Directory: | ./ |
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File: | src/BV/AABB.cpp |
Date: | 2025-04-01 09:23:31 |
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1 | /* | ||
2 | * Software License Agreement (BSD License) | ||
3 | * | ||
4 | * Copyright (c) 2011-2014, Willow Garage, Inc. | ||
5 | * Copyright (c) 2014-2015, Open Source Robotics Foundation | ||
6 | * All rights reserved. | ||
7 | * | ||
8 | * Redistribution and use in source and binary forms, with or without | ||
9 | * modification, are permitted provided that the following conditions | ||
10 | * are met: | ||
11 | * | ||
12 | * * Redistributions of source code must retain the above copyright | ||
13 | * notice, this list of conditions and the following disclaimer. | ||
14 | * * Redistributions in binary form must reproduce the above | ||
15 | * copyright notice, this list of conditions and the following | ||
16 | * disclaimer in the documentation and/or other materials provided | ||
17 | * with the distribution. | ||
18 | * * Neither the name of Open Source Robotics Foundation nor the names of its | ||
19 | * contributors may be used to endorse or promote products derived | ||
20 | * from this software without specific prior written permission. | ||
21 | * | ||
22 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
23 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
24 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
25 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
26 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
27 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
28 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
29 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
30 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
31 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
32 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
33 | * POSSIBILITY OF SUCH DAMAGE. | ||
34 | */ | ||
35 | |||
36 | /** \author Jia Pan */ | ||
37 | |||
38 | #include "coal/BV/AABB.h" | ||
39 | #include "coal/shape/geometric_shapes.h" | ||
40 | #include "coal/collision_data.h" | ||
41 | |||
42 | #include <limits> | ||
43 | |||
44 | namespace coal { | ||
45 | |||
46 | 117705326 | AABB::AABB() | |
47 |
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117705326 | : min_(Vec3s::Constant((std::numeric_limits<Scalar>::max)())), |
48 |
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117705326 | max_(Vec3s::Constant(-(std::numeric_limits<Scalar>::max)())) {} |
49 | |||
50 | 59166 | bool AABB::overlap(const AABB& other, const CollisionRequest& request, | |
51 | Scalar& sqrDistLowerBound) const { | ||
52 | 59166 | const Scalar break_distance_squared = | |
53 | 59166 | request.break_distance * request.break_distance; | |
54 | |||
55 | 59166 | sqrDistLowerBound = | |
56 |
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59166 | (min_ - other.max_ - Vec3s::Constant(request.security_margin)) |
57 |
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59166 | .array() |
58 |
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59166 | .max(Scalar(0)) |
59 |
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59166 | .matrix() |
60 |
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59166 | .squaredNorm(); |
61 |
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59166 | if (sqrDistLowerBound > break_distance_squared) return false; |
62 | |||
63 | 57339 | sqrDistLowerBound = | |
64 |
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57339 | (other.min_ - max_ - Vec3s::Constant(request.security_margin)) |
65 |
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57339 | .array() |
66 |
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57339 | .max(Scalar(0)) |
67 |
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57339 | .matrix() |
68 |
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57339 | .squaredNorm(); |
69 |
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57339 | if (sqrDistLowerBound > break_distance_squared) return false; |
70 | |||
71 | 54357 | return true; | |
72 | } | ||
73 | |||
74 | ✗ | Scalar AABB::distance(const AABB& other, Vec3s* P, Vec3s* Q) const { | |
75 | ✗ | Scalar result = 0; | |
76 | ✗ | for (Eigen::DenseIndex i = 0; i < 3; ++i) { | |
77 | ✗ | const Scalar& amin = min_[i]; | |
78 | ✗ | const Scalar& amax = max_[i]; | |
79 | ✗ | const Scalar& bmin = other.min_[i]; | |
80 | ✗ | const Scalar& bmax = other.max_[i]; | |
81 | |||
82 | ✗ | if (amin > bmax) { | |
83 | ✗ | Scalar delta = bmax - amin; | |
84 | ✗ | result += delta * delta; | |
85 | ✗ | if (P && Q) { | |
86 | ✗ | (*P)[i] = amin; | |
87 | ✗ | (*Q)[i] = bmax; | |
88 | } | ||
89 | ✗ | } else if (bmin > amax) { | |
90 | ✗ | Scalar delta = amax - bmin; | |
91 | ✗ | result += delta * delta; | |
92 | ✗ | if (P && Q) { | |
93 | ✗ | (*P)[i] = amax; | |
94 | ✗ | (*Q)[i] = bmin; | |
95 | } | ||
96 | } else { | ||
97 | ✗ | if (P && Q) { | |
98 | ✗ | if (bmin >= amin) { | |
99 | ✗ | Scalar t = Scalar(0.5) * (amax + bmin); | |
100 | ✗ | (*P)[i] = t; | |
101 | ✗ | (*Q)[i] = t; | |
102 | } else { | ||
103 | ✗ | Scalar t = Scalar(0.5) * (amin + bmax); | |
104 | ✗ | (*P)[i] = t; | |
105 | ✗ | (*Q)[i] = t; | |
106 | } | ||
107 | } | ||
108 | } | ||
109 | } | ||
110 | |||
111 | ✗ | return std::sqrt(result); | |
112 | } | ||
113 | |||
114 | 2742415 | Scalar AABB::distance(const AABB& other) const { | |
115 | 2742415 | Scalar result = 0; | |
116 |
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10969660 | for (Eigen::DenseIndex i = 0; i < 3; ++i) { |
117 | 8227245 | const Scalar& amin = min_[i]; | |
118 | 8227245 | const Scalar& amax = max_[i]; | |
119 | 8227245 | const Scalar& bmin = other.min_[i]; | |
120 | 8227245 | const Scalar& bmax = other.max_[i]; | |
121 | |||
122 |
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8227245 | if (amin > bmax) { |
123 | 3885219 | Scalar delta = bmax - amin; | |
124 | 3885219 | result += delta * delta; | |
125 |
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4342026 | } else if (bmin > amax) { |
126 | 3999451 | Scalar delta = amax - bmin; | |
127 | 3999451 | result += delta * delta; | |
128 | } | ||
129 | } | ||
130 | |||
131 | 2742415 | return std::sqrt(result); | |
132 | } | ||
133 | |||
134 | ✗ | bool overlap(const Matrix3s& R0, const Vec3s& T0, const AABB& b1, | |
135 | const AABB& b2) { | ||
136 | ✗ | AABB bb1(translate(rotate(b1, R0), T0)); | |
137 | ✗ | return bb1.overlap(b2); | |
138 | } | ||
139 | |||
140 | 31643 | bool overlap(const Matrix3s& R0, const Vec3s& T0, const AABB& b1, | |
141 | const AABB& b2, const CollisionRequest& request, | ||
142 | Scalar& sqrDistLowerBound) { | ||
143 |
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31643 | AABB bb1(translate(rotate(b1, R0), T0)); |
144 |
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63286 | return bb1.overlap(b2, request, sqrDistLowerBound); |
145 | } | ||
146 | |||
147 | ✗ | bool AABB::overlap(const Plane& p) const { | |
148 | // Convert AABB to a (box, transform) representation and compute the support | ||
149 | // points in the directions normal and -normal. | ||
150 | // If both points lie on different sides of the plane, there is an overlap | ||
151 | // between the AABB and the plane. Otherwise, there is no overlap. | ||
152 | ✗ | const Vec3s halfside = (this->max_ - this->min_) / 2; | |
153 | ✗ | const Vec3s center = (this->max_ + this->min_) / 2; | |
154 | |||
155 | ✗ | const Vec3s support1 = (p.n.array() > 0).select(halfside, -halfside) + center; | |
156 | const Vec3s support2 = | ||
157 | ✗ | ((-p.n).array() > 0).select(halfside, -halfside) + center; | |
158 | |||
159 | ✗ | const Scalar dist1 = p.n.dot(support1) - p.d; | |
160 | ✗ | const Scalar dist2 = p.n.dot(support2) - p.d; | |
161 | ✗ | const int sign1 = (dist1 > 0) ? 1 : -1; | |
162 | ✗ | const int sign2 = (dist2 > 0) ? 1 : -1; | |
163 | |||
164 | ✗ | if (p.getSweptSphereRadius() > 0) { | |
165 | ✗ | if (sign1 != sign2) { | |
166 | // Supports are on different sides of the plane. There is an overlap. | ||
167 | ✗ | return true; | |
168 | } | ||
169 | // Both supports are on the same side of the plane. | ||
170 | // We now need to check if they are on the same side of the plane inflated | ||
171 | // by the swept-sphere radius. | ||
172 | ✗ | const Scalar ssr_dist1 = std::abs(dist1) - p.getSweptSphereRadius(); | |
173 | ✗ | const Scalar ssr_dist2 = std::abs(dist2) - p.getSweptSphereRadius(); | |
174 | ✗ | const int ssr_sign1 = (ssr_dist1 > 0) ? 1 : -1; | |
175 | ✗ | const int ssr_sign2 = (ssr_dist2 > 0) ? 1 : -1; | |
176 | ✗ | return ssr_sign1 != ssr_sign2; | |
177 | } | ||
178 | |||
179 | ✗ | return (sign1 != sign2); | |
180 | } | ||
181 | |||
182 | ✗ | bool AABB::overlap(const Halfspace& hs) const { | |
183 | // Convert AABB to a (box, transform) representation and compute the support | ||
184 | // points in the direction -normal. | ||
185 | // If the support is below the plane defined by the halfspace, there is an | ||
186 | // overlap between the AABB and the halfspace. Otherwise, there is no | ||
187 | // overlap. | ||
188 | ✗ | Vec3s halfside = (this->max_ - this->min_) / 2; | |
189 | ✗ | Vec3s center = (this->max_ + this->min_) / 2; | |
190 | ✗ | Vec3s support = ((-hs.n).array() > 0).select(halfside, -halfside) + center; | |
191 | ✗ | return (hs.signedDistance(support) < 0); | |
192 | } | ||
193 | |||
194 | } // namespace coal | ||
195 |