| 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 |
|
|
* Copyright (c) 2018-2019, Center National de la Recherche Scientifique |
| 7 |
|
|
* All rights reserved. |
| 8 |
|
|
* |
| 9 |
|
|
* Redistribution and use in source and binary forms, with or without |
| 10 |
|
|
* modification, are permitted provided that the following conditions |
| 11 |
|
|
* are met: |
| 12 |
|
|
* |
| 13 |
|
|
* * Redistributions of source code must retain the above copyright |
| 14 |
|
|
* notice, this list of conditions and the following disclaimer. |
| 15 |
|
|
* * Redistributions in binary form must reproduce the above |
| 16 |
|
|
* copyright notice, this list of conditions and the following |
| 17 |
|
|
* disclaimer in the documentation and/or other materials provided |
| 18 |
|
|
* with the distribution. |
| 19 |
|
|
* * Neither the name of Open Source Robotics Foundation nor the names of its |
| 20 |
|
|
* contributors may be used to endorse or promote products derived |
| 21 |
|
|
* from this software without specific prior written permission. |
| 22 |
|
|
* |
| 23 |
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
| 24 |
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
| 25 |
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
| 26 |
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
| 27 |
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
| 28 |
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
| 29 |
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
| 30 |
|
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
| 31 |
|
|
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
| 32 |
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
| 33 |
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 34 |
|
|
* POSSIBILITY OF SUCH DAMAGE. |
| 35 |
|
|
*/ |
| 36 |
|
|
|
| 37 |
|
|
/** \author Florent Lamiraux */ |
| 38 |
|
|
|
| 39 |
|
|
#include "coal/math/transform.h" |
| 40 |
|
|
#include "coal/shape/geometric_shapes.h" |
| 41 |
|
|
|
| 42 |
|
|
#include "coal/internal/shape_shape_func.h" |
| 43 |
|
|
#include "../narrowphase/details.h" |
| 44 |
|
|
|
| 45 |
|
|
#include "coal/tracy.hh" |
| 46 |
|
|
|
| 47 |
|
|
namespace coal { |
| 48 |
|
|
struct GJKSolver; |
| 49 |
|
|
|
| 50 |
|
|
namespace internal { |
| 51 |
|
|
|
| 52 |
|
|
template <> |
| 53 |
|
454 |
Scalar ShapeShapeDistance<Box, Halfspace>(const CollisionGeometry* o1, |
| 54 |
|
|
const Transform3s& tf1, |
| 55 |
|
|
const CollisionGeometry* o2, |
| 56 |
|
|
const Transform3s& tf2, |
| 57 |
|
|
const GJKSolver*, const bool, |
| 58 |
|
|
Vec3s& p1, Vec3s& p2, Vec3s& normal) { |
| 59 |
|
|
COAL_TRACY_ZONE_SCOPED_N( |
| 60 |
|
|
"coal::internal::ShapeShapeDistance<Box, Halfspace>"); |
| 61 |
|
454 |
const Box& s1 = static_cast<const Box&>(*o1); |
| 62 |
|
454 |
const Halfspace& s2 = static_cast<const Halfspace&>(*o2); |
| 63 |
|
|
const Scalar distance = |
| 64 |
|
454 |
details::halfspaceDistance(s2, tf2, s1, tf1, p2, p1, normal); |
| 65 |
1/2
✓ Branch 2 taken 454 times.
✗ Branch 3 not taken.
|
454 |
normal = -normal; |
| 66 |
|
454 |
return distance; |
| 67 |
|
|
} |
| 68 |
|
|
|
| 69 |
|
|
template <> |
| 70 |
|
433 |
Scalar ShapeShapeDistance<Halfspace, Box>(const CollisionGeometry* o1, |
| 71 |
|
|
const Transform3s& tf1, |
| 72 |
|
|
const CollisionGeometry* o2, |
| 73 |
|
|
const Transform3s& tf2, |
| 74 |
|
|
const GJKSolver*, const bool, |
| 75 |
|
|
Vec3s& p1, Vec3s& p2, Vec3s& normal) { |
| 76 |
|
|
COAL_TRACY_ZONE_SCOPED_N( |
| 77 |
|
|
"coal::internal::ShapeShapeDistance<Halfspace, Box>"); |
| 78 |
|
433 |
const Halfspace& s1 = static_cast<const Halfspace&>(*o1); |
| 79 |
|
433 |
const Box& s2 = static_cast<const Box&>(*o2); |
| 80 |
|
433 |
return details::halfspaceDistance(s1, tf1, s2, tf2, p1, p2, normal); |
| 81 |
|
|
} |
| 82 |
|
|
|
| 83 |
|
|
} // namespace internal |
| 84 |
|
|
|
| 85 |
|
|
} // namespace coal |
| 86 |
|
|
|