| Directory: | ./ |
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| File: | src/contact_patch/contact_patch_solver.cpp |
| Date: | 2025-05-02 10:16:21 |
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| Lines: | 19 | 40 | 47.5% |
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| 1 | /* | ||
| 2 | * Software License Agreement (BSD License) | ||
| 3 | * | ||
| 4 | * Copyright (c) 2024, INRIA | ||
| 5 | * All rights reserved. | ||
| 6 | * | ||
| 7 | * Redistribution and use in source and binary forms, with or without | ||
| 8 | * modification, are permitted provided that the following conditions | ||
| 9 | * are met: | ||
| 10 | * | ||
| 11 | * * Redistributions of source code must retain the above copyright | ||
| 12 | * notice, this list of conditions and the following disclaimer. | ||
| 13 | * * Redistributions in binary form must reproduce the above | ||
| 14 | * copyright notice, this list of conditions and the following | ||
| 15 | * disclaimer in the documentation and/or other materials provided | ||
| 16 | * with the distribution. | ||
| 17 | * * Neither the name of INRIA nor the names of its | ||
| 18 | * contributors may be used to endorse or promote products derived | ||
| 19 | * from this software without specific prior written permission. | ||
| 20 | * | ||
| 21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| 24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| 25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| 26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| 27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| 29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| 30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| 31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| 32 | * POSSIBILITY OF SUCH DAMAGE. | ||
| 33 | */ | ||
| 34 | |||
| 35 | /** \authors Louis Montaut */ | ||
| 36 | |||
| 37 | #include "coal/contact_patch/contact_patch_solver.h" | ||
| 38 | |||
| 39 | namespace coal { | ||
| 40 | |||
| 41 | namespace details { | ||
| 42 | |||
| 43 | /// @brief Templated shape support set functions. | ||
| 44 | template <typename ShapeType, | ||
| 45 | int _SupportOptions = SupportOptions::NoSweptSphere> | ||
| 46 | 8 | void getShapeSupportSetTpl(const ShapeBase* shape, SupportSet& support_set, | |
| 47 | int& hint, ShapeSupportData& support_data, | ||
| 48 | size_t num_sampled_supports = 6, | ||
| 49 | Scalar tol = Scalar(1e-3)) { | ||
| 50 | 8 | const ShapeType* shape_ = static_cast<const ShapeType*>(shape); | |
| 51 | 8 | getShapeSupportSet<_SupportOptions>(shape_, support_set, hint, support_data, | |
| 52 | num_sampled_supports, tol); | ||
| 53 | } | ||
| 54 | |||
| 55 | /// @brief Templated shape support set functions for ConvexBase. | ||
| 56 | template <typename IndexType, | ||
| 57 | int _SupportOptions = SupportOptions::NoSweptSphere> | ||
| 58 | 36 | void getConvexBaseSupportSetTpl(const ShapeBase* shape, SupportSet& support_set, | |
| 59 | int& hint, ShapeSupportData& support_data, | ||
| 60 | size_t num_sampled_supports = 6, | ||
| 61 | Scalar tol = Scalar(1e-3)) { | ||
| 62 | 36 | const ConvexBaseTpl<IndexType>* convex = | |
| 63 | static_cast<const ConvexBaseTpl<IndexType>*>(shape); | ||
| 64 | |||
| 65 |
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36 | if (support_data.polygon.capacity() < |
| 66 | ::coal::ContactPatchSolver::default_num_preallocated_supports) { | ||
| 67 | 36 | support_data.polygon.reserve( | |
| 68 | ::coal::ContactPatchSolver::default_num_preallocated_supports); | ||
| 69 | } | ||
| 70 | |||
| 71 |
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36 | if ((size_t)(convex->num_points) > |
| 72 | ConvexBaseTpl<IndexType>::num_vertices_large_convex_threshold) { | ||
| 73 | ✗ | const LargeConvex<IndexType>* convex_ = | |
| 74 | static_cast<const LargeConvex<IndexType>*>(convex); | ||
| 75 | ✗ | support_data.visited.assign(convex_->num_points, false); | |
| 76 | ✗ | support_data.last_dir.setZero(); | |
| 77 | ✗ | return getShapeSupportSet<_SupportOptions>( | |
| 78 | ✗ | convex_, support_set, hint, support_data, num_sampled_supports, tol); | |
| 79 | } else { | ||
| 80 | 36 | const SmallConvex<IndexType>* convex_ = | |
| 81 | static_cast<const SmallConvex<IndexType>*>(convex); | ||
| 82 | 36 | return getShapeSupportSet<_SupportOptions>( | |
| 83 | 36 | convex_, support_set, hint, support_data, num_sampled_supports, tol); | |
| 84 | } | ||
| 85 | } | ||
| 86 | |||
| 87 | } // namespace details | ||
| 88 | |||
| 89 | // ============================================================================ | ||
| 90 | ContactPatchSolver::SupportSetFunction | ||
| 91 | 22 | ContactPatchSolver::makeSupportSetFunction(const ShapeBase* shape, | |
| 92 | ShapeSupportData& support_data) { | ||
| 93 | // Note: because the swept-sphere radius was already taken into account when | ||
| 94 | // constructing the contact patch frame, there is actually no need to take the | ||
| 95 | // swept-sphere radius of shapes into account. The origin of the contact patch | ||
| 96 | // frame already encodes this information. | ||
| 97 | using Options = details::SupportOptions; | ||
| 98 |
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22 | switch (shape->getNodeType()) { |
| 99 | ✗ | case GEOM_TRIANGLE: | |
| 100 | ✗ | return details::getShapeSupportSetTpl<TriangleP, Options::NoSweptSphere>; | |
| 101 | 4 | case GEOM_BOX: { | |
| 102 | 4 | const size_t num_corners_box = 8; | |
| 103 | 4 | support_data.polygon.reserve(num_corners_box); | |
| 104 | 4 | return details::getShapeSupportSetTpl<Box, Options::NoSweptSphere>; | |
| 105 | } | ||
| 106 | ✗ | case GEOM_SPHERE: | |
| 107 | ✗ | return details::getShapeSupportSetTpl<Sphere, Options::NoSweptSphere>; | |
| 108 | ✗ | case GEOM_ELLIPSOID: | |
| 109 | ✗ | return details::getShapeSupportSetTpl<Ellipsoid, Options::NoSweptSphere>; | |
| 110 | ✗ | case GEOM_CAPSULE: | |
| 111 | ✗ | return details::getShapeSupportSetTpl<Capsule, Options::NoSweptSphere>; | |
| 112 | ✗ | case GEOM_CONE: | |
| 113 | ✗ | return details::getShapeSupportSetTpl<Cone, Options::NoSweptSphere>; | |
| 114 | ✗ | case GEOM_CYLINDER: | |
| 115 | ✗ | return details::getShapeSupportSetTpl<Cylinder, Options::NoSweptSphere>; | |
| 116 | ✗ | case GEOM_CONVEX16: | |
| 117 | ✗ | return details::getConvexBaseSupportSetTpl<Triangle16::IndexType, | |
| 118 | Options::NoSweptSphere>; | ||
| 119 | 18 | case GEOM_CONVEX32: | |
| 120 | 18 | return details::getConvexBaseSupportSetTpl<Triangle32::IndexType, | |
| 121 | Options::NoSweptSphere>; | ||
| 122 | ✗ | default: | |
| 123 | ✗ | COAL_THROW_PRETTY("Unsupported geometric shape.", std::logic_error); | |
| 124 | } | ||
| 125 | } | ||
| 126 | |||
| 127 | } // namespace coal | ||
| 128 |