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File: | include/coal/BV/OBB.h |
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 | #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 | 1708258 | 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 | /// @brief Translate the OBB bv | ||
128 | COAL_DLLAPI OBB translate(const OBB& bv, const Vec3s& t); | ||
129 | |||
130 | /// @brief Check collision between two obbs, b1 is in configuration (R0, T0) and | ||
131 | /// b2 is in identity. | ||
132 | COAL_DLLAPI bool overlap(const Matrix3s& R0, const Vec3s& T0, const OBB& b1, | ||
133 | const OBB& b2); | ||
134 | |||
135 | /// @brief Check collision between two obbs, b1 is in configuration (R0, T0) and | ||
136 | /// b2 is in identity. | ||
137 | COAL_DLLAPI bool overlap(const Matrix3s& R0, const Vec3s& T0, const OBB& b1, | ||
138 | const OBB& b2, const CollisionRequest& request, | ||
139 | Scalar& sqrDistLowerBound); | ||
140 | |||
141 | /// Check collision between two boxes | ||
142 | /// @param B, T orientation and position of first box, | ||
143 | /// @param a half dimensions of first box, | ||
144 | /// @param b half dimensions of second box. | ||
145 | /// The second box is in identity configuration. | ||
146 | COAL_DLLAPI bool obbDisjoint(const Matrix3s& B, const Vec3s& T, const Vec3s& a, | ||
147 | const Vec3s& b); | ||
148 | } // namespace coal | ||
149 | |||
150 | #endif | ||
151 |