| Directory: | ./ |
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| File: | include/coal/shape/convex.hxx |
| Date: | 2025-05-02 10:16:21 |
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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 | #include "coal/shape/convex.h" | ||
| 45 | |||
| 46 | namespace coal { | ||
| 47 | |||
| 48 | template <typename PolygonT> | ||
| 49 | 169 | ConvexTpl<PolygonT>::ConvexTpl(std::shared_ptr<std::vector<Vec3s>> points_, | |
| 50 | unsigned int num_points_, | ||
| 51 | std::shared_ptr<std::vector<PolygonT>> polygons_, | ||
| 52 | unsigned int num_polygons_) | ||
| 53 | 169 | : Base(), polygons(polygons_), num_polygons(num_polygons_) { | |
| 54 |
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169 | this->initialize(points_, num_points_); |
| 55 |
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169 | this->fillNeighbors(); |
| 56 |
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169 | this->buildSupportWarmStart(); |
| 57 | 169 | } | |
| 58 | |||
| 59 | template <typename PolygonT> | ||
| 60 | 18 | ConvexTpl<PolygonT>& ConvexTpl<PolygonT>::operator=(const ConvexTpl& other) { | |
| 61 |
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18 | if (this != &other) { |
| 62 | // Copy the base | ||
| 63 | 18 | this->base() = other.base(); | |
| 64 | |||
| 65 | // Shallow copy the polygons | ||
| 66 | 18 | this->num_polygons = other.num_polygons; | |
| 67 | 18 | this->polygons = other.polygons; | |
| 68 | } | ||
| 69 | |||
| 70 | 18 | return *this; | |
| 71 | } | ||
| 72 | |||
| 73 | template <typename PolygonT> | ||
| 74 | template <typename OtherPolygonT> | ||
| 75 | 4 | void ConvexTpl<PolygonT>::deepcopy(const ConvexTpl<PolygonT>* source, | |
| 76 | ConvexTpl<OtherPolygonT>* copy) { | ||
| 77 |
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4 | if (source == nullptr || copy == nullptr) { |
| 78 | ✗ | return; | |
| 79 | } | ||
| 80 | |||
| 81 | // Deep copy the base | ||
| 82 | 4 | Base::deepcopy(source, copy); | |
| 83 | |||
| 84 | // Deep copy the polygons | ||
| 85 | typedef typename OtherPolygonT::IndexType OtherIndexType; | ||
| 86 | 4 | copy->num_polygons = source->num_polygons; | |
| 87 |
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4 | if (source->polygons != nullptr) { |
| 88 | 4 | const std::vector<PolygonT>& source_polygons = *(source->polygons); | |
| 89 |
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8 | copy->polygons.reset( |
| 90 |
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8 | new std::vector<OtherPolygonT>(source_polygons.size())); |
| 91 | 4 | std::vector<OtherPolygonT>& copy_polygons = *(copy->polygons); | |
| 92 |
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40 | for (std::size_t i = 0; i < source_polygons.size(); ++i) { |
| 93 |
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36 | copy_polygons[i] = source_polygons[i].template cast<OtherIndexType>(); |
| 94 | } | ||
| 95 | } else { | ||
| 96 | ✗ | copy->polygons.reset(); | |
| 97 | } | ||
| 98 | } | ||
| 99 | |||
| 100 | template <typename PolygonT> | ||
| 101 | 61182 | void ConvexTpl<PolygonT>::set(std::shared_ptr<std::vector<Vec3s>> points_, | |
| 102 | unsigned int num_points_, | ||
| 103 | std::shared_ptr<std::vector<PolygonT>> polygons_, | ||
| 104 | unsigned int num_polygons_) { | ||
| 105 |
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61182 | Base::set(points_, num_points_); |
| 106 | |||
| 107 | 61182 | this->num_polygons = num_polygons_; | |
| 108 | 61182 | this->polygons = polygons_; | |
| 109 | |||
| 110 | 61182 | this->fillNeighbors(); | |
| 111 | 61182 | this->buildSupportWarmStart(); | |
| 112 | 61182 | } | |
| 113 | |||
| 114 | template <typename PolygonT> | ||
| 115 | ✗ | Matrix3s ConvexTpl<PolygonT>::computeMomentofInertia() const { | |
| 116 | typedef typename PolygonT::size_type size_type; | ||
| 117 | typedef typename PolygonT::IndexType IndexType; | ||
| 118 | |||
| 119 | ✗ | Matrix3s C = Matrix3s::Zero(); | |
| 120 | |||
| 121 | ✗ | Matrix3s C_canonical; | |
| 122 | ✗ | C_canonical << Scalar(1 / 60.0), // | |
| 123 | ✗ | Scalar(1 / 120.0), // | |
| 124 | ✗ | Scalar(1 / 120.0), // | |
| 125 | ✗ | Scalar(1 / 120.0), // | |
| 126 | ✗ | Scalar(1 / 60.0), // | |
| 127 | ✗ | Scalar(1 / 120.0), // | |
| 128 | ✗ | Scalar(1 / 120.0), // | |
| 129 | ✗ | Scalar(1 / 120.0), // | |
| 130 | ✗ | Scalar(1 / 60.0); | |
| 131 | |||
| 132 | ✗ | if (!(points.get())) { | |
| 133 | ✗ | std::cerr << "Error in `ConvexTpl::computeMomentofInertia`! ConvexTpl has " | |
| 134 | "no vertices." | ||
| 135 | ✗ | << std::endl; | |
| 136 | ✗ | return C; | |
| 137 | } | ||
| 138 | ✗ | const std::vector<Vec3s>& points_ = *points; | |
| 139 | ✗ | if (!(polygons.get())) { | |
| 140 | ✗ | std::cerr << "Error in `ConvexTpl::computeMomentofInertia`! ConvexTpl has " | |
| 141 | "no polygons." | ||
| 142 | ✗ | << std::endl; | |
| 143 | ✗ | return C; | |
| 144 | } | ||
| 145 | ✗ | const std::vector<PolygonT>& polygons_ = *polygons; | |
| 146 | ✗ | for (unsigned int i = 0; i < num_polygons; ++i) { | |
| 147 | ✗ | const PolygonT& polygon = polygons_[i]; | |
| 148 | |||
| 149 | // compute the center of the polygon | ||
| 150 | ✗ | Vec3s plane_center(0, 0, 0); | |
| 151 | ✗ | for (size_type j = 0; j < polygon.size(); ++j) | |
| 152 | ✗ | plane_center += points_[polygon[(IndexType)j]]; | |
| 153 | ✗ | plane_center /= Scalar(polygon.size()); | |
| 154 | |||
| 155 | // compute the volume of tetrahedron making by neighboring two points, the | ||
| 156 | // plane center and the reference point (zero) of the convex shape | ||
| 157 | ✗ | const Vec3s& v3 = plane_center; | |
| 158 | ✗ | for (size_type j = 0; j < polygon.size(); ++j) { | |
| 159 | ✗ | IndexType e_first = polygon[static_cast<IndexType>(j)]; | |
| 160 | IndexType e_second = | ||
| 161 | ✗ | polygon[static_cast<IndexType>((j + 1) % polygon.size())]; | |
| 162 | ✗ | const Vec3s& v1 = points_[e_first]; | |
| 163 | ✗ | const Vec3s& v2 = points_[e_second]; | |
| 164 | ✗ | Matrix3s A; | |
| 165 | ✗ | A << v1.transpose(), v2.transpose(), | |
| 166 | ✗ | v3.transpose(); // this is A' in the original document | |
| 167 | ✗ | C += A.transpose() * C_canonical * A * (v1.cross(v2)).dot(v3); | |
| 168 | } | ||
| 169 | } | ||
| 170 | |||
| 171 | ✗ | return C.trace() * Matrix3s::Identity() - C; | |
| 172 | } | ||
| 173 | |||
| 174 | template <typename PolygonT> | ||
| 175 | ✗ | Vec3s ConvexTpl<PolygonT>::computeCOM() const { | |
| 176 | typedef typename PolygonT::size_type size_type; | ||
| 177 | typedef typename PolygonT::IndexType IndexType; | ||
| 178 | |||
| 179 | ✗ | Vec3s com(0, 0, 0); | |
| 180 | ✗ | Scalar vol = 0; | |
| 181 | ✗ | if (!(points.get())) { | |
| 182 | ✗ | std::cerr << "Error in `ConvexTpl::computeCOM`! ConvexTpl has no vertices." | |
| 183 | ✗ | << std::endl; | |
| 184 | ✗ | return com; | |
| 185 | } | ||
| 186 | ✗ | const std::vector<Vec3s>& points_ = *points; | |
| 187 | ✗ | if (!(polygons.get())) { | |
| 188 | ✗ | std::cerr << "Error in `ConvexTpl::computeCOM`! ConvexTpl has no polygons." | |
| 189 | ✗ | << std::endl; | |
| 190 | ✗ | return com; | |
| 191 | } | ||
| 192 | ✗ | const std::vector<PolygonT>& polygons_ = *polygons; | |
| 193 | ✗ | for (unsigned int i = 0; i < num_polygons; ++i) { | |
| 194 | ✗ | const PolygonT& polygon = polygons_[i]; | |
| 195 | // compute the center of the polygon | ||
| 196 | ✗ | Vec3s plane_center(0, 0, 0); | |
| 197 | ✗ | for (size_type j = 0; j < polygon.size(); ++j) | |
| 198 | ✗ | plane_center += points_[polygon[(IndexType)j]]; | |
| 199 | ✗ | plane_center /= Scalar(polygon.size()); | |
| 200 | |||
| 201 | // compute the volume of tetrahedron making by neighboring two points, the | ||
| 202 | // plane center and the reference point (zero) of the convex shape | ||
| 203 | ✗ | const Vec3s& v3 = plane_center; | |
| 204 | ✗ | for (size_type j = 0; j < polygon.size(); ++j) { | |
| 205 | ✗ | IndexType e_first = polygon[static_cast<IndexType>(j)]; | |
| 206 | IndexType e_second = | ||
| 207 | ✗ | polygon[static_cast<IndexType>((j + 1) % polygon.size())]; | |
| 208 | ✗ | const Vec3s& v1 = points_[e_first]; | |
| 209 | ✗ | const Vec3s& v2 = points_[e_second]; | |
| 210 | ✗ | Scalar d_six_vol = (v1.cross(v2)).dot(v3); | |
| 211 | ✗ | vol += d_six_vol; | |
| 212 | ✗ | com += (points_[e_first] + points_[e_second] + plane_center) * d_six_vol; | |
| 213 | } | ||
| 214 | } | ||
| 215 | |||
| 216 | ✗ | return com / (vol * 4); // here we choose zero as the reference | |
| 217 | } | ||
| 218 | |||
| 219 | template <typename PolygonT> | ||
| 220 | ✗ | Scalar ConvexTpl<PolygonT>::computeVolume() const { | |
| 221 | typedef typename PolygonT::size_type size_type; | ||
| 222 | typedef typename PolygonT::IndexType IndexType; | ||
| 223 | |||
| 224 | ✗ | Scalar vol = 0; | |
| 225 | ✗ | if (!(points.get())) { | |
| 226 | std::cerr | ||
| 227 | ✗ | << "Error in `ConvexTpl::computeVolume`! ConvexTpl has no vertices." | |
| 228 | ✗ | << std::endl; | |
| 229 | ✗ | return vol; | |
| 230 | } | ||
| 231 | ✗ | const std::vector<Vec3s>& points_ = *points; | |
| 232 | ✗ | if (!(polygons.get())) { | |
| 233 | std::cerr | ||
| 234 | ✗ | << "Error in `ConvexTpl::computeVolume`! ConvexTpl has no polygons." | |
| 235 | ✗ | << std::endl; | |
| 236 | ✗ | return vol; | |
| 237 | } | ||
| 238 | ✗ | const std::vector<PolygonT>& polygons_ = *polygons; | |
| 239 | ✗ | for (unsigned int i = 0; i < num_polygons; ++i) { | |
| 240 | ✗ | const PolygonT& polygon = polygons_[i]; | |
| 241 | |||
| 242 | // compute the center of the polygon | ||
| 243 | ✗ | Vec3s plane_center(0, 0, 0); | |
| 244 | ✗ | for (size_type j = 0; j < polygon.size(); ++j) | |
| 245 | ✗ | plane_center += points_[polygon[(IndexType)j]]; | |
| 246 | ✗ | plane_center /= Scalar(polygon.size()); | |
| 247 | |||
| 248 | // compute the volume of tetrahedron making by neighboring two points, the | ||
| 249 | // plane center and the reference point (zero point) of the convex shape | ||
| 250 | ✗ | const Vec3s& v3 = plane_center; | |
| 251 | ✗ | for (size_type j = 0; j < polygon.size(); ++j) { | |
| 252 | ✗ | IndexType e_first = polygon[static_cast<IndexType>(j)]; | |
| 253 | IndexType e_second = | ||
| 254 | ✗ | polygon[static_cast<IndexType>((j + 1) % polygon.size())]; | |
| 255 | ✗ | const Vec3s& v1 = points_[e_first]; | |
| 256 | ✗ | const Vec3s& v2 = points_[e_second]; | |
| 257 | ✗ | Scalar d_six_vol = (v1.cross(v2)).dot(v3); | |
| 258 | ✗ | vol += d_six_vol; | |
| 259 | } | ||
| 260 | } | ||
| 261 | |||
| 262 | ✗ | return vol / 6; | |
| 263 | } | ||
| 264 | |||
| 265 | template <typename PolygonT> | ||
| 266 | 61420 | void ConvexTpl<PolygonT>::fillNeighbors() { | |
| 267 |
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61420 | neighbors.reset(new std::vector<Neighbors>(num_points)); |
| 268 | |||
| 269 | typedef typename PolygonT::size_type size_type; | ||
| 270 | typedef typename PolygonT::IndexType IndexType; | ||
| 271 | |||
| 272 |
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61420 | std::vector<std::set<IndexType>> nneighbors(num_points); |
| 273 | 61420 | unsigned int c_nneighbors = 0; | |
| 274 | |||
| 275 |
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61420 | if (!(polygons.get())) { |
| 276 | std::cerr | ||
| 277 | ✗ | << "Error in `ConvexTpl::fillNeighbors`! ConvexTpl has no polygons." | |
| 278 | ✗ | << std::endl; | |
| 279 | } | ||
| 280 | 61420 | const std::vector<PolygonT>& polygons_ = *polygons; | |
| 281 |
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554366 | for (unsigned int l = 0; l < num_polygons; ++l) { |
| 282 | 492946 | const PolygonT& polygon = polygons_[l]; | |
| 283 | 492946 | const size_type n = polygon.size(); | |
| 284 | |||
| 285 |
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1971832 | for (size_type j = 0; j < polygon.size(); ++j) { |
| 286 |
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1478886 | size_type i = (j == 0) ? n - 1 : j - 1; |
| 287 |
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1478886 | size_type k = (j == n - 1) ? 0 : j + 1; |
| 288 | 1478886 | IndexType pi = polygon[(IndexType)i], pj = polygon[(IndexType)j], | |
| 289 | 1478886 | pk = polygon[(IndexType)k]; | |
| 290 | // Update neighbors of pj; | ||
| 291 |
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1478886 | if (nneighbors[pj].count(pi) == 0) { |
| 292 | 770069 | c_nneighbors++; | |
| 293 |
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770069 | nneighbors[pj].insert(pi); |
| 294 | } | ||
| 295 |
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1478886 | if (nneighbors[pj].count(pk) == 0) { |
| 296 | 770069 | c_nneighbors++; | |
| 297 |
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770069 | nneighbors[pj].insert(pk); |
| 298 | } | ||
| 299 | } | ||
| 300 | } | ||
| 301 | |||
| 302 |
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61420 | nneighbors_.reset(new std::vector<IndexType>(c_nneighbors)); |
| 303 | |||
| 304 | 61420 | std::vector<Neighbors>& neighbors_ = *neighbors; | |
| 305 | 61420 | std::vector<IndexType>& nneighbors__ = *(nneighbors_); | |
| 306 | 61420 | IndexType begin_id = 0; | |
| 307 |
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430758 | for (unsigned int i = 0; i < num_points; ++i) { |
| 308 | 369338 | Neighbors& n = neighbors_[i]; | |
| 309 |
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369338 | if (nneighbors[i].size() >= (std::numeric_limits<unsigned char>::max)()) |
| 310 | ✗ | COAL_THROW_PRETTY("Too many neighbors.", std::logic_error); | |
| 311 | 369338 | n.count = (unsigned char)nneighbors[i].size(); | |
| 312 | 369338 | n.begin_id = begin_id; | |
| 313 | 369338 | IndexType j = 0; | |
| 314 |
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1909476 | for (IndexType idx : nneighbors[i]) { |
| 315 | 1540138 | nneighbors__[n.begin_id + j] = idx; | |
| 316 | 1540138 | j++; | |
| 317 | } | ||
| 318 | 369338 | begin_id += n.count; | |
| 319 | } | ||
| 320 | 61420 | } | |
| 321 | |||
| 322 | } // namespace coal | ||
| 323 | |||
| 324 | #endif | ||
| 325 |