GCC Code Coverage Report

Directory: ./
File: src/shape/geometric_shapes_utility.cpp
Date: 2025-05-02 10:16:21
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Lines: 289 708 40.8%
Branches: 311 2860 10.9%
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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 #include "coal/shape/geometric_shapes_utility.h"
39 #include "coal/internal/BV_fitter.h"
40 #include "coal/internal/tools.h"
41
42 namespace coal {
43
44 namespace details {
45
46 202 std::vector<Vec3s> getBoundVertices(const Box& box, const Transform3s& tf) {
47
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 202 std::vector<Vec3s> result(8);
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 202 Scalar a = box.halfSide[0];
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 202 Scalar b = box.halfSide[1];
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 202 Scalar c = box.halfSide[2];
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 202 result[0] = tf.transform(Vec3s(a, b, c));
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 202 result[1] = tf.transform(Vec3s(a, b, -c));
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 202 result[2] = tf.transform(Vec3s(a, -b, c));
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 202 result[3] = tf.transform(Vec3s(a, -b, -c));
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 202 result[4] = tf.transform(Vec3s(-a, b, c));
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 202 result[5] = tf.transform(Vec3s(-a, b, -c));
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 202 result[6] = tf.transform(Vec3s(-a, -b, c));
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 202 result[7] = tf.transform(Vec3s(-a, -b, -c));
59
60 404 return result;
61 }
62
63 // we use icosahedron to bound the sphere
64 17 std::vector<Vec3s> getBoundVertices(const Sphere& sphere,
65 const Transform3s& tf) {
66
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 17 std::vector<Vec3s> result(12);
67 17 const Scalar m = (1 + sqrt(Scalar(5))) / Scalar(2);
68 17 Scalar edge_size = sphere.radius * 6 / (sqrt(Scalar(27)) + sqrt(Scalar(15)));
69
70 17 Scalar a = edge_size;
71 17 Scalar b = m * edge_size;
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 17 result[0] = tf.transform(Vec3s(0, a, b));
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 17 result[1] = tf.transform(Vec3s(0, -a, b));
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 17 result[2] = tf.transform(Vec3s(0, a, -b));
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 17 result[3] = tf.transform(Vec3s(0, -a, -b));
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 17 result[4] = tf.transform(Vec3s(a, b, 0));
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 17 result[5] = tf.transform(Vec3s(-a, b, 0));
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 17 result[6] = tf.transform(Vec3s(a, -b, 0));
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 17 result[7] = tf.transform(Vec3s(-a, -b, 0));
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 17 result[8] = tf.transform(Vec3s(b, 0, a));
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 17 result[9] = tf.transform(Vec3s(b, 0, -a));
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 17 result[10] = tf.transform(Vec3s(-b, 0, a));
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 17 result[11] = tf.transform(Vec3s(-b, 0, -a));
84
85 34 return result;
86 }
87
88 // we use scaled icosahedron to bound the ellipsoid
89 ✗ std::vector<Vec3s> getBoundVertices(const Ellipsoid& ellipsoid,
90 const Transform3s& tf) {
91 ✗ std::vector<Vec3s> result(12);
92 ✗ const Scalar phi = (1 + sqrt(Scalar(5))) / Scalar(2);
93
94 ✗ const Scalar a = sqrt(Scalar(3)) / (phi * phi);
95 ✗ const Scalar b = phi * a;
96
97 ✗ const Scalar& A = ellipsoid.radii[0];
98 ✗ const Scalar& B = ellipsoid.radii[1];
99 ✗ const Scalar& C = ellipsoid.radii[2];
100
101 ✗ Scalar Aa = A * a;
102 ✗ Scalar Ab = A * b;
103 ✗ Scalar Ba = B * a;
104 ✗ Scalar Bb = B * b;
105 ✗ Scalar Ca = C * a;
106 ✗ Scalar Cb = C * b;
107 ✗ result[0] = tf.transform(Vec3s(0, Ba, Cb));
108 ✗ result[1] = tf.transform(Vec3s(0, -Ba, Cb));
109 ✗ result[2] = tf.transform(Vec3s(0, Ba, -Cb));
110 ✗ result[3] = tf.transform(Vec3s(0, -Ba, -Cb));
111 ✗ result[4] = tf.transform(Vec3s(Aa, Bb, 0));
112 ✗ result[5] = tf.transform(Vec3s(-Aa, Bb, 0));
113 ✗ result[6] = tf.transform(Vec3s(Aa, -Bb, 0));
114 ✗ result[7] = tf.transform(Vec3s(-Aa, -Bb, 0));
115 ✗ result[8] = tf.transform(Vec3s(Ab, 0, Ca));
116 ✗ result[9] = tf.transform(Vec3s(Ab, 0, -Ca));
117 ✗ result[10] = tf.transform(Vec3s(-Ab, 0, Ca));
118 ✗ result[11] = tf.transform(Vec3s(-Ab, 0, -Ca));
119
120 ✗ return result;
121 }
122
123 2 std::vector<Vec3s> getBoundVertices(const Capsule& capsule,
124 const Transform3s& tf) {
125
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 2 std::vector<Vec3s> result(36);
126 2 const Scalar m = (1 + sqrt(Scalar(5))) / Scalar(2);
127
128 2 Scalar hl = capsule.halfLength;
129 2 Scalar edge_size = capsule.radius * 6 / (sqrt(Scalar(27)) + sqrt(Scalar(15)));
130 2 Scalar a = edge_size;
131 2 Scalar b = m * edge_size;
132 2 Scalar r2 = capsule.radius * 2 / sqrt(Scalar(3));
133
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 2 result[0] = tf.transform(Vec3s(0, a, b + hl));
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 2 result[1] = tf.transform(Vec3s(0, -a, b + hl));
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 2 result[2] = tf.transform(Vec3s(0, a, -b + hl));
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 2 result[4] = tf.transform(Vec3s(a, b, hl));
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 2 result[5] = tf.transform(Vec3s(-a, b, hl));
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 2 result[23] = tf.transform(Vec3s(-b, 0, -a - hl));
159
160 2 Scalar c = Scalar(0.5) * r2;
161 2 Scalar d = capsule.radius;
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 2 result[35] = tf.transform(Vec3s(c, -d, -hl));
175
176 4 return result;
177 }
178
179 2 std::vector<Vec3s> getBoundVertices(const Cone& cone, const Transform3s& tf) {
180
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 2 std::vector<Vec3s> result(7);
181
182 2 Scalar hl = cone.halfLength;
183 2 Scalar r2 = cone.radius * 2 / sqrt(Scalar(3));
184 2 Scalar a = Scalar(0.5) * r2;
185 2 Scalar b = cone.radius;
186
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 2 result[6] = tf.transform(Vec3s(0, 0, hl));
195
196 4 return result;
197 }
198
199 5 std::vector<Vec3s> getBoundVertices(const Cylinder& cylinder,
200 const Transform3s& tf) {
201
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 5 std::vector<Vec3s> result(12);
202
203 5 Scalar hl = cylinder.halfLength;
204 5 Scalar r2 = cylinder.radius * 2 / sqrt(Scalar(3));
205 5 Scalar a = Scalar(0.5) * r2;
206 5 Scalar b = cylinder.radius;
207
208
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 5 result[11] = tf.transform(Vec3s(a, -b, hl));
221
222 10 return result;
223 }
224
225 ✗ std::vector<Vec3s> getBoundVertices(const TriangleP& triangle,
226 const Transform3s& tf) {
227 ✗ std::vector<Vec3s> result(3);
228 ✗ result[0] = tf.transform(triangle.a);
229 ✗ result[1] = tf.transform(triangle.b);
230 ✗ result[2] = tf.transform(triangle.c);
231
232 ✗ return result;
233 }
234
235 } // namespace details
236
237 6420 Halfspace transform(const Halfspace& a, const Transform3s& tf) {
238 /// suppose the initial halfspace is n * x <= d
239 /// after transform (R, T), x --> x' = R x + T
240 /// and the new half space becomes n' * x' <= d'
241 /// where n' = R * n
242 /// and d' = d + n' * T
243
244
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 6420 Vec3s n = tf.getRotation() * a.n;
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 6420 Scalar d = a.d + n.dot(tf.getTranslation());
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 6420 Halfspace result(n, d);
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 6420 result.setSweptSphereRadius(a.getSweptSphereRadius());
248
249 12840 return result;
250 }
251
252 61 Plane transform(const Plane& a, const Transform3s& tf) {
253 /// suppose the initial halfspace is n * x <= d
254 /// after transform (R, T), x --> x' = R x + T
255 /// and the new half space becomes n' * x' <= d'
256 /// where n' = R * n
257 /// and d' = d + n' * T
258
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 61 Vec3s n = tf.getRotation() * a.n;
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 61 Scalar d = a.d + n.dot(tf.getTranslation());
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 61 Plane result(n, d);
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 61 result.setSweptSphereRadius(a.getSweptSphereRadius());
263
264 122 return result;
265 }
266
267 5546 std::array<Halfspace, 2> transformToHalfspaces(const Plane& a,
268 const Transform3s& tf) {
269 // A plane can be represented by two halfspaces
270
271
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 5546 result[1].setSweptSphereRadius(a.getSweptSphereRadius());
276
277 11092 return result;
278 }
279
280 template <>
281 15122 void computeBV<AABB, Box>(const Box& s, const Transform3s& tf, AABB& bv) {
282 15122 const Matrix3s& R = tf.getRotation();
283 15122 const Vec3s& T = tf.getTranslation();
284
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 15122 Vec3s v_delta(R.cwiseAbs() * s.halfSide);
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 15122 bv.min_ = T - v_delta;
288 15122 }
289
290 template <>
291 16958 void computeBV<AABB, Sphere>(const Sphere& s, const Transform3s& tf, AABB& bv) {
292 16958 const Vec3s& T = tf.getTranslation();
293
294
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297 16958 }
298
299 template <>
300 1 void computeBV<AABB, Ellipsoid>(const Ellipsoid& e, const Transform3s& tf,
301 AABB& bv) {
302 1 const Matrix3s& R = tf.getRotation();
303 1 const Vec3s& T = tf.getTranslation();
304
305
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 1 Vec3s v_delta = R * e.radii;
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308 1 }
309
310 template <>
311 10011 void computeBV<AABB, Capsule>(const Capsule& s, const Transform3s& tf,
312 AABB& bv) {
313 10011 const Matrix3s& R = tf.getRotation();
314 10011 const Vec3s& T = tf.getTranslation();
315
316
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 10011 Vec3s v_delta(R.col(2).cwiseAbs() * s.halfLength + Vec3s::Constant(s.radius));
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 10011 bv.min_ = T - v_delta;
319 10011 }
320
321 template <>
322 1 void computeBV<AABB, Cone>(const Cone& s, const Transform3s& tf, AABB& bv) {
323 1 const Matrix3s& R = tf.getRotation();
324 1 const Vec3s& T = tf.getTranslation();
325
326
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 1 Scalar x_range = fabs(R(0, 0) * s.radius) + fabs(R(0, 1) * s.radius) +
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328
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 1 Scalar y_range = fabs(R(1, 0) * s.radius) + fabs(R(1, 1) * s.radius) +
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 1 Scalar z_range = fabs(R(2, 0) * s.radius) + fabs(R(2, 1) * s.radius) +
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 1 fabs(R(2, 2) * s.halfLength);
332
333
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 1 Vec3s v_delta(x_range, y_range, z_range);
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 1 bv.max_ = T + v_delta;
335
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 1 bv.min_ = T - v_delta;
336 1 }
337
338 template <>
339 8913 void computeBV<AABB, Cylinder>(const Cylinder& s, const Transform3s& tf,
340 AABB& bv) {
341 8913 const Matrix3s& R = tf.getRotation();
342 8913 const Vec3s& T = tf.getTranslation();
343
344
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 8913 Scalar x_range = fabs(R(0, 0) * s.radius) + fabs(R(0, 1) * s.radius) +
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 8913 fabs(R(0, 2) * s.halfLength);
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 8913 Scalar y_range = fabs(R(1, 0) * s.radius) + fabs(R(1, 1) * s.radius) +
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 8913 fabs(R(1, 2) * s.halfLength);
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 8913 Scalar z_range = fabs(R(2, 0) * s.radius) + fabs(R(2, 1) * s.radius) +
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350
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 8913 Vec3s v_delta(x_range, y_range, z_range);
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 8913 bv.min_ = T - v_delta;
354 8913 }
355
356 template <typename IndexType>
357 2 void computeAABBConvex(const ConvexBaseTpl<IndexType>& s, const Transform3s& tf,
358 AABB& bv) {
359 2 const Matrix3s& R = tf.getRotation();
360 2 const Vec3s& T = tf.getTranslation();
361
362
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363 2 const std::vector<Vec3s>& points_ = *(s.points);
364
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 18 for (std::size_t i = 0; i < s.num_points; ++i) {
365
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 16 Vec3s new_p = R * points_[i] + T;
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 16 bv_ += new_p;
367 }
368
369
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 2 bv = bv_;
370 }
371
372 template <>
373 1 void computeBV<AABB, ConvexBase32>(const ConvexBase32& s, const Transform3s& tf,
374 AABB& bv) {
375 1 computeAABBConvex(s, tf, bv);
376 1 }
377
378 template <>
379 ✗ void computeBV<AABB, ConvexBase16>(const ConvexBase16& s, const Transform3s& tf,
380 AABB& bv) {
381 ✗ computeAABBConvex(s, tf, bv);
382 }
383
384 template <>
385 1 void computeBV<AABB, TriangleP>(const TriangleP& s, const Transform3s& tf,
386 AABB& bv) {
387
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 1 bv = AABB(tf.transform(s.a), tf.transform(s.b), tf.transform(s.c));
388 1 }
389
390 template <>
391 1 void computeBV<AABB, Halfspace>(const Halfspace& s, const Transform3s& tf,
392 AABB& bv) {
393
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 1 Halfspace new_s = transform(s, tf);
394 1 const Vec3s& n = new_s.n;
395 1 const Scalar& d = new_s.d;
396
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 1 AABB bv_;
398
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 1 bv_.min_ = Vec3s::Constant(-(std::numeric_limits<Scalar>::max)());
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 1 bv_.max_ = Vec3s::Constant((std::numeric_limits<Scalar>::max)());
400
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 1 if (n[1] == (Scalar)0.0 && n[2] == (Scalar)0.0) {
401 // normal aligned with x axis
402 ✗ if (n[0] < 0)
403 ✗ bv_.min_[0] = -d;
404 ✗ else if (n[0] > 0)
405 ✗ bv_.max_[0] = d;
406
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 1 } else if (n[0] == (Scalar)0.0 && n[2] == (Scalar)0.0) {
407 // normal aligned with y axis
408 ✗ if (n[1] < 0)
409 ✗ bv_.min_[1] = -d;
410 ✗ else if (n[1] > 0)
411 ✗ bv_.max_[1] = d;
412
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 1 } else if (n[0] == (Scalar)0.0 && n[1] == (Scalar)0.0) {
413 // normal aligned with z axis
414 ✗ if (n[2] < 0)
415 ✗ bv_.min_[2] = -d;
416 ✗ else if (n[2] > 0)
417 ✗ bv_.max_[2] = d;
418 }
419
420
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 1 bv = bv_;
421 1 }
422
423 template <>
424 1 void computeBV<AABB, Plane>(const Plane& s, const Transform3s& tf, AABB& bv) {
425
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 1 Plane new_s = transform(s, tf);
426 1 const Vec3s& n = new_s.n;
427 1 const Scalar& d = new_s.d;
428
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430
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 1 bv_.min_ = Vec3s::Constant(-(std::numeric_limits<Scalar>::max)());
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 1 if (n[1] == (Scalar)0.0 && n[2] == (Scalar)0.0) {
433 // normal aligned with x axis
434 ✗ if (n[0] < 0) {
435 ✗ bv_.min_[0] = bv_.max_[0] = -d;
436 ✗ } else if (n[0] > 0) {
437 ✗ bv_.min_[0] = bv_.max_[0] = d;
438 }
439
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 1 } else if (n[0] == (Scalar)0.0 && n[2] == (Scalar)0.0) {
440 // normal aligned with y axis
441 ✗ if (n[1] < 0) {
442 ✗ bv_.min_[1] = bv_.max_[1] = -d;
443 ✗ } else if (n[1] > 0) {
444 ✗ bv_.min_[1] = bv_.max_[1] = d;
445 }
446
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 1 } else if (n[0] == (Scalar)0.0 && n[1] == (Scalar)0.0) {
447 // normal aligned with z axis
448 ✗ if (n[2] < 0) {
449 ✗ bv_.min_[2] = bv_.max_[2] = -d;
450 ✗ } else if (n[2] > 0) {
451 ✗ bv_.min_[2] = bv_.max_[2] = d;
452 }
453 }
454
455
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 1 bv = bv_;
456 1 }
457
458 template <>
459 2 void computeBV<OBB, Box>(const Box& s, const Transform3s& tf, OBB& bv) {
460
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 2 if (s.getSweptSphereRadius() > 0) {
461 ✗ COAL_THROW_PRETTY("Swept-sphere radius not yet supported.",
462 std::runtime_error);
463 }
464 2 const Matrix3s& R = tf.getRotation();
465 2 const Vec3s& T = tf.getTranslation();
466
467 2 bv.To = T;
468 2 bv.axes = R;
469 2 bv.extent = s.halfSide;
470 2 }
471
472 template <>
473 1002 void computeBV<OBB, Sphere>(const Sphere& s, const Transform3s& tf, OBB& bv) {
474
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 1002 if (s.getSweptSphereRadius() > 0) {
475 ✗ COAL_THROW_PRETTY("Swept-sphere radius not yet supported.",
476 std::runtime_error);
477 }
478 1002 const Vec3s& T = tf.getTranslation();
479
480
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 1002 bv.To.noalias() = T;
481 1002 bv.axes.setIdentity();
482 1002 bv.extent.setConstant(s.radius);
483 1002 }
484
485 template <>
486 1002 void computeBV<OBB, Capsule>(const Capsule& s, const Transform3s& tf, OBB& bv) {
487
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 1002 if (s.getSweptSphereRadius() > 0) {
488 ✗ COAL_THROW_PRETTY("Swept-sphere radius not yet supported.",
489 std::runtime_error);
490 }
491 1002 const Matrix3s& R = tf.getRotation();
492 1002 const Vec3s& T = tf.getTranslation();
493
494
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 1002 bv.To.noalias() = T;
495
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 1002 bv.axes.noalias() = R;
496
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 1002 bv.extent << s.radius, s.radius, s.halfLength + s.radius;
497 1002 }
498
499 template <>
500 1002 void computeBV<OBB, Cone>(const Cone& s, const Transform3s& tf, OBB& bv) {
501
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 1002 if (s.getSweptSphereRadius() > 0) {
502 ✗ COAL_THROW_PRETTY("Swept-sphere radius not yet supported.",
503 std::runtime_error);
504 }
505 1002 const Matrix3s& R = tf.getRotation();
506 1002 const Vec3s& T = tf.getTranslation();
507
508
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 1002 bv.To.noalias() = T;
509
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 1002 bv.axes.noalias() = R;
510
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 1002 bv.extent << s.radius, s.radius, s.halfLength;
511 1002 }
512
513 template <>
514 1003 void computeBV<OBB, Cylinder>(const Cylinder& s, const Transform3s& tf,
515 OBB& bv) {
516
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 1003 if (s.getSweptSphereRadius() > 0) {
517 ✗ COAL_THROW_PRETTY("Swept-sphere radius not yet supported.",
518 std::runtime_error);
519 }
520 1003 const Matrix3s& R = tf.getRotation();
521 1003 const Vec3s& T = tf.getTranslation();
522
523
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 1003 bv.To.noalias() = T;
524
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 1003 bv.axes.noalias() = R;
525
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 1003 bv.extent << s.radius, s.radius, s.halfLength;
526 1003 }
527
528 template <typename IndexType>
529 ✗ void computeOBBConvex(const ConvexBaseTpl<IndexType>& s, const Transform3s& tf,
530 OBB& bv) {
531 ✗ if (s.getSweptSphereRadius() > 0) {
532 ✗ COAL_THROW_PRETTY("Swept-sphere radius not yet supported.",
533 std::runtime_error);
534 }
535 ✗ const Matrix3s& R = tf.getRotation();
536 ✗ const Vec3s& T = tf.getTranslation();
537
538 ✗ fit(s.points->data(), s.num_points, bv);
539
540 ✗ bv.axes.applyOnTheLeft(R);
541
542 ✗ bv.To = R * bv.To + T;
543 }
544
545 template <>
546 ✗ void computeBV<OBB, ConvexBase32>(const ConvexBase32& s, const Transform3s& tf,
547 OBB& bv) {
548 ✗ computeOBBConvex(s, tf, bv);
549 }
550
551 template <>
552 ✗ void computeBV<OBB, ConvexBase16>(const ConvexBase16& s, const Transform3s& tf,
553 OBB& bv) {
554 ✗ computeOBBConvex(s, tf, bv);
555 }
556
557 template <>
558 4 void computeBV<OBB, Halfspace>(const Halfspace& s, const Transform3s&,
559 OBB& bv) {
560
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 4 if (s.getSweptSphereRadius() > 0) {
561 ✗ COAL_THROW_PRETTY("Swept-sphere radius not yet supported.",
562 std::runtime_error);
563 }
564 /// Half space can only have very rough OBB
565 4 bv.axes.setIdentity();
566 4 bv.To.setZero();
567
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 4 bv.extent.setConstant(((std::numeric_limits<Scalar>::max)()));
568 4 }
569
570 template <>
571 4 void computeBV<RSS, Halfspace>(const Halfspace& s, const Transform3s&,
572 RSS& bv) {
573
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 4 if (s.getSweptSphereRadius() > 0) {
574 ✗ COAL_THROW_PRETTY("Swept-sphere radius not yet supported.",
575 std::runtime_error);
576 }
577 /// Half space can only have very rough RSS
578 4 bv.axes.setIdentity();
579 4 bv.Tr.setZero();
580 4 bv.length[0] = bv.length[1] = bv.radius =
581 4 (std::numeric_limits<Scalar>::max)();
582 4 }
583
584 template <>
585 4 void computeBV<OBBRSS, Halfspace>(const Halfspace& s, const Transform3s& tf,
586 OBBRSS& bv) {
587
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 4 if (s.getSweptSphereRadius() > 0) {
588 ✗ COAL_THROW_PRETTY("Swept-sphere radius not yet supported.",
589 std::runtime_error);
590 }
591 4 computeBV<OBB, Halfspace>(s, tf, bv.obb);
592 4 computeBV<RSS, Halfspace>(s, tf, bv.rss);
593 4 }
594
595 template <>
596 ✗ void computeBV<kIOS, Halfspace>(const Halfspace& s, const Transform3s& tf,
597 kIOS& bv) {
598 ✗ if (s.getSweptSphereRadius() > 0) {
599 ✗ COAL_THROW_PRETTY("Swept-sphere radius not yet supported.",
600 std::runtime_error);
601 }
602 ✗ bv.num_spheres = 1;
603 ✗ computeBV<OBB, Halfspace>(s, tf, bv.obb);
604 ✗ bv.spheres[0].o = Vec3s();
605 ✗ bv.spheres[0].r = (std::numeric_limits<Scalar>::max)();
606 }
607
608 template <>
609 ✗ void computeBV<KDOP<16>, Halfspace>(const Halfspace& s, const Transform3s& tf,
610 KDOP<16>& bv) {
611 ✗ if (s.getSweptSphereRadius() > 0) {
612 ✗ COAL_THROW_PRETTY("Swept-sphere radius not yet supported.",
613 std::runtime_error);
614 }
615 ✗ Halfspace new_s = transform(s, tf);
616 ✗ const Vec3s& n = new_s.n;
617 ✗ const Scalar& d = new_s.d;
618
619 ✗ const short D = 8;
620 ✗ for (short i = 0; i < D; ++i)
621 ✗ bv.dist(i) = -(std::numeric_limits<Scalar>::max)();
622 ✗ for (short i = D; i < 2 * D; ++i)
623 ✗ bv.dist(i) = (std::numeric_limits<Scalar>::max)();
624
625 ✗ if (n[1] == (Scalar)0.0 && n[2] == (Scalar)0.0) {
626 ✗ if (n[0] > 0)
627 ✗ bv.dist(D) = d;
628 else
629 ✗ bv.dist(0) = -d;
630 ✗ } else if (n[0] == (Scalar)0.0 && n[2] == (Scalar)0.0) {
631 ✗ if (n[1] > 0)
632 ✗ bv.dist(D + 1) = d;
633 else
634 ✗ bv.dist(1) = -d;
635 ✗ } else if (n[0] == (Scalar)0.0 && n[1] == (Scalar)0.0) {
636 ✗ if (n[2] > 0)
637 ✗ bv.dist(D + 2) = d;
638 else
639 ✗ bv.dist(2) = -d;
640 ✗ } else if (n[2] == (Scalar)0.0 && n[0] == n[1]) {
641 ✗ if (n[0] > 0)
642 ✗ bv.dist(D + 3) = n[0] * d * 2;
643 else
644 ✗ bv.dist(3) = n[0] * d * 2;
645 ✗ } else if (n[1] == (Scalar)0.0 && n[0] == n[2]) {
646 ✗ if (n[1] > 0)
647 ✗ bv.dist(D + 4) = n[0] * d * 2;
648 else
649 ✗ bv.dist(4) = n[0] * d * 2;
650 ✗ } else if (n[0] == (Scalar)0.0 && n[1] == n[2]) {
651 ✗ if (n[1] > 0)
652 ✗ bv.dist(D + 5) = n[1] * d * 2;
653 else
654 ✗ bv.dist(5) = n[1] * d * 2;
655 ✗ } else if (n[2] == (Scalar)0.0 && n[0] + n[1] == (Scalar)0.0) {
656 ✗ if (n[0] > 0)
657 ✗ bv.dist(D + 6) = n[0] * d * 2;
658 else
659 ✗ bv.dist(6) = n[0] * d * 2;
660 ✗ } else if (n[1] == (Scalar)0.0 && n[0] + n[2] == (Scalar)0.0) {
661 ✗ if (n[0] > 0)
662 ✗ bv.dist(D + 7) = n[0] * d * 2;
663 else
664 ✗ bv.dist(7) = n[0] * d * 2;
665 }
666 }
667
668 template <>
669 ✗ void computeBV<KDOP<18>, Halfspace>(const Halfspace& s, const Transform3s& tf,
670 KDOP<18>& bv) {
671 ✗ if (s.getSweptSphereRadius() > 0) {
672 ✗ COAL_THROW_PRETTY("Swept-sphere radius not yet supported.",
673 std::runtime_error);
674 }
675 ✗ Halfspace new_s = transform(s, tf);
676 ✗ const Vec3s& n = new_s.n;
677 ✗ const Scalar& d = new_s.d;
678
679 ✗ const short D = 9;
680
681 ✗ for (short i = 0; i < D; ++i)
682 ✗ bv.dist(i) = -(std::numeric_limits<Scalar>::max)();
683 ✗ for (short i = D; i < 2 * D; ++i)
684 ✗ bv.dist(i) = (std::numeric_limits<Scalar>::max)();
685
686 ✗ if (n[1] == (Scalar)0.0 && n[2] == (Scalar)0.0) {
687 ✗ if (n[0] > 0)
688 ✗ bv.dist(D) = d;
689 else
690 ✗ bv.dist(0) = -d;
691 ✗ } else if (n[0] == (Scalar)0.0 && n[2] == (Scalar)0.0) {
692 ✗ if (n[1] > 0)
693 ✗ bv.dist(D + 1) = d;
694 else
695 ✗ bv.dist(1) = -d;
696 ✗ } else if (n[0] == (Scalar)0.0 && n[1] == (Scalar)0.0) {
697 ✗ if (n[2] > 0)
698 ✗ bv.dist(D + 2) = d;
699 else
700 ✗ bv.dist(2) = -d;
701 ✗ } else if (n[2] == (Scalar)0.0 && n[0] == n[1]) {
702 ✗ if (n[0] > 0)
703 ✗ bv.dist(D + 3) = n[0] * d * 2;
704 else
705 ✗ bv.dist(3) = n[0] * d * 2;
706 ✗ } else if (n[1] == (Scalar)0.0 && n[0] == n[2]) {
707 ✗ if (n[1] > 0)
708 ✗ bv.dist(D + 4) = n[0] * d * 2;
709 else
710 ✗ bv.dist(4) = n[0] * d * 2;
711 ✗ } else if (n[0] == (Scalar)0.0 && n[1] == n[2]) {
712 ✗ if (n[1] > 0)
713 ✗ bv.dist(D + 5) = n[1] * d * 2;
714 else
715 ✗ bv.dist(5) = n[1] * d * 2;
716 ✗ } else if (n[2] == (Scalar)0.0 && n[0] + n[1] == (Scalar)0.0) {
717 ✗ if (n[0] > 0)
718 ✗ bv.dist(D + 6) = n[0] * d * 2;
719 else
720 ✗ bv.dist(6) = n[0] * d * 2;
721 ✗ } else if (n[1] == (Scalar)0.0 && n[0] + n[2] == (Scalar)0.0) {
722 ✗ if (n[0] > 0)
723 ✗ bv.dist(D + 7) = n[0] * d * 2;
724 else
725 ✗ bv.dist(7) = n[0] * d * 2;
726 ✗ } else if (n[0] == (Scalar)0.0 && n[1] + n[2] == (Scalar)0.0) {
727 ✗ if (n[1] > 0)
728 ✗ bv.dist(D + 8) = n[1] * d * 2;
729 else
730 ✗ bv.dist(8) = n[1] * d * 2;
731 }
732 }
733
734 template <>
735 ✗ void computeBV<KDOP<24>, Halfspace>(const Halfspace& s, const Transform3s& tf,
736 KDOP<24>& bv) {
737 ✗ if (s.getSweptSphereRadius() > 0) {
738 ✗ COAL_THROW_PRETTY("Swept-sphere radius not yet supported.",
739 std::runtime_error);
740 }
741 ✗ Halfspace new_s = transform(s, tf);
742 ✗ const Vec3s& n = new_s.n;
743 ✗ const Scalar& d = new_s.d;
744
745 ✗ const short D = 12;
746
747 ✗ for (short i = 0; i < D; ++i)
748 ✗ bv.dist(i) = -(std::numeric_limits<Scalar>::max)();
749 ✗ for (short i = D; i < 2 * D; ++i)
750 ✗ bv.dist(i) = (std::numeric_limits<Scalar>::max)();
751
752 ✗ if (n[1] == (Scalar)0.0 && n[2] == (Scalar)0.0) {
753 ✗ if (n[0] > 0)
754 ✗ bv.dist(D) = d;
755 else
756 ✗ bv.dist(0) = -d;
757 ✗ } else if (n[0] == (Scalar)0.0 && n[2] == (Scalar)0.0) {
758 ✗ if (n[1] > 0)
759 ✗ bv.dist(D + 1) = d;
760 else
761 ✗ bv.dist(1) = -d;
762 ✗ } else if (n[0] == (Scalar)0.0 && n[1] == (Scalar)0.0) {
763 ✗ if (n[2] > 0)
764 ✗ bv.dist(D + 2) = d;
765 else
766 ✗ bv.dist(2) = -d;
767 ✗ } else if (n[2] == (Scalar)0.0 && n[0] == n[1]) {
768 ✗ if (n[0] > 0)
769 ✗ bv.dist(D + 3) = n[0] * d * 2;
770 else
771 ✗ bv.dist(3) = n[0] * d * 2;
772 ✗ } else if (n[1] == (Scalar)0.0 && n[0] == n[2]) {
773 ✗ if (n[1] > 0)
774 ✗ bv.dist(D + 4) = n[0] * d * 2;
775 else
776 ✗ bv.dist(4) = n[0] * d * 2;
777 ✗ } else if (n[0] == (Scalar)0.0 && n[1] == n[2]) {
778 ✗ if (n[1] > 0)
779 ✗ bv.dist(D + 5) = n[1] * d * 2;
780 else
781 ✗ bv.dist(5) = n[1] * d * 2;
782 ✗ } else if (n[2] == (Scalar)0.0 && n[0] + n[1] == (Scalar)0.0) {
783 ✗ if (n[0] > 0)
784 ✗ bv.dist(D + 6) = n[0] * d * 2;
785 else
786 ✗ bv.dist(6) = n[0] * d * 2;
787 ✗ } else if (n[1] == (Scalar)0.0 && n[0] + n[2] == (Scalar)0.0) {
788 ✗ if (n[0] > 0)
789 ✗ bv.dist(D + 7) = n[0] * d * 2;
790 else
791 ✗ bv.dist(7) = n[0] * d * 2;
792 ✗ } else if (n[0] == (Scalar)0.0 && n[1] + n[2] == (Scalar)0.0) {
793 ✗ if (n[1] > 0)
794 ✗ bv.dist(D + 8) = n[1] * d * 2;
795 else
796 ✗ bv.dist(8) = n[1] * d * 2;
797 ✗ } else if (n[0] + n[2] == (Scalar)0.0 && n[0] + n[1] == (Scalar)0.0) {
798 ✗ if (n[0] > 0)
799 ✗ bv.dist(D + 9) = n[0] * d * 3;
800 else
801 ✗ bv.dist(9) = n[0] * d * 3;
802 ✗ } else if (n[0] + n[1] == (Scalar)0.0 && n[1] + n[2] == (Scalar)0.0) {
803 ✗ if (n[0] > 0)
804 ✗ bv.dist(D + 10) = n[0] * d * 3;
805 else
806 ✗ bv.dist(10) = n[0] * d * 3;
807 ✗ } else if (n[0] + n[1] == (Scalar)0.0 && n[0] + n[2] == (Scalar)0.0) {
808 ✗ if (n[1] > 0)
809 ✗ bv.dist(D + 11) = n[1] * d * 3;
810 else
811 ✗ bv.dist(11) = n[1] * d * 3;
812 }
813 }
814
815 template <>
816 ✗ void computeBV<OBB, Plane>(const Plane& s, const Transform3s& tf, OBB& bv) {
817 ✗ if (s.getSweptSphereRadius() > 0) {
818 ✗ COAL_THROW_PRETTY("Swept-sphere radius not yet supported.",
819 std::runtime_error);
820 }
821 ✗ Vec3s n = tf.getRotation() * s.n;
822 ✗ generateCoordinateSystem(n, bv.axes.col(1), bv.axes.col(2));
823 ✗ bv.axes.col(0).noalias() = n;
824
825 ✗ bv.extent << 0, (std::numeric_limits<Scalar>::max)(),
826 ✗ (std::numeric_limits<Scalar>::max)();
827
828 ✗ Vec3s p = s.n * s.d;
829 bv.To =
830 ✗ tf.transform(p); /// n'd' = R * n * (d + (R * n) * T) = R * (n * d) + T
831 }
832
833 template <>
834 ✗ void computeBV<RSS, Plane>(const Plane& s, const Transform3s& tf, RSS& bv) {
835 ✗ if (s.getSweptSphereRadius() > 0) {
836 ✗ COAL_THROW_PRETTY("Swept-sphere radius not yet supported.",
837 std::runtime_error);
838 }
839 ✗ Vec3s n = tf.getRotation() * s.n;
840
841 ✗ generateCoordinateSystem(n, bv.axes.col(1), bv.axes.col(2));
842 ✗ bv.axes.col(0).noalias() = n;
843
844 ✗ bv.length[0] = (std::numeric_limits<Scalar>::max)();
845 ✗ bv.length[1] = (std::numeric_limits<Scalar>::max)();
846
847 ✗ bv.radius = 0;
848
849 ✗ Vec3s p = s.n * s.d;
850 ✗ bv.Tr = tf.transform(p);
851 }
852
853 template <>
854 ✗ void computeBV<OBBRSS, Plane>(const Plane& s, const Transform3s& tf,
855 OBBRSS& bv) {
856 ✗ if (s.getSweptSphereRadius() > 0) {
857 ✗ COAL_THROW_PRETTY("Swept-sphere radius not yet supported.",
858 std::runtime_error);
859 }
860 ✗ computeBV<OBB, Plane>(s, tf, bv.obb);
861 ✗ computeBV<RSS, Plane>(s, tf, bv.rss);
862 }
863
864 template <>
865 ✗ void computeBV<kIOS, Plane>(const Plane& s, const Transform3s& tf, kIOS& bv) {
866 ✗ if (s.getSweptSphereRadius() > 0) {
867 ✗ COAL_THROW_PRETTY("Swept-sphere radius not yet supported.",
868 std::runtime_error);
869 }
870 ✗ bv.num_spheres = 1;
871 ✗ computeBV<OBB, Plane>(s, tf, bv.obb);
872 ✗ bv.spheres[0].o = Vec3s();
873 ✗ bv.spheres[0].r = (std::numeric_limits<Scalar>::max)();
874 }
875
876 template <>
877 ✗ void computeBV<KDOP<16>, Plane>(const Plane& s, const Transform3s& tf,
878 KDOP<16>& bv) {
879 ✗ if (s.getSweptSphereRadius() > 0) {
880 ✗ COAL_THROW_PRETTY("Swept-sphere radius not yet supported.",
881 std::runtime_error);
882 }
883 ✗ Plane new_s = transform(s, tf);
884 ✗ const Vec3s& n = new_s.n;
885 ✗ const Scalar& d = new_s.d;
886
887 ✗ const short D = 8;
888
889 ✗ for (short i = 0; i < D; ++i)
890 ✗ bv.dist(i) = -(std::numeric_limits<Scalar>::max)();
891 ✗ for (short i = D; i < 2 * D; ++i)
892 ✗ bv.dist(i) = (std::numeric_limits<Scalar>::max)();
893
894 ✗ if (n[1] == (Scalar)0.0 && n[2] == (Scalar)0.0) {
895 ✗ if (n[0] > 0)
896 ✗ bv.dist(0) = bv.dist(D) = d;
897 else
898 ✗ bv.dist(0) = bv.dist(D) = -d;
899 ✗ } else if (n[0] == (Scalar)0.0 && n[2] == (Scalar)0.0) {
900 ✗ if (n[1] > 0)
901 ✗ bv.dist(1) = bv.dist(D + 1) = d;
902 else
903 ✗ bv.dist(1) = bv.dist(D + 1) = -d;
904 ✗ } else if (n[0] == (Scalar)0.0 && n[1] == (Scalar)0.0) {
905 ✗ if (n[2] > 0)
906 ✗ bv.dist(2) = bv.dist(D + 2) = d;
907 else
908 ✗ bv.dist(2) = bv.dist(D + 2) = -d;
909 ✗ } else if (n[2] == (Scalar)0.0 && n[0] == n[1]) {
910 ✗ bv.dist(3) = bv.dist(D + 3) = n[0] * d * 2;
911 ✗ } else if (n[1] == (Scalar)0.0 && n[0] == n[2]) {
912 ✗ bv.dist(4) = bv.dist(D + 4) = n[0] * d * 2;
913 ✗ } else if (n[0] == (Scalar)0.0 && n[1] == n[2]) {
914 ✗ bv.dist(6) = bv.dist(D + 5) = n[1] * d * 2;
915 ✗ } else if (n[2] == (Scalar)0.0 && n[0] + n[1] == (Scalar)0.0) {
916 ✗ bv.dist(6) = bv.dist(D + 6) = n[0] * d * 2;
917 ✗ } else if (n[1] == (Scalar)0.0 && n[0] + n[2] == (Scalar)0.0) {
918 ✗ bv.dist(7) = bv.dist(D + 7) = n[0] * d * 2;
919 }
920 }
921
922 template <>
923 ✗ void computeBV<KDOP<18>, Plane>(const Plane& s, const Transform3s& tf,
924 KDOP<18>& bv) {
925 ✗ if (s.getSweptSphereRadius() > 0) {
926 ✗ COAL_THROW_PRETTY("Swept-sphere radius not yet supported.",
927 std::runtime_error);
928 }
929 ✗ Plane new_s = transform(s, tf);
930 ✗ const Vec3s& n = new_s.n;
931 ✗ const Scalar& d = new_s.d;
932
933 ✗ const short D = 9;
934
935 ✗ for (short i = 0; i < D; ++i)
936 ✗ bv.dist(i) = -(std::numeric_limits<Scalar>::max)();
937 ✗ for (short i = D; i < 2 * D; ++i)
938 ✗ bv.dist(i) = (std::numeric_limits<Scalar>::max)();
939
940 ✗ if (n[1] == (Scalar)0.0 && n[2] == (Scalar)0.0) {
941 ✗ if (n[0] > 0)
942 ✗ bv.dist(0) = bv.dist(D) = d;
943 else
944 ✗ bv.dist(0) = bv.dist(D) = -d;
945 ✗ } else if (n[0] == (Scalar)0.0 && n[2] == (Scalar)0.0) {
946 ✗ if (n[1] > 0)
947 ✗ bv.dist(1) = bv.dist(D + 1) = d;
948 else
949 ✗ bv.dist(1) = bv.dist(D + 1) = -d;
950 ✗ } else if (n[0] == (Scalar)0.0 && n[1] == (Scalar)0.0) {
951 ✗ if (n[2] > 0)
952 ✗ bv.dist(2) = bv.dist(D + 2) = d;
953 else
954 ✗ bv.dist(2) = bv.dist(D + 2) = -d;
955 ✗ } else if (n[2] == (Scalar)0.0 && n[0] == n[1]) {
956 ✗ bv.dist(3) = bv.dist(D + 3) = n[0] * d * 2;
957 ✗ } else if (n[1] == (Scalar)0.0 && n[0] == n[2]) {
958 ✗ bv.dist(4) = bv.dist(D + 4) = n[0] * d * 2;
959 ✗ } else if (n[0] == (Scalar)0.0 && n[1] == n[2]) {
960 ✗ bv.dist(5) = bv.dist(D + 5) = n[1] * d * 2;
961 ✗ } else if (n[2] == (Scalar)0.0 && n[0] + n[1] == (Scalar)0.0) {
962 ✗ bv.dist(6) = bv.dist(D + 6) = n[0] * d * 2;
963 ✗ } else if (n[1] == (Scalar)0.0 && n[0] + n[2] == (Scalar)0.0) {
964 ✗ bv.dist(7) = bv.dist(D + 7) = n[0] * d * 2;
965 ✗ } else if (n[0] == (Scalar)0.0 && n[1] + n[2] == (Scalar)0.0) {
966 ✗ bv.dist(8) = bv.dist(D + 8) = n[1] * d * 2;
967 }
968 }
969
970 template <>
971 ✗ void computeBV<KDOP<24>, Plane>(const Plane& s, const Transform3s& tf,
972 KDOP<24>& bv) {
973 ✗ if (s.getSweptSphereRadius() > 0) {
974 ✗ COAL_THROW_PRETTY("Swept-sphere radius not yet supported.",
975 std::runtime_error);
976 }
977 ✗ Plane new_s = transform(s, tf);
978 ✗ const Vec3s& n = new_s.n;
979 ✗ const Scalar& d = new_s.d;
980
981 ✗ const short D = 12;
982
983 ✗ for (short i = 0; i < D; ++i)
984 ✗ bv.dist(i) = -(std::numeric_limits<Scalar>::max)();
985 ✗ for (short i = D; i < 2 * D; ++i)
986 ✗ bv.dist(i) = (std::numeric_limits<Scalar>::max)();
987
988 ✗ if (n[1] == (Scalar)0.0 && n[2] == (Scalar)0.0) {
989 ✗ if (n[0] > 0)
990 ✗ bv.dist(0) = bv.dist(D) = d;
991 else
992 ✗ bv.dist(0) = bv.dist(D) = -d;
993 ✗ } else if (n[0] == (Scalar)0.0 && n[2] == (Scalar)0.0) {
994 ✗ if (n[1] > 0)
995 ✗ bv.dist(1) = bv.dist(D + 1) = d;
996 else
997 ✗ bv.dist(1) = bv.dist(D + 1) = -d;
998 ✗ } else if (n[0] == (Scalar)0.0 && n[1] == (Scalar)0.0) {
999 ✗ if (n[2] > 0)
1000 ✗ bv.dist(2) = bv.dist(D + 2) = d;
1001 else
1002 ✗ bv.dist(2) = bv.dist(D + 2) = -d;
1003 ✗ } else if (n[2] == (Scalar)0.0 && n[0] == n[1]) {
1004 ✗ bv.dist(3) = bv.dist(D + 3) = n[0] * d * 2;
1005 ✗ } else if (n[1] == (Scalar)0.0 && n[0] == n[2]) {
1006 ✗ bv.dist(4) = bv.dist(D + 4) = n[0] * d * 2;
1007 ✗ } else if (n[0] == (Scalar)0.0 && n[1] == n[2]) {
1008 ✗ bv.dist(5) = bv.dist(D + 5) = n[1] * d * 2;
1009 ✗ } else if (n[2] == (Scalar)0.0 && n[0] + n[1] == (Scalar)0.0) {
1010 ✗ bv.dist(6) = bv.dist(D + 6) = n[0] * d * 2;
1011 ✗ } else if (n[1] == (Scalar)0.0 && n[0] + n[2] == (Scalar)0.0) {
1012 ✗ bv.dist(7) = bv.dist(D + 7) = n[0] * d * 2;
1013 ✗ } else if (n[0] == (Scalar)0.0 && n[1] + n[2] == (Scalar)0.0) {
1014 ✗ bv.dist(8) = bv.dist(D + 8) = n[1] * d * 2;
1015 ✗ } else if (n[0] + n[2] == (Scalar)0.0 && n[0] + n[1] == (Scalar)0.0) {
1016 ✗ bv.dist(9) = bv.dist(D + 9) = n[0] * d * 3;
1017 ✗ } else if (n[0] + n[1] == (Scalar)0.0 && n[1] + n[2] == (Scalar)0.0) {
1018 ✗ bv.dist(10) = bv.dist(D + 10) = n[0] * d * 3;
1019 ✗ } else if (n[0] + n[1] == (Scalar)0.0 && n[0] + n[2] == (Scalar)0.0) {
1020 ✗ bv.dist(11) = bv.dist(D + 11) = n[1] * d * 3;
1021 }
1022 }
1023
1024 40 void constructBox(const AABB& bv, Box& box, Transform3s& tf) {
1025
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 40 box = Box(bv.max_ - bv.min_);
1026
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 40 tf = Transform3s(bv.center());
1027 40 }
1028
1029 ✗ void constructBox(const OBB& bv, Box& box, Transform3s& tf) {
1030 ✗ box = Box(bv.extent * 2);
1031 ✗ tf = Transform3s(bv.axes, bv.To);
1032 }
1033
1034 ✗ void constructBox(const OBBRSS& bv, Box& box, Transform3s& tf) {
1035 ✗ box = Box(bv.obb.extent * 2);
1036 ✗ tf = Transform3s(bv.obb.axes, bv.obb.To);
1037 }
1038
1039 ✗ void constructBox(const kIOS& bv, Box& box, Transform3s& tf) {
1040 ✗ box = Box(bv.obb.extent * 2);
1041 ✗ tf = Transform3s(bv.obb.axes, bv.obb.To);
1042 }
1043
1044 ✗ void constructBox(const RSS& bv, Box& box, Transform3s& tf) {
1045 ✗ box = Box(bv.width(), bv.height(), bv.depth());
1046 ✗ tf = Transform3s(bv.axes, bv.Tr);
1047 }
1048
1049 ✗ void constructBox(const KDOP<16>& bv, Box& box, Transform3s& tf) {
1050 ✗ box = Box(bv.width(), bv.height(), bv.depth());
1051 ✗ tf = Transform3s(bv.center());
1052 }
1053
1054 ✗ void constructBox(const KDOP<18>& bv, Box& box, Transform3s& tf) {
1055 ✗ box = Box(bv.width(), bv.height(), bv.depth());
1056 ✗ tf = Transform3s(bv.center());
1057 }
1058
1059 ✗ void constructBox(const KDOP<24>& bv, Box& box, Transform3s& tf) {
1060 ✗ box = Box(bv.width(), bv.height(), bv.depth());
1061 ✗ tf = Transform3s(bv.center());
1062 }
1063
1064 2589 void constructBox(const AABB& bv, const Transform3s& tf_bv, Box& box,
1065 Transform3s& tf) {
1066
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 2589 box = Box(bv.max_ - bv.min_);
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 2589 tf = tf_bv * Transform3s(bv.center());
1068 2589 }
1069
1070 ✗ void constructBox(const OBB& bv, const Transform3s& tf_bv, Box& box,
1071 Transform3s& tf) {
1072 ✗ box = Box(bv.extent * 2);
1073 ✗ tf = tf_bv * Transform3s(bv.axes, bv.To);
1074 }
1075
1076 ✗ void constructBox(const OBBRSS& bv, const Transform3s& tf_bv, Box& box,
1077 Transform3s& tf) {
1078 ✗ box = Box(bv.obb.extent * 2);
1079 ✗ tf = tf_bv * Transform3s(bv.obb.axes, bv.obb.To);
1080 }
1081
1082 ✗ void constructBox(const kIOS& bv, const Transform3s& tf_bv, Box& box,
1083 Transform3s& tf) {
1084 ✗ box = Box(bv.obb.extent * 2);
1085 ✗ tf = tf_bv * Transform3s(bv.obb.axes, bv.obb.To);
1086 }
1087
1088 ✗ void constructBox(const RSS& bv, const Transform3s& tf_bv, Box& box,
1089 Transform3s& tf) {
1090 ✗ box = Box(bv.width(), bv.height(), bv.depth());
1091 ✗ tf = tf_bv * Transform3s(bv.axes, bv.Tr);
1092 }
1093
1094 ✗ void constructBox(const KDOP<16>& bv, const Transform3s& tf_bv, Box& box,
1095 Transform3s& tf) {
1096 ✗ box = Box(bv.width(), bv.height(), bv.depth());
1097 ✗ tf = tf_bv * Transform3s(bv.center());
1098 }
1099
1100 ✗ void constructBox(const KDOP<18>& bv, const Transform3s& tf_bv, Box& box,
1101 Transform3s& tf) {
1102 ✗ box = Box(bv.width(), bv.height(), bv.depth());
1103 ✗ tf = tf_bv * Transform3s(bv.center());
1104 }
1105
1106 ✗ void constructBox(const KDOP<24>& bv, const Transform3s& tf_bv, Box& box,
1107 Transform3s& tf) {
1108 ✗ box = Box(bv.width(), bv.height(), bv.depth());
1109 ✗ tf = tf_bv * Transform3s(bv.center());
1110 }
1111
1112 } // namespace coal
1113