand Up @@ -153,9 +154,9 @@ template <typename S>
FCL_EXPORT
bool initialize(
MeshConservativeAdvancementTraversalNodeRSS<S>& node,
const BVHModel<RSS<S>>& model1,
BVHModel<RSS<S>>& model1,
const Transform3<S>& tf1,
const BVHModel<RSS<S>>& model2,
BVHModel<RSS<S>>& model2,
const Transform3<S>& tf2,
S w = 1);

Expand Down Expand Up @@ -202,9 +203,9 @@ template <typename S>
FCL_EXPORT
bool initialize(
MeshConservativeAdvancementTraversalNodeOBBRSS<S>& node,
const BVHModel<OBBRSS<S>>& model1,
BVHModel<OBBRSS<S>>& model1,
const Transform3<S>& tf1,
const BVHModel<OBBRSS<S>>& model2,
BVHModel<OBBRSS<S>>& model2,
const Transform3<S>& tf2,
S w = 1);

Expand Down
8 changes: 4 additions & 4 deletions src/narrowphase/detail/traversal/distance/mesh_conservative_advancement_traversal_node.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -51,9 +51,9 @@ class MeshConservativeAdvancementTraversalNodeRSS<double>;
template
bool initialize(
MeshConservativeAdvancementTraversalNodeRSS<double>& node,
const BVHModel<RSS<double>>& model1,
BVHModel<RSS<double>>& model1,
const Transform3<double>& tf1,
const BVHModel<RSS<double>>& model2,
BVHModel<RSS<double>>& model2,
const Transform3<double>& tf2,
double w);

Expand All @@ -65,9 +65,9 @@ class MeshConservativeAdvancementTraversalNodeOBBRSS<double>;
template
bool initialize(
MeshConservativeAdvancementTraversalNodeOBBRSS<double>& node,
const BVHModel<OBBRSS<double>>& model1,
BVHModel<OBBRSS<double>>& model1,
const Transform3<double>& tf1,
const BVHModel<OBBRSS<double>>& model2,
BVHModel<OBBRSS<double>>& model2,
const Transform3<double>& tf2,
double w);

Expand Down

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