| Directory: | ./ |
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| File: | src/BV/AABB.cpp |
| Date: | 2025-04-13 14:25:19 |
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| Lines: | 38 | 92 | 41.3% |
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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 | 117705328 | AABB::AABB() | |
| 47 |
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117705328 | : min_(Vec3s::Constant((std::numeric_limits<Scalar>::max)())), |
| 48 |
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117705328 | 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() |
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57339 | .squaredNorm(); |
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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 |