| Directory: | ./ |
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| File: | src/contact_patch/contact_patch_solver.cpp |
| Date: | 2025-04-01 09:23:31 |
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| Lines: | 15 | 32 | 46.9% |
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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 | 44 | 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 | 44 | const ShapeType* shape_ = static_cast<const ShapeType*>(shape); | |
| 51 | 44 | getShapeSupportSet<_SupportOptions>(shape_, support_set, hint, support_data, | |
| 52 | num_sampled_supports, tol); | ||
| 53 | } | ||
| 54 | |||
| 55 | } // namespace details | ||
| 56 | |||
| 57 | // ============================================================================ | ||
| 58 | ContactPatchSolver::SupportSetFunction | ||
| 59 | 22 | ContactPatchSolver::makeSupportSetFunction(const ShapeBase* shape, | |
| 60 | ShapeSupportData& support_data) { | ||
| 61 | // Note: because the swept-sphere radius was already taken into account when | ||
| 62 | // constructing the contact patch frame, there is actually no need to take the | ||
| 63 | // swept-sphere radius of shapes into account. The origin of the contact patch | ||
| 64 | // frame already encodes this information. | ||
| 65 | using Options = details::SupportOptions; | ||
| 66 |
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22 | switch (shape->getNodeType()) { |
| 67 | ✗ | case GEOM_TRIANGLE: | |
| 68 | ✗ | return details::getShapeSupportSetTpl<TriangleP, Options::NoSweptSphere>; | |
| 69 | 4 | case GEOM_BOX: { | |
| 70 | 4 | const size_t num_corners_box = 8; | |
| 71 | 4 | support_data.polygon.reserve(num_corners_box); | |
| 72 | 4 | return details::getShapeSupportSetTpl<Box, Options::NoSweptSphere>; | |
| 73 | } | ||
| 74 | ✗ | case GEOM_SPHERE: | |
| 75 | ✗ | return details::getShapeSupportSetTpl<Sphere, Options::NoSweptSphere>; | |
| 76 | ✗ | case GEOM_ELLIPSOID: | |
| 77 | ✗ | return details::getShapeSupportSetTpl<Ellipsoid, Options::NoSweptSphere>; | |
| 78 | ✗ | case GEOM_CAPSULE: | |
| 79 | ✗ | return details::getShapeSupportSetTpl<Capsule, Options::NoSweptSphere>; | |
| 80 | ✗ | case GEOM_CONE: | |
| 81 | ✗ | return details::getShapeSupportSetTpl<Cone, Options::NoSweptSphere>; | |
| 82 | ✗ | case GEOM_CYLINDER: | |
| 83 | ✗ | return details::getShapeSupportSetTpl<Cylinder, Options::NoSweptSphere>; | |
| 84 | 18 | case GEOM_CONVEX: { | |
| 85 | 18 | const ConvexBase* convex = static_cast<const ConvexBase*>(shape); | |
| 86 |
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18 | if (support_data.polygon.capacity() < default_num_preallocated_supports) { |
| 87 | 18 | support_data.polygon.reserve(default_num_preallocated_supports); | |
| 88 | } | ||
| 89 |
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18 | if ((size_t)(convex->num_points) > |
| 90 | ConvexBase::num_vertices_large_convex_threshold) { | ||
| 91 | ✗ | support_data.visited.assign(convex->num_points, false); | |
| 92 | ✗ | support_data.last_dir.setZero(); | |
| 93 | ✗ | return details::getShapeSupportSetTpl<details::LargeConvex, | |
| 94 | Options::NoSweptSphere>; | ||
| 95 | } else { | ||
| 96 | 18 | return details::getShapeSupportSetTpl<details::SmallConvex, | |
| 97 | Options::NoSweptSphere>; | ||
| 98 | } | ||
| 99 | } | ||
| 100 | ✗ | default: | |
| 101 | ✗ | COAL_THROW_PRETTY("Unsupported geometric shape.", std::logic_error); | |
| 102 | } | ||
| 103 | } | ||
| 104 | |||
| 105 | } // namespace coal | ||
| 106 |