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|---|---|---|---|
| 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 | * All rights reserved. | ||
| 7 | * | ||
| 8 | * Redistribution and use in source and binary forms, with or without | ||
| 9 | * modification, are permitted provided that the following conditions | ||
| 10 | * are met: | ||
| 11 | * | ||
| 12 | * * Redistributions of source code must retain the above copyright | ||
| 13 | * notice, this list of conditions and the following disclaimer. | ||
| 14 | * * Redistributions in binary form must reproduce the above | ||
| 15 | * copyright notice, this list of conditions and the following | ||
| 16 | * disclaimer in the documentation and/or other materials provided | ||
| 17 | * with the distribution. | ||
| 18 | * * Neither the name of Open Source Robotics Foundation nor the names of its | ||
| 19 | * contributors may be used to endorse or promote products derived | ||
| 20 | * from this software without specific prior written permission. | ||
| 21 | * | ||
| 22 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 23 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 24 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| 25 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| 26 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| 27 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| 28 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 29 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| 30 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| 31 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| 32 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| 33 | * POSSIBILITY OF SUCH DAMAGE. | ||
| 34 | */ | ||
| 35 | |||
| 36 | /** \author Jia Pan */ | ||
| 37 | |||
| 38 | #ifndef COAL_GEOMETRIC_SHAPES_HXX | ||
| 39 | #define COAL_GEOMETRIC_SHAPES_HXX | ||
| 40 | |||
| 41 | #include "coal/shape/convex.h" | ||
| 42 | #include "coal/shape/geometric_shapes.h" | ||
| 43 | #include "coal/narrowphase/support_data.h" | ||
| 44 | |||
| 45 | #include <iostream> | ||
| 46 | |||
| 47 | namespace coal { | ||
| 48 | |||
| 49 | template <typename IndexType> | ||
| 50 | NODE_TYPE ConvexBaseTpl<IndexType>::getNodeType() const { | ||
| 51 | COAL_THROW_PRETTY("Uknown vertex index type for ConvexBase.", | ||
| 52 | std::runtime_error); | ||
| 53 | return NODE_COUNT; | ||
| 54 | } | ||
| 55 | |||
| 56 | template <> | ||
| 57 | ✗ | inline NODE_TYPE ConvexBaseTpl<std::uint16_t>::getNodeType() const { | |
| 58 | ✗ | return GEOM_CONVEX16; | |
| 59 | } | ||
| 60 | |||
| 61 | template <> | ||
| 62 | 168873 | inline NODE_TYPE ConvexBaseTpl<std::uint32_t>::getNodeType() const { | |
| 63 | 168873 | return GEOM_CONVEX32; | |
| 64 | } | ||
| 65 | |||
| 66 | template <typename IndexType> | ||
| 67 | 61317 | void ConvexBaseTpl<IndexType>::initialize( | |
| 68 | std::shared_ptr<std::vector<Vec3s>> points_, unsigned int num_points_) { | ||
| 69 | 61317 | this->points = points_; | |
| 70 | 61317 | this->num_points = num_points_; | |
| 71 |
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61317 | COAL_ASSERT(this->points->size() == this->num_points, |
| 72 | "The number of points is not consistent with the size of the " | ||
| 73 | "points vector", | ||
| 74 | std::logic_error); | ||
| 75 | 61317 | this->num_normals_and_offsets = 0; | |
| 76 | 61317 | this->normals.reset(); | |
| 77 | 61317 | this->offsets.reset(); | |
| 78 | 61317 | this->computeCenter(); | |
| 79 | 61317 | } | |
| 80 | |||
| 81 | template <typename IndexType> | ||
| 82 | 61182 | void ConvexBaseTpl<IndexType>::set(std::shared_ptr<std::vector<Vec3s>> points_, | |
| 83 | unsigned int num_points_) { | ||
| 84 |
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61182 | initialize(points_, num_points_); |
| 85 | 61182 | } | |
| 86 | |||
| 87 | template <typename IndexType> | ||
| 88 | 18 | ConvexBaseTpl<IndexType>& ConvexBaseTpl<IndexType>::operator=( | |
| 89 | const ConvexBaseTpl& other) { | ||
| 90 |
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18 | if (this != &other) { |
| 91 | // Copy the base | ||
| 92 | 18 | this->base() = other.base(); | |
| 93 | |||
| 94 | // Shallow copy the rest of the data | ||
| 95 | 18 | this->points = other.points; | |
| 96 | 18 | this->num_points = other.num_points; | |
| 97 | 18 | this->normals = other.normals; | |
| 98 | 18 | this->offsets = other.offsets; | |
| 99 | 18 | this->num_normals_and_offsets = other.num_normals_and_offsets; | |
| 100 | 18 | this->neighbors = other.neighbors; | |
| 101 | 18 | this->nneighbors_ = other.nneighbors_; | |
| 102 | 18 | this->center = other.center; | |
| 103 | 18 | this->support_warm_starts = other.support_warm_starts; | |
| 104 | } | ||
| 105 | |||
| 106 | 18 | return *this; | |
| 107 | } | ||
| 108 | |||
| 109 | template <typename IndexType> | ||
| 110 | template <typename OtherIndexType> | ||
| 111 | 3 | void ConvexBaseTpl<IndexType>::deepcopy(const ConvexBaseTpl<IndexType>* source, | |
| 112 | ConvexBaseTpl<OtherIndexType>* copy) { | ||
| 113 |
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3 | if (source == nullptr || copy == nullptr) { |
| 114 | ✗ | return; | |
| 115 | } | ||
| 116 | |||
| 117 | // Copy the base | ||
| 118 | 3 | copy->base() = source->base(); | |
| 119 | |||
| 120 | // Copy the non-templated data | ||
| 121 |
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3 | if (source->points != nullptr) { |
| 122 |
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3 | copy->points.reset(new std::vector<Vec3s>(*source->points)); |
| 123 | } else { | ||
| 124 | ✗ | copy->points.reset(); | |
| 125 | ✗ | assert(source->num_points == 0); | |
| 126 | } | ||
| 127 | 3 | copy->num_points = source->num_points; | |
| 128 | |||
| 129 |
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3 | if (source->normals != nullptr) { |
| 130 | ✗ | copy->normals.reset(new std::vector<Vec3s>(*source->normals)); | |
| 131 | } else { | ||
| 132 | 3 | copy->normals.reset(); | |
| 133 |
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3 | assert(source->num_normals_and_offsets == 0); |
| 134 | } | ||
| 135 |
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3 | if (source->offsets != nullptr) { |
| 136 | ✗ | copy->offsets.reset(new std::vector<Scalar>(*source->offsets)); | |
| 137 | } else { | ||
| 138 | 3 | copy->offsets.reset(); | |
| 139 |
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3 | assert(source->num_normals_and_offsets == 0); |
| 140 | } | ||
| 141 | 3 | copy->num_normals_and_offsets = source->num_normals_and_offsets; | |
| 142 | |||
| 143 | 3 | copy->center = source->center; | |
| 144 |
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3 | copy->support_warm_starts = |
| 145 | source->support_warm_starts.template cast<OtherIndexType>(); | ||
| 146 | |||
| 147 | // Convert neighbors to new type | ||
| 148 | 3 | if (source->points->size() >= | |
| 149 |
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3 | (std::size_t)(std::numeric_limits<OtherIndexType>::max())) { |
| 150 | ✗ | COAL_THROW_PRETTY( | |
| 151 | "The source has more points than the max of OtherIndexType.", | ||
| 152 | std::runtime_error); | ||
| 153 | } | ||
| 154 | |||
| 155 |
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3 | if (source->nneighbors_ != nullptr) { |
| 156 | 3 | const std::vector<IndexType>& source_nneighbors = *(source->nneighbors_); | |
| 157 |
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3 | copy->nneighbors_.reset( |
| 158 |
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6 | new std::vector<OtherIndexType>(source_nneighbors.size())); |
| 159 | 3 | std::vector<OtherIndexType>& copy_nneighbors = *(copy->nneighbors_); | |
| 160 |
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87 | for (std::size_t i = 0; i < source_nneighbors.size(); ++i) { |
| 161 | 84 | copy_nneighbors[i] = OtherIndexType(source_nneighbors[i]); | |
| 162 | } | ||
| 163 | } else { | ||
| 164 | ✗ | copy->nneighbors_.reset(); | |
| 165 | } | ||
| 166 | |||
| 167 |
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3 | if (source->neighbors != nullptr) { |
| 168 | typedef typename ConvexBaseTpl<OtherIndexType>::Neighbors OtherNeighbors; | ||
| 169 |
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3 | assert(source->neighbors->size() == source->points->size()); |
| 170 | 3 | const std::vector<Neighbors>& source_neighbors = *(source->neighbors); | |
| 171 |
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3 | copy->neighbors.reset( |
| 172 |
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6 | new std::vector<OtherNeighbors>(source_neighbors.size())); |
| 173 | 3 | std::vector<OtherNeighbors>& copy_neighbors = *(copy->neighbors); | |
| 174 |
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27 | for (std::size_t i = 0; i < source_neighbors.size(); ++i) { |
| 175 | 24 | copy_neighbors[i].count = source_neighbors[i].count; | |
| 176 | 24 | copy_neighbors[i].begin_id = OtherIndexType(source_neighbors[i].begin_id); | |
| 177 | } | ||
| 178 | } else { | ||
| 179 | ✗ | copy->neighbors.reset(); | |
| 180 | } | ||
| 181 | } | ||
| 182 | |||
| 183 | template <typename IndexType> | ||
| 184 | 61317 | void ConvexBaseTpl<IndexType>::computeCenter() { | |
| 185 | 61317 | center.setZero(); | |
| 186 | 61317 | const std::vector<Vec3s>& points_ = *points; | |
| 187 |
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429864 | for (std::size_t i = 0; i < num_points; ++i) |
| 188 | 368547 | center += points_[i]; // TODO(jcarpent): vectorization | |
| 189 |
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61317 | center /= Scalar(num_points); |
| 190 | 61317 | } | |
| 191 | |||
| 192 | // forward declaration for ConvexBase | ||
| 193 | template <typename BV, typename S> | ||
| 194 | void computeBV(const S& s, const Transform3s& tf, BV& bv); | ||
| 195 | |||
| 196 | template <typename IndexType> | ||
| 197 | 1 | void ConvexBaseTpl<IndexType>::computeLocalAABB() { | |
| 198 |
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1 | computeBV<AABB, ConvexBaseTpl<IndexType>>(*this, Transform3s(), aabb_local); |
| 199 | 1 | const Scalar ssr = this->getSweptSphereRadius(); | |
| 200 |
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1 | if (ssr > 0) { |
| 201 | ✗ | aabb_local.min_ -= Vec3s::Constant(ssr); | |
| 202 | ✗ | aabb_local.max_ += Vec3s::Constant(ssr); | |
| 203 | } | ||
| 204 |
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1 | aabb_center = aabb_local.center(); |
| 205 |
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1 | aabb_radius = (aabb_local.min_ - aabb_center).norm(); |
| 206 | 1 | } | |
| 207 | |||
| 208 | // Reorders `tri` such that the dot product between the normal of triangle and | ||
| 209 | // the vector `triangle barycentre - convex_tri.center` is positive. | ||
| 210 | template <typename IndexType> | ||
| 211 | void reorderTriangle(const ConvexTpl<TriangleTpl<IndexType>>* convex_tri, | ||
| 212 | TriangleTpl<IndexType>& tri) { | ||
| 213 | Vec3s p0, p1, p2; | ||
| 214 | p0 = (*(convex_tri->points))[tri[0]]; | ||
| 215 | p1 = (*(convex_tri->points))[tri[1]]; | ||
| 216 | p2 = (*(convex_tri->points))[tri[2]]; | ||
| 217 | |||
| 218 | Vec3s barycentre_tri, center_barycenter; | ||
| 219 | barycentre_tri = (p0 + p1 + p2) / 3; | ||
| 220 | center_barycenter = barycentre_tri - convex_tri->center; | ||
| 221 | |||
| 222 | Vec3s edge_tri1, edge_tri2, n_tri; | ||
| 223 | edge_tri1 = p1 - p0; | ||
| 224 | edge_tri2 = p2 - p1; | ||
| 225 | n_tri = edge_tri1.cross(edge_tri2); | ||
| 226 | |||
| 227 | if (center_barycenter.dot(n_tri) < 0) { | ||
| 228 | tri.set(tri[1], tri[0], tri[2]); | ||
| 229 | } | ||
| 230 | } | ||
| 231 | |||
| 232 | } // namespace coal | ||
| 233 | |||
| 234 | #endif // COAL_GEOMETRIC_SHAPES_HXX | ||
| 235 |