| Directory: | ./ |
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| File: | include/coal/shape/details/convex.hxx |
| Date: | 2025-04-01 09:23:31 |
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| 1 | /* | ||
| 2 | * Software License Agreement (BSD License) | ||
| 3 | * | ||
| 4 | * Copyright (c) 2019, CNRS - LAAS | ||
| 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 Open Source Robotics Foundation 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 | /** \author Joseph Mirabel */ | ||
| 36 | |||
| 37 | #ifndef COAL_SHAPE_CONVEX_HXX | ||
| 38 | #define COAL_SHAPE_CONVEX_HXX | ||
| 39 | |||
| 40 | #include <set> | ||
| 41 | #include <vector> | ||
| 42 | #include <iostream> | ||
| 43 | |||
| 44 | namespace coal { | ||
| 45 | |||
| 46 | template <typename PolygonT> | ||
| 47 | 169 | Convex<PolygonT>::Convex(std::shared_ptr<std::vector<Vec3s>> points_, | |
| 48 | unsigned int num_points_, | ||
| 49 | std::shared_ptr<std::vector<PolygonT>> polygons_, | ||
| 50 | unsigned int num_polygons_) | ||
| 51 | 169 | : ConvexBase(), polygons(polygons_), num_polygons(num_polygons_) { | |
| 52 |
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169 | this->initialize(points_, num_points_); |
| 53 |
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169 | this->fillNeighbors(); |
| 54 |
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169 | this->buildSupportWarmStart(); |
| 55 | 169 | } | |
| 56 | |||
| 57 | template <typename PolygonT> | ||
| 58 | 20 | Convex<PolygonT>::Convex(const Convex<PolygonT>& other) | |
| 59 | 20 | : ConvexBase(other), num_polygons(other.num_polygons) { | |
| 60 |
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20 | if (other.polygons.get()) { |
| 61 |
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20 | polygons.reset(new std::vector<PolygonT>(*(other.polygons))); |
| 62 | } else | ||
| 63 | ✗ | polygons.reset(); | |
| 64 | 20 | } | |
| 65 | |||
| 66 | template <typename PolygonT> | ||
| 67 | 122774 | Convex<PolygonT>::~Convex() {} | |
| 68 | |||
| 69 | template <typename PolygonT> | ||
| 70 | 61182 | void Convex<PolygonT>::set(std::shared_ptr<std::vector<Vec3s>> points_, | |
| 71 | unsigned int num_points_, | ||
| 72 | std::shared_ptr<std::vector<PolygonT>> polygons_, | ||
| 73 | unsigned int num_polygons_) { | ||
| 74 |
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61182 | ConvexBase::set(points_, num_points_); |
| 75 | |||
| 76 | 61182 | this->num_polygons = num_polygons_; | |
| 77 | 61182 | this->polygons = polygons_; | |
| 78 | |||
| 79 | 61182 | this->fillNeighbors(); | |
| 80 | 61182 | this->buildSupportWarmStart(); | |
| 81 | 61182 | } | |
| 82 | |||
| 83 | template <typename PolygonT> | ||
| 84 | 2 | Convex<PolygonT>* Convex<PolygonT>::clone() const { | |
| 85 |
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2 | return new Convex(*this); |
| 86 | } | ||
| 87 | |||
| 88 | template <typename PolygonT> | ||
| 89 | ✗ | Matrix3s Convex<PolygonT>::computeMomentofInertia() const { | |
| 90 | typedef typename PolygonT::size_type size_type; | ||
| 91 | typedef typename PolygonT::index_type index_type; | ||
| 92 | |||
| 93 | ✗ | Matrix3s C = Matrix3s::Zero(); | |
| 94 | |||
| 95 | ✗ | Matrix3s C_canonical; | |
| 96 | ✗ | C_canonical << Scalar(1 / 60), // | |
| 97 | ✗ | Scalar(1 / 120), // | |
| 98 | ✗ | Scalar(1 / 120), // | |
| 99 | ✗ | Scalar(1 / 120), // | |
| 100 | ✗ | Scalar(1 / 60), // | |
| 101 | ✗ | Scalar(1 / 120), // | |
| 102 | ✗ | Scalar(1 / 120), // | |
| 103 | ✗ | Scalar(1 / 120), // | |
| 104 | ✗ | Scalar(1 / 60); | |
| 105 | |||
| 106 | ✗ | if (!(points.get())) { | |
| 107 | std::cerr | ||
| 108 | ✗ | << "Error in `Convex::computeMomentofInertia`! Convex has no vertices." | |
| 109 | ✗ | << std::endl; | |
| 110 | ✗ | return C; | |
| 111 | } | ||
| 112 | ✗ | const std::vector<Vec3s>& points_ = *points; | |
| 113 | ✗ | if (!(polygons.get())) { | |
| 114 | std::cerr | ||
| 115 | ✗ | << "Error in `Convex::computeMomentofInertia`! Convex has no polygons." | |
| 116 | ✗ | << std::endl; | |
| 117 | ✗ | return C; | |
| 118 | } | ||
| 119 | ✗ | const std::vector<PolygonT>& polygons_ = *polygons; | |
| 120 | ✗ | for (unsigned int i = 0; i < num_polygons; ++i) { | |
| 121 | ✗ | const PolygonT& polygon = polygons_[i]; | |
| 122 | |||
| 123 | // compute the center of the polygon | ||
| 124 | ✗ | Vec3s plane_center(0, 0, 0); | |
| 125 | ✗ | for (size_type j = 0; j < polygon.size(); ++j) | |
| 126 | ✗ | plane_center += points_[polygon[(index_type)j]]; | |
| 127 | ✗ | plane_center /= Scalar(polygon.size()); | |
| 128 | |||
| 129 | // compute the volume of tetrahedron making by neighboring two points, the | ||
| 130 | // plane center and the reference point (zero) of the convex shape | ||
| 131 | ✗ | const Vec3s& v3 = plane_center; | |
| 132 | ✗ | for (size_type j = 0; j < polygon.size(); ++j) { | |
| 133 | ✗ | index_type e_first = polygon[static_cast<index_type>(j)]; | |
| 134 | index_type e_second = | ||
| 135 | ✗ | polygon[static_cast<index_type>((j + 1) % polygon.size())]; | |
| 136 | ✗ | const Vec3s& v1 = points_[e_first]; | |
| 137 | ✗ | const Vec3s& v2 = points_[e_second]; | |
| 138 | ✗ | Matrix3s A; | |
| 139 | ✗ | A << v1.transpose(), v2.transpose(), | |
| 140 | ✗ | v3.transpose(); // this is A' in the original document | |
| 141 | ✗ | C += A.transpose() * C_canonical * A * (v1.cross(v2)).dot(v3); | |
| 142 | } | ||
| 143 | } | ||
| 144 | |||
| 145 | ✗ | return C.trace() * Matrix3s::Identity() - C; | |
| 146 | } | ||
| 147 | |||
| 148 | template <typename PolygonT> | ||
| 149 | ✗ | Vec3s Convex<PolygonT>::computeCOM() const { | |
| 150 | typedef typename PolygonT::size_type size_type; | ||
| 151 | typedef typename PolygonT::index_type index_type; | ||
| 152 | |||
| 153 | ✗ | Vec3s com(0, 0, 0); | |
| 154 | ✗ | Scalar vol = 0; | |
| 155 | ✗ | if (!(points.get())) { | |
| 156 | ✗ | std::cerr << "Error in `Convex::computeCOM`! Convex has no vertices." | |
| 157 | ✗ | << std::endl; | |
| 158 | ✗ | return com; | |
| 159 | } | ||
| 160 | ✗ | const std::vector<Vec3s>& points_ = *points; | |
| 161 | ✗ | if (!(polygons.get())) { | |
| 162 | ✗ | std::cerr << "Error in `Convex::computeCOM`! Convex has no polygons." | |
| 163 | ✗ | << std::endl; | |
| 164 | ✗ | return com; | |
| 165 | } | ||
| 166 | ✗ | const std::vector<PolygonT>& polygons_ = *polygons; | |
| 167 | ✗ | for (unsigned int i = 0; i < num_polygons; ++i) { | |
| 168 | ✗ | const PolygonT& polygon = polygons_[i]; | |
| 169 | // compute the center of the polygon | ||
| 170 | ✗ | Vec3s plane_center(0, 0, 0); | |
| 171 | ✗ | for (size_type j = 0; j < polygon.size(); ++j) | |
| 172 | ✗ | plane_center += points_[polygon[(index_type)j]]; | |
| 173 | ✗ | plane_center /= Scalar(polygon.size()); | |
| 174 | |||
| 175 | // compute the volume of tetrahedron making by neighboring two points, the | ||
| 176 | // plane center and the reference point (zero) of the convex shape | ||
| 177 | ✗ | const Vec3s& v3 = plane_center; | |
| 178 | ✗ | for (size_type j = 0; j < polygon.size(); ++j) { | |
| 179 | ✗ | index_type e_first = polygon[static_cast<index_type>(j)]; | |
| 180 | index_type e_second = | ||
| 181 | ✗ | polygon[static_cast<index_type>((j + 1) % polygon.size())]; | |
| 182 | ✗ | const Vec3s& v1 = points_[e_first]; | |
| 183 | ✗ | const Vec3s& v2 = points_[e_second]; | |
| 184 | ✗ | Scalar d_six_vol = (v1.cross(v2)).dot(v3); | |
| 185 | ✗ | vol += d_six_vol; | |
| 186 | ✗ | com += (points_[e_first] + points_[e_second] + plane_center) * d_six_vol; | |
| 187 | } | ||
| 188 | } | ||
| 189 | |||
| 190 | ✗ | return com / (vol * 4); // here we choose zero as the reference | |
| 191 | } | ||
| 192 | |||
| 193 | template <typename PolygonT> | ||
| 194 | ✗ | Scalar Convex<PolygonT>::computeVolume() const { | |
| 195 | typedef typename PolygonT::size_type size_type; | ||
| 196 | typedef typename PolygonT::index_type index_type; | ||
| 197 | |||
| 198 | ✗ | Scalar vol = 0; | |
| 199 | ✗ | if (!(points.get())) { | |
| 200 | ✗ | std::cerr << "Error in `Convex::computeVolume`! Convex has no vertices." | |
| 201 | ✗ | << std::endl; | |
| 202 | ✗ | return vol; | |
| 203 | } | ||
| 204 | ✗ | const std::vector<Vec3s>& points_ = *points; | |
| 205 | ✗ | if (!(polygons.get())) { | |
| 206 | ✗ | std::cerr << "Error in `Convex::computeVolume`! Convex has no polygons." | |
| 207 | ✗ | << std::endl; | |
| 208 | ✗ | return vol; | |
| 209 | } | ||
| 210 | ✗ | const std::vector<PolygonT>& polygons_ = *polygons; | |
| 211 | ✗ | for (unsigned int i = 0; i < num_polygons; ++i) { | |
| 212 | ✗ | const PolygonT& polygon = polygons_[i]; | |
| 213 | |||
| 214 | // compute the center of the polygon | ||
| 215 | ✗ | Vec3s plane_center(0, 0, 0); | |
| 216 | ✗ | for (size_type j = 0; j < polygon.size(); ++j) | |
| 217 | ✗ | plane_center += points_[polygon[(index_type)j]]; | |
| 218 | ✗ | plane_center /= Scalar(polygon.size()); | |
| 219 | |||
| 220 | // compute the volume of tetrahedron making by neighboring two points, the | ||
| 221 | // plane center and the reference point (zero point) of the convex shape | ||
| 222 | ✗ | const Vec3s& v3 = plane_center; | |
| 223 | ✗ | for (size_type j = 0; j < polygon.size(); ++j) { | |
| 224 | ✗ | index_type e_first = polygon[static_cast<index_type>(j)]; | |
| 225 | index_type e_second = | ||
| 226 | ✗ | polygon[static_cast<index_type>((j + 1) % polygon.size())]; | |
| 227 | ✗ | const Vec3s& v1 = points_[e_first]; | |
| 228 | ✗ | const Vec3s& v2 = points_[e_second]; | |
| 229 | ✗ | Scalar d_six_vol = (v1.cross(v2)).dot(v3); | |
| 230 | ✗ | vol += d_six_vol; | |
| 231 | } | ||
| 232 | } | ||
| 233 | |||
| 234 | ✗ | return vol / 6; | |
| 235 | } | ||
| 236 | |||
| 237 | template <typename PolygonT> | ||
| 238 | 61416 | void Convex<PolygonT>::fillNeighbors() { | |
| 239 |
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61416 | neighbors.reset(new std::vector<Neighbors>(num_points)); |
| 240 | |||
| 241 | typedef typename PolygonT::size_type size_type; | ||
| 242 | typedef typename PolygonT::index_type index_type; | ||
| 243 |
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61416 | std::vector<std::set<index_type>> nneighbors(num_points); |
| 244 | 61416 | unsigned int c_nneighbors = 0; | |
| 245 | |||
| 246 |
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61416 | if (!(polygons.get())) { |
| 247 | ✗ | std::cerr << "Error in `Convex::fillNeighbors`! Convex has no polygons." | |
| 248 | ✗ | << std::endl; | |
| 249 | } | ||
| 250 | 61416 | const std::vector<PolygonT>& polygons_ = *polygons; | |
| 251 |
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554349 | for (unsigned int l = 0; l < num_polygons; ++l) { |
| 252 | 492933 | const PolygonT& polygon = polygons_[l]; | |
| 253 | 492933 | const size_type n = polygon.size(); | |
| 254 | |||
| 255 |
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1971780 | for (size_type j = 0; j < polygon.size(); ++j) { |
| 256 |
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1478847 | size_type i = (j == 0) ? n - 1 : j - 1; |
| 257 |
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1478847 | size_type k = (j == n - 1) ? 0 : j + 1; |
| 258 | 1478847 | index_type pi = polygon[(index_type)i], pj = polygon[(index_type)j], | |
| 259 | 1478847 | pk = polygon[(index_type)k]; | |
| 260 | // Update neighbors of pj; | ||
| 261 |
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1478847 | if (nneighbors[pj].count(pi) == 0) { |
| 262 | 770048 | c_nneighbors++; | |
| 263 |
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770048 | nneighbors[pj].insert(pi); |
| 264 | } | ||
| 265 |
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1478847 | if (nneighbors[pj].count(pk) == 0) { |
| 266 | 770048 | c_nneighbors++; | |
| 267 |
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770048 | nneighbors[pj].insert(pk); |
| 268 | } | ||
| 269 | } | ||
| 270 | } | ||
| 271 | |||
| 272 |
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61416 | nneighbors_.reset(new std::vector<unsigned int>(c_nneighbors)); |
| 273 | |||
| 274 | 61416 | unsigned int* p_nneighbors = nneighbors_->data(); | |
| 275 | 61416 | std::vector<Neighbors>& neighbors_ = *neighbors; | |
| 276 |
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430739 | for (unsigned int i = 0; i < num_points; ++i) { |
| 277 | 369323 | Neighbors& n = neighbors_[i]; | |
| 278 |
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369323 | if (nneighbors[i].size() >= (std::numeric_limits<unsigned char>::max)()) |
| 279 | ✗ | COAL_THROW_PRETTY("Too many neighbors.", std::logic_error); | |
| 280 | 369323 | n.count_ = (unsigned char)nneighbors[i].size(); | |
| 281 | 369323 | n.n_ = p_nneighbors; | |
| 282 | p_nneighbors = | ||
| 283 |
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369323 | std::copy(nneighbors[i].begin(), nneighbors[i].end(), p_nneighbors); |
| 284 | } | ||
| 285 |
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61416 | assert(p_nneighbors == nneighbors_->data() + c_nneighbors); |
| 286 | 61416 | } | |
| 287 | |||
| 288 | } // namespace coal | ||
| 289 | |||
| 290 | #endif | ||
| 291 |