Template SDFCollisionErrorFunction on SDF collider type (#1400)#1400
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Template SDFCollisionErrorFunction on SDF collider type (#1400)#1400cdtwigg wants to merge 1 commit into
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Summary: Add a second template parameter SdfColliderType to SDFCollisionErrorFunctionT, defaulting to SDFColliderT<float> for backward compatibility. This enables the collision error function to work with any collider type that provides the duck-typed interface (evaluate, evaluateWithGradient, bounds, parentJoint, localToParentTransform, update, isValid). Changes: - sdf_collision_geometry.h: Add wrapper methods to SDFColliderT (evaluate, evaluateWithGradient, bounds, parentJoint, localToParentTransform, update) that adapt it to the duck-typed interface - sdf_collision_error_function.h: Move template method definitions from .cpp to header (required for multi-parameter template instantiation). Replace all direct SDFColliderT member access with duck-typed interface calls - sdf_collision_error_function.cpp: Reduced to explicit instantiations only - gen_fwd_input.toml: Remove SDFCollisionErrorFunction (multi-param template cannot use gen_fwd; aliases are in the header) Backward compatibility is preserved: `using SDFCollisionErrorFunction = SDFCollisionErrorFunctionT<float>` uses the default SDFColliderT<float>. Reviewed By: cstollmeta Differential Revision: D105199128
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Summary: Add a second template parameter SdfColliderType to SDFCollisionErrorFunctionT, defaulting to SDFColliderT<float> for backward compatibility. This enables the collision error function to work with any collider type that provides the duck-typed interface (evaluate, evaluateWithGradient, bounds, parentJoint, localToParentTransform, update, isValid). Changes: - sdf_collision_geometry.h: Add wrapper methods to SDFColliderT (evaluate, evaluateWithGradient, bounds, parentJoint, localToParentTransform, update) that adapt it to the duck-typed interface - sdf_collision_error_function.h: Move template method definitions from .cpp to header (required for multi-parameter template instantiation). Replace all direct SDFColliderT member access with duck-typed interface calls - sdf_collision_error_function.cpp: Reduced to explicit instantiations only - gen_fwd_input.toml: Remove SDFCollisionErrorFunction (multi-param template cannot use gen_fwd; aliases are in the header) Backward compatibility is preserved: `using SDFCollisionErrorFunction = SDFCollisionErrorFunctionT<float>` uses the default SDFColliderT<float>. Reviewed By: cstollmeta Differential Revision: D105199128
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Summary: Add a second template parameter SdfColliderType to SDFCollisionErrorFunctionT, defaulting to SDFColliderT<float> for backward compatibility. This enables the collision error function to work with any collider type that provides the duck-typed interface (evaluate, evaluateWithGradient, bounds, parentJoint, localToParentTransform, update, isValid). Changes: - sdf_collision_geometry.h: Add wrapper methods to SDFColliderT (evaluate, evaluateWithGradient, bounds, parentJoint, localToParentTransform, update) that adapt it to the duck-typed interface - sdf_collision_error_function.h: Move template method definitions from .cpp to header (required for multi-parameter template instantiation). Replace all direct SDFColliderT member access with duck-typed interface calls - sdf_collision_error_function.cpp: Reduced to explicit instantiations only - gen_fwd_input.toml: Remove SDFCollisionErrorFunction (multi-param template cannot use gen_fwd; aliases are in the header) Backward compatibility is preserved: `using SDFCollisionErrorFunction = SDFCollisionErrorFunctionT<float>` uses the default SDFColliderT<float>. Reviewed By: cstollmeta Differential Revision: D105199128
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Summary:
Add a second template parameter SdfColliderType to SDFCollisionErrorFunctionT, defaulting to SDFColliderT for backward compatibility. This enables the collision error function to work with any collider type that provides the duck-typed interface (evaluate, evaluateWithGradient, bounds, parentJoint, localToParentTransform, update, isValid).
Changes:
Backward compatibility is preserved:
using SDFCollisionErrorFunction = SDFCollisionErrorFunctionT<float>uses the default SDFColliderT.Reviewed By: cstollmeta
Differential Revision: D105199128