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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 | #ifndef COAL_OBB_H | ||
| 39 | #define COAL_OBB_H | ||
| 40 | |||
| 41 | #include "coal/data_types.h" | ||
| 42 | |||
| 43 | namespace coal { | ||
| 44 | |||
| 45 | struct CollisionRequest; | ||
| 46 | |||
| 47 | /// @addtogroup Bounding_Volume | ||
| 48 | /// @{ | ||
| 49 | |||
| 50 | /// @brief Oriented bounding box class | ||
| 51 | struct COAL_DLLAPI OBB { | ||
| 52 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 53 | |||
| 54 | /// @brief Orientation of OBB. axis[i] is the ith column of the orientation | ||
| 55 | /// matrix for the box; it is also the i-th principle direction of the box. We | ||
| 56 | /// assume that axis[0] corresponds to the axis with the longest box edge, | ||
| 57 | /// axis[1] corresponds to the shorter one and axis[2] corresponds to the | ||
| 58 | /// shortest one. | ||
| 59 | Matrix3s axes; | ||
| 60 | |||
| 61 | /// @brief Center of OBB | ||
| 62 | Vec3s To; | ||
| 63 | |||
| 64 | /// @brief Half dimensions of OBB | ||
| 65 | Vec3s extent; | ||
| 66 | |||
| 67 |
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3289064 | OBB() : axes(Matrix3s::Zero()), To(Vec3s::Zero()), extent(Vec3s::Zero()) {} |
| 68 | |||
| 69 | /// @brief Equality operator | ||
| 70 | 812109 | bool operator==(const OBB& other) const { | |
| 71 |
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812109 | return axes == other.axes && To == other.To && extent == other.extent; |
| 72 | } | ||
| 73 | |||
| 74 | /// @brief Difference operator | ||
| 75 | bool operator!=(const OBB& other) const { return !(*this == other); } | ||
| 76 | |||
| 77 | /// @brief Check whether the OBB contains a point. | ||
| 78 | bool contain(const Vec3s& p) const; | ||
| 79 | |||
| 80 | /// Check collision between two OBB | ||
| 81 | /// @return true if collision happens. | ||
| 82 | bool overlap(const OBB& other) const; | ||
| 83 | |||
| 84 | /// Check collision between two OBB | ||
| 85 | /// @return true if collision happens. | ||
| 86 | /// @retval sqrDistLowerBound squared lower bound on distance between boxes if | ||
| 87 | /// they do not overlap. | ||
| 88 | bool overlap(const OBB& other, const CollisionRequest& request, | ||
| 89 | Scalar& sqrDistLowerBound) const; | ||
| 90 | |||
| 91 | /// @brief Distance between two OBBs, not implemented. | ||
| 92 | Scalar distance(const OBB& other, Vec3s* P = NULL, Vec3s* Q = NULL) const; | ||
| 93 | |||
| 94 | /// @brief A simple way to merge the OBB and a point (the result is not | ||
| 95 | /// compact). | ||
| 96 | OBB& operator+=(const Vec3s& p); | ||
| 97 | |||
| 98 | /// @brief Merge the OBB and another OBB (the result is not compact). | ||
| 99 | ✗ | OBB& operator+=(const OBB& other) { | |
| 100 | ✗ | *this = *this + other; | |
| 101 | ✗ | return *this; | |
| 102 | } | ||
| 103 | |||
| 104 | /// @brief Return the merged OBB of current OBB and the other one (the result | ||
| 105 | /// is not compact). | ||
| 106 | OBB operator+(const OBB& other) const; | ||
| 107 | |||
| 108 | /// @brief Size of the OBB (used in BV_Splitter to order two OBBs) | ||
| 109 | 1699600 | inline Scalar size() const { return extent.squaredNorm(); } | |
| 110 | |||
| 111 | /// @brief Center of the OBB | ||
| 112 | 130672 | inline const Vec3s& center() const { return To; } | |
| 113 | |||
| 114 | /// @brief Width of the OBB. | ||
| 115 | 7592 | inline Scalar width() const { return 2 * extent[0]; } | |
| 116 | |||
| 117 | /// @brief Height of the OBB. | ||
| 118 | 7592 | inline Scalar height() const { return 2 * extent[1]; } | |
| 119 | |||
| 120 | /// @brief Depth of the OBB | ||
| 121 | 7592 | inline Scalar depth() const { return 2 * extent[2]; } | |
| 122 | |||
| 123 | /// @brief Volume of the OBB | ||
| 124 | 7592 | inline Scalar volume() const { return width() * height() * depth(); } | |
| 125 | }; | ||
| 126 | |||
| 127 | /** @} */ // end of Bounding_Volume | ||
| 128 | |||
| 129 | /// @brief Translate the OBB bv | ||
| 130 | COAL_DLLAPI OBB translate(const OBB& bv, const Vec3s& t); | ||
| 131 | |||
| 132 | /// @brief Check collision between two obbs, b1 is in configuration (R0, T0) and | ||
| 133 | /// b2 is in identity. | ||
| 134 | COAL_DLLAPI bool overlap(const Matrix3s& R0, const Vec3s& T0, const OBB& b1, | ||
| 135 | const OBB& b2); | ||
| 136 | |||
| 137 | /// @brief Check collision between two obbs, b1 is in configuration (R0, T0) and | ||
| 138 | /// b2 is in identity. | ||
| 139 | COAL_DLLAPI bool overlap(const Matrix3s& R0, const Vec3s& T0, const OBB& b1, | ||
| 140 | const OBB& b2, const CollisionRequest& request, | ||
| 141 | Scalar& sqrDistLowerBound); | ||
| 142 | |||
| 143 | /// Check collision between two boxes | ||
| 144 | /// @param B, T orientation and position of first box, | ||
| 145 | /// @param a half dimensions of first box, | ||
| 146 | /// @param b half dimensions of second box. | ||
| 147 | /// The second box is in identity configuration. | ||
| 148 | COAL_DLLAPI bool obbDisjoint(const Matrix3s& B, const Vec3s& T, const Vec3s& a, | ||
| 149 | const Vec3s& b); | ||
| 150 | } // namespace coal | ||
| 151 | |||
| 152 | #endif | ||
| 153 |