GCC Code Coverage Report

Directory: ./
File: src/BV/OBB.cpp
Date: 2025-04-13 14:25:19
Exec Total Coverage
Lines: 214 242 88.4%
Branches: 478 920 52.0%
Line Branch Exec Source
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, Florent Lamiraux */
37
38 #include "coal/BV/OBB.h"
39 #include "coal/BVH/BVH_utility.h"
40 #include "coal/math/transform.h"
41 #include "coal/collision_data.h"
42 #include "coal/internal/tools.h"
43
44 #include <iostream>
45 #include <limits>
46
47 namespace coal {
48
49 /// @brief Compute the 8 vertices of a OBB
50 39222 inline void computeVertices(const OBB& b, Vec3s vertices[8]) {
51
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 39222 Matrix3s extAxes(b.axes * b.extent.asDiagonal());
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 39222 vertices[0].noalias() = b.To + extAxes * Vec3s(-1, -1, -1);
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 39222 vertices[1].noalias() = b.To + extAxes * Vec3s(1, -1, -1);
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 39222 vertices[2].noalias() = b.To + extAxes * Vec3s(1, 1, -1);
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 39222 vertices[3].noalias() = b.To + extAxes * Vec3s(-1, 1, -1);
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 39222 vertices[4].noalias() = b.To + extAxes * Vec3s(-1, -1, 1);
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 39222 vertices[5].noalias() = b.To + extAxes * Vec3s(1, -1, 1);
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 39222 vertices[6].noalias() = b.To + extAxes * Vec3s(1, 1, 1);
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 39222 vertices[7].noalias() = b.To + extAxes * Vec3s(-1, 1, 1);
60 39222 }
61
62 /// @brief OBB merge method when the centers of two smaller OBB are far away
63 21 inline OBB merge_largedist(const OBB& b1, const OBB& b2) {
64
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 21 OBB b;
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 357 Vec3s vertex[16];
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 21 computeVertices(b1, vertex);
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 21 computeVertices(b2, vertex + 8);
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 21 Matrix3s M;
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 84 Vec3s E[3];
70 21 Scalar s[3] = {0, 0, 0};
71
72 // obb axes
73
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 21 b.axes.col(0).noalias() = (b1.To - b2.To).normalized();
74
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 357 Vec3s vertex_proj[16];
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 357 for (int i = 0; i < 16; ++i)
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 336 vertex_proj[i].noalias() =
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 672 vertex[i] - b.axes.col(0) * vertex[i].dot(b.axes.col(0));
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 21 getCovariance(vertex_proj, NULL, NULL, NULL, 16, M);
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 21 eigen(M, s, E);
82
83 int min, mid, max;
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 21 if (s[0] > s[1]) {
85 3 max = 0;
86 3 min = 1;
87 } else {
88 18 min = 0;
89 18 max = 1;
90 }
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 21 if (s[2] < s[min]) {
92 9 mid = min;
93 9 min = 2;
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 12 } else if (s[2] > s[max]) {
95 6 mid = max;
96 6 max = 2;
97 } else {
98 6 mid = 2;
99 }
100
101
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 21 b.axes.col(1) << E[0][max], E[1][max], E[2][max];
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 21 b.axes.col(2) << E[0][mid], E[1][mid], E[2][mid];
103
104 // set obb centers and extensions
105
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 21 Vec3s center, extent;
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 21 getExtentAndCenter(vertex, NULL, NULL, NULL, 16, b.axes, center, extent);
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 21 b.To.noalias() = center;
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 21 b.extent.noalias() = extent;
110
111 42 return b;
112 }
113
114 /// @brief OBB merge method when the centers of two smaller OBB are close
115 19590 inline OBB merge_smalldist(const OBB& b1, const OBB& b2) {
116
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 19590 OBB b;
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 19590 b.To = (b1.To + b2.To) * 0.5;
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 19590 Quats q0(b1.axes), q1(b2.axes);
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 19590 if (q0.dot(q1) < 0) q1.coeffs() *= -1;
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 19590 Quats q((q0.coeffs() + q1.coeffs()).normalized());
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 19590 b.axes = q.toRotationMatrix();
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 176310 Vec3s vertex[8], diff;
125 19590 Scalar real_max = (std::numeric_limits<Scalar>::max)();
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 19590 Vec3s pmin(real_max, real_max, real_max);
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 19590 Vec3s pmax(-real_max, -real_max, -real_max);
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 19590 computeVertices(b1, vertex);
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 176310 for (int i = 0; i < 8; ++i) {
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 156720 diff = vertex[i] - b.To;
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 626880 for (int j = 0; j < 3; ++j) {
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 470160 Scalar dot = diff.dot(b.axes.col(j));
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 470160 if (dot > pmax[j])
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 175926 pmax[j] = dot;
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 294234 else if (dot < pmin[j])
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 114381 pmin[j] = dot;
138 }
139 }
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 19590 computeVertices(b2, vertex);
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 176310 for (int i = 0; i < 8; ++i) {
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 156720 diff = vertex[i] - b.To;
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 470160 Scalar dot = diff.dot(b.axes.col(j));
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 470160 if (dot > pmax[j])
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 55653 pmax[j] = dot;
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 414507 else if (dot < pmin[j])
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 52290 pmin[j] = dot;
150 }
151 }
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 78360 for (int j = 0; j < 3; ++j) {
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 58770 b.To.noalias() += (b.axes.col(j) * (0.5 * (pmax[j] + pmin[j])));
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 58770 b.extent[j] = Scalar(0.5) * (pmax[j] - pmin[j]);
156 }
157
158 39180 return b;
159 }
160
161 6000 bool obbDisjoint(const Matrix3s& B, const Vec3s& T, const Vec3s& a,
162 const Vec3s& b) {
163 Scalar t, s;
164 6000 const Scalar reps = Scalar(1e-6);
165
166
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 6000 Matrix3s Bf(B.array().abs() + reps);
167 // Bf += reps;
168
169 // if any of these tests are one-sided, then the polyhedra are disjoint
170
171 // A1 x A2 = A0
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 6000 t = ((T[0] < 0.0) ? -T[0] : T[0]);
173
174 // if(t > (a[0] + Bf.dotX(b)))
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 6000 if (t > (a[0] + Bf.row(0).dot(b))) return true;
176
177 // B1 x B2 = B0
178 // s = B.transposeDotX(T);
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 5531 s = B.col(0).dot(T);
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 5531 t = ((s < 0.0) ? -s : s);
181
182 // if(t > (b[0] + Bf.transposeDotX(a)))
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 5531 if (t > (b[0] + Bf.col(0).dot(a))) return true;
184
185 // A2 x A0 = A1
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 4967 t = ((T[1] < 0.0) ? -T[1] : T[1]);
187
188 // if(t > (a[1] + Bf.dotY(b)))
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 4967 if (t > (a[1] + Bf.row(1).dot(b))) return true;
190
191 // A0 x A1 = A2
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 3865 t = ((T[2] < 0.0) ? -T[2] : T[2]);
193
194 // if(t > (a[2] + Bf.dotZ(b)))
195
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 3865 if (t > (a[2] + Bf.row(2).dot(b))) return true;
196
197 // B2 x B0 = B1
198 // s = B.transposeDotY(T);
199
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 3716 s = B.col(1).dot(T);
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 3716 t = ((s < 0.0) ? -s : s);
201
202 // if(t > (b[1] + Bf.transposeDotY(a)))
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 3716 if (t > (b[1] + Bf.col(1).dot(a))) return true;
204
205 // B0 x B1 = B2
206 // s = B.transposeDotZ(T);
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 3612 s = B.col(2).dot(T);
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 3612 t = ((s < 0.0) ? -s : s);
209
210 // if(t > (b[2] + Bf.transposeDotZ(a)))
211
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 3612 if (t > (b[2] + Bf.col(2).dot(a))) return true;
212
213 // A0 x B0
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 3505 s = T[2] * B(1, 0) - T[1] * B(2, 0);
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 3505 t = ((s < 0.0) ? -s : s);
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217 3505 if (t >
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 3505 (a[1] * Bf(2, 0) + a[2] * Bf(1, 0) + b[1] * Bf(0, 2) + b[2] * Bf(0, 1)))
219 21 return true;
220
221 // A0 x B1
222
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 3484 s = T[2] * B(1, 1) - T[1] * B(2, 1);
223
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 3484 t = ((s < 0.0) ? -s : s);
224
225 3484 if (t >
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 3484 (a[1] * Bf(2, 1) + a[2] * Bf(1, 1) + b[0] * Bf(0, 2) + b[2] * Bf(0, 0)))
227 4 return true;
228
229 // A0 x B2
230
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 3480 s = T[2] * B(1, 2) - T[1] * B(2, 2);
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 3480 t = ((s < 0.0) ? -s : s);
232
233 3480 if (t >
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 3480 (a[1] * Bf(2, 2) + a[2] * Bf(1, 2) + b[0] * Bf(0, 1) + b[1] * Bf(0, 0)))
235 18 return true;
236
237 // A1 x B0
238
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 3462 s = T[0] * B(2, 0) - T[2] * B(0, 0);
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 3462 t = ((s < 0.0) ? -s : s);
240
241 3462 if (t >
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 3462 (a[0] * Bf(2, 0) + a[2] * Bf(0, 0) + b[1] * Bf(1, 2) + b[2] * Bf(1, 1)))
243 8 return true;
244
245 // A1 x B1
246
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 3454 s = T[0] * B(2, 1) - T[2] * B(0, 1);
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 3454 t = ((s < 0.0) ? -s : s);
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 3454 (a[0] * Bf(2, 1) + a[2] * Bf(0, 1) + b[0] * Bf(1, 2) + b[2] * Bf(1, 0)))
251 2 return true;
252
253 // A1 x B2
254
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 3452 s = T[0] * B(2, 2) - T[2] * B(0, 2);
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257 3452 if (t >
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 3452 (a[0] * Bf(2, 2) + a[2] * Bf(0, 2) + b[0] * Bf(1, 1) + b[1] * Bf(1, 0)))
259 12 return true;
260
261 // A2 x B0
262
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 3440 s = T[1] * B(0, 0) - T[0] * B(1, 0);
263
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 3440 t = ((s < 0.0) ? -s : s);
264
265 3440 if (t >
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 3440 (a[0] * Bf(1, 0) + a[1] * Bf(0, 0) + b[1] * Bf(2, 2) + b[2] * Bf(2, 1)))
267 30 return true;
268
269 // A2 x B1
270
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 3410 s = T[1] * B(0, 1) - T[0] * B(1, 1);
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 3410 t = ((s < 0.0) ? -s : s);
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273 3410 if (t >
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 3410 (a[0] * Bf(1, 1) + a[1] * Bf(0, 1) + b[0] * Bf(2, 2) + b[2] * Bf(2, 0)))
275 50 return true;
276
277 // A2 x B2
278
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 3360 s = T[1] * B(0, 2) - T[0] * B(1, 2);
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 3360 (a[0] * Bf(1, 2) + a[1] * Bf(0, 2) + b[0] * Bf(2, 1) + b[1] * Bf(2, 0)))
283 8 return true;
284
285 3352 return false;
286 }
287
288 namespace internal {
289 227385 inline Scalar obbDisjoint_check_A_axis(const Vec3s& T, const Vec3s& a,
290 const Vec3s& b, const Matrix3s& Bf) {
291 // |T| - |B| * b - a
292
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 227385 Vec3s AABB_corner(T.cwiseAbs() - a);
293
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 227385 AABB_corner.noalias() -= Bf * b;
294
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 227385 return AABB_corner.array().max(Scalar(0)).matrix().squaredNorm();
295 }
296
297 130786 inline Scalar obbDisjoint_check_B_axis(const Matrix3s& B, const Vec3s& T,
298 const Vec3s& a, const Vec3s& b,
299 const Matrix3s& Bf) {
300 // Bf = |B|
301 // | B^T T| - Bf^T * a - b
302 130786 Scalar s, t = 0;
303
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 130786 s = std::abs(B.col(0).dot(T)) - Bf.col(0).dot(a) - b[0];
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 130786 if (s > 0) t += s * s;
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 130786 s = std::abs(B.col(1).dot(T)) - Bf.col(1).dot(a) - b[1];
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 130786 if (s > 0) t += s * s;
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 130786 s = std::abs(B.col(2).dot(T)) - Bf.col(2).dot(a) - b[2];
308
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 130786 if (s > 0) t += s * s;
309 130786 return t;
310 }
311
312 template <int ib, int jb = (ib + 1) % 3, int kb = (ib + 2) % 3>
313 struct COAL_LOCAL obbDisjoint_check_Ai_cross_Bi {
314 1954964 static inline bool run(int ia, int ja, int ka, const Matrix3s& B,
315 const Vec3s& T, const Vec3s& a, const Vec3s& b,
316 const Matrix3s& Bf, const Scalar& breakDistance2,
317 Scalar& squaredLowerBoundDistance) {
318 1954964 Scalar sinus2 = 1 - Bf(ia, ib) * Bf(ia, ib);
319
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 1954964 if (sinus2 < 1e-6) return false;
320
321 1951744 const Scalar s = T[ka] * B(ja, ib) - T[ja] * B(ka, ib);
322
323 1951744 const Scalar diff = fabs(s) - (a[ja] * Bf(ka, ib) + a[ka] * Bf(ja, ib) +
324 1951744 b[jb] * Bf(ia, kb) + b[kb] * Bf(ia, jb));
325 // We need to divide by the norm || Aia x Bib ||
326 // As ||Aia|| = ||Bib|| = 1, (Aia | Bib)^2 = cosine^2
327
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 1951744 if (diff > 0) {
328 11980 squaredLowerBoundDistance = diff * diff / sinus2;
329
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 11980 if (squaredLowerBoundDistance > breakDistance2) {
330 11694 return true;
331 }
332 }
333 1940050 return false;
334 } // namespace internal
335 }; // namespace coal
336 } // namespace internal
337
338 // B, T orientation and position of 2nd OBB in frame of 1st OBB,
339 // a extent of 1st OBB,
340 // b extent of 2nd OBB.
341 //
342 // This function tests whether bounding boxes should be broken down.
343 //
344 227385 bool obbDisjointAndLowerBoundDistance(const Matrix3s& B, const Vec3s& T,
345 const Vec3s& a_, const Vec3s& b_,
346 const CollisionRequest& request,
347 Scalar& squaredLowerBoundDistance) {
348
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 227385 assert(request.security_margin >
349 -2 * (std::min)(a_.minCoeff(), b_.minCoeff()) -
350 10 * Eigen::NumTraits<Scalar>::epsilon() &&
351 "A negative security margin could not be lower than the OBB extent.");
352 // const Scalar breakDistance(request.break_distance +
353 // request.security_margin);
354 227385 const Scalar breakDistance2 = request.break_distance * request.break_distance;
355
356
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 227385 Matrix3s Bf(B.cwiseAbs());
357
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 227385 const Vec3s a((a_ + Vec3s::Constant(request.security_margin / 2))
358
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359
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 227385 .max(Scalar(0)));
360
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 227385 const Vec3s b((b_ + Vec3s::Constant(request.security_margin / 2))
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362
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363
364 // Corner of b axis aligned bounding box the closest to the origin
365
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 227385 squaredLowerBoundDistance = internal::obbDisjoint_check_A_axis(T, a, b, Bf);
366
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 227385 if (squaredLowerBoundDistance > breakDistance2) return true;
367
368 130786 squaredLowerBoundDistance =
369
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 130786 internal::obbDisjoint_check_B_axis(B, T, a, b, Bf);
370
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 130786 if (squaredLowerBoundDistance > breakDistance2) return true;
371
372 // Ai x Bj
373 112881 int ja = 1, ka = 2;
374
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 436234 for (int ia = 0; ia < 3; ++ia) {
375
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 329200 if (internal::obbDisjoint_check_Ai_cross_Bi<0>::run(
376 ia, ja, ka, B, T, a, b, Bf, breakDistance2,
377 squaredLowerBoundDistance))
378 4507 return true;
379
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 324693 if (internal::obbDisjoint_check_Ai_cross_Bi<1>::run(
380 ia, ja, ka, B, T, a, b, Bf, breakDistance2,
381 squaredLowerBoundDistance))
382 1104 return true;
383
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 323589 if (internal::obbDisjoint_check_Ai_cross_Bi<2>::run(
384 ia, ja, ka, B, T, a, b, Bf, breakDistance2,
385 squaredLowerBoundDistance))
386 236 return true;
387 323353 ja = ka;
388 323353 ka = ia;
389 }
390
391 107034 return false;
392 }
393
394 6000 bool OBB::overlap(const OBB& other) const {
395 /// compute what transform [R,T] that takes us from cs1 to cs2.
396 /// [R,T] = [R1,T1]'[R2,T2] = [R1',-R1'T][R2,T2] = [R1'R2, R1'(T2-T1)]
397 /// First compute the rotation part, then translation part
398
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 6000 Vec3s T(axes.transpose() * (other.To - To));
399
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 6000 Matrix3s R(axes.transpose() * other.axes);
400
401
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 6000 return !obbDisjoint(R, T, extent, other.extent);
402 }
403
404 154162 bool OBB::overlap(const OBB& other, const CollisionRequest& request,
405 Scalar& sqrDistLowerBound) const {
406 /// compute what transform [R,T] that takes us from cs1 to cs2.
407 /// [R,T] = [R1,T1]'[R2,T2] = [R1',-R1'T][R2,T2] = [R1'R2, R1'(T2-T1)]
408 /// First compute the rotation part, then translation part
409 // Vec3s t = other.To - To; // T2 - T1
410 // Vec3s T(t.dot(axis[0]), t.dot(axis[1]), t.dot(axis[2])); // R1'(T2-T1)
411 // Matrix3s R(axis[0].dot(other.axis[0]), axis[0].dot(other.axis[1]),
412 // axis[0].dot(other.axis[2]),
413 // axis[1].dot(other.axis[0]), axis[1].dot(other.axis[1]),
414 // axis[1].dot(other.axis[2]),
415 // axis[2].dot(other.axis[0]), axis[2].dot(other.axis[1]),
416 // axis[2].dot(other.axis[2]));
417
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 154162 Vec3s T(axes.transpose() * (other.To - To));
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 154162 Matrix3s R(axes.transpose() * other.axes);
419
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 154162 return !obbDisjointAndLowerBoundDistance(R, T, extent, other.extent, request,
421 154162 sqrDistLowerBound);
422 }
423
424 ✗ bool OBB::contain(const Vec3s& p) const {
425 ✗ Vec3s local_p(p - To);
426 ✗ Scalar proj = local_p.dot(axes.col(0));
427 ✗ if ((proj > extent[0]) || (proj < -extent[0])) return false;
428
429 ✗ proj = local_p.dot(axes.col(1));
430 ✗ if ((proj > extent[1]) || (proj < -extent[1])) return false;
431
432 ✗ proj = local_p.dot(axes.col(2));
433 ✗ if ((proj > extent[2]) || (proj < -extent[2])) return false;
434
435 ✗ return true;
436 }
437
438 ✗ OBB& OBB::operator+=(const Vec3s& p) {
439 ✗ OBB bvp;
440 ✗ bvp.To = p;
441 ✗ bvp.axes.noalias() = axes;
442 ✗ bvp.extent.setZero();
443
444 ✗ *this += bvp;
445 ✗ return *this;
446 }
447
448 19611 OBB OBB::operator+(const OBB& other) const {
449
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 19611 Vec3s center_diff = To - other.To;
450
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 19611 Scalar max_extent = std::max(std::max(extent[0], extent[1]), extent[2]);
451 Scalar max_extent2 =
452
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 19611 std::max(std::max(other.extent[0], other.extent[1]), other.extent[2]);
453
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 19611 if (center_diff.norm() > 2 * (max_extent + max_extent2)) {
454
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 21 return merge_largedist(*this, other);
455 } else {
456
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 19590 return merge_smalldist(*this, other);
457 }
458 }
459
460 ✗ Scalar OBB::distance(const OBB& /*other*/, Vec3s* /*P*/, Vec3s* /*Q*/) const {
461 ✗ std::cerr << "OBB distance not implemented!" << std::endl;
462 ✗ return 0.0;
463 }
464
465 ✗ bool overlap(const Matrix3s& R0, const Vec3s& T0, const OBB& b1,
466 const OBB& b2) {
467 ✗ Vec3s Ttemp(R0.transpose() * (b2.To - T0) - b1.To);
468 ✗ Vec3s T(b1.axes.transpose() * Ttemp);
469 ✗ Matrix3s R(b1.axes.transpose() * R0.transpose() * b2.axes);
470
471 ✗ return !obbDisjoint(R, T, b1.extent, b2.extent);
472 }
473
474 73223 bool overlap(const Matrix3s& R0, const Vec3s& T0, const OBB& b1, const OBB& b2,
475 const CollisionRequest& request, Scalar& sqrDistLowerBound) {
476
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 73223 Vec3s Ttemp(R0.transpose() * (b2.To - T0) - b1.To);
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 73223 Vec3s T(b1.axes.transpose() * Ttemp);
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 73223 Matrix3s R(b1.axes.transpose() * R0.transpose() * b2.axes);
479
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 73223 return !obbDisjointAndLowerBoundDistance(R, T, b1.extent, b2.extent, request,
481 73223 sqrDistLowerBound);
482 }
483
484 ✗ OBB translate(const OBB& bv, const Vec3s& t) {
485 ✗ OBB res(bv);
486 ✗ res.To += t;
487 ✗ return res;
488 }
489
490 } // namespace coal
491