| Directory: | ./ |
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| File: | include/coal/shape/geometric_shapes_utility.h |
| Date: | 2025-04-13 14:25:19 |
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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_UTILITY_H | ||
| 39 | #define COAL_GEOMETRIC_SHAPES_UTILITY_H | ||
| 40 | |||
| 41 | #include <vector> | ||
| 42 | #include "coal/shape/geometric_shapes.h" | ||
| 43 | #include "coal/BV/BV.h" | ||
| 44 | #include "coal/internal/BV_fitter.h" | ||
| 45 | |||
| 46 | namespace coal { | ||
| 47 | |||
| 48 | /// @cond IGNORE | ||
| 49 | namespace details { | ||
| 50 | /// @brief get the vertices of some convex shape which can bound the given shape | ||
| 51 | /// in a specific configuration | ||
| 52 | COAL_DLLAPI std::vector<Vec3s> getBoundVertices(const Box& box, | ||
| 53 | const Transform3s& tf); | ||
| 54 | COAL_DLLAPI std::vector<Vec3s> getBoundVertices(const Sphere& sphere, | ||
| 55 | const Transform3s& tf); | ||
| 56 | COAL_DLLAPI std::vector<Vec3s> getBoundVertices(const Ellipsoid& ellipsoid, | ||
| 57 | const Transform3s& tf); | ||
| 58 | COAL_DLLAPI std::vector<Vec3s> getBoundVertices(const Capsule& capsule, | ||
| 59 | const Transform3s& tf); | ||
| 60 | COAL_DLLAPI std::vector<Vec3s> getBoundVertices(const Cone& cone, | ||
| 61 | const Transform3s& tf); | ||
| 62 | COAL_DLLAPI std::vector<Vec3s> getBoundVertices(const Cylinder& cylinder, | ||
| 63 | const Transform3s& tf); | ||
| 64 | COAL_DLLAPI std::vector<Vec3s> getBoundVertices(const ConvexBase& convex, | ||
| 65 | const Transform3s& tf); | ||
| 66 | COAL_DLLAPI std::vector<Vec3s> getBoundVertices(const TriangleP& triangle, | ||
| 67 | const Transform3s& tf); | ||
| 68 | } // namespace details | ||
| 69 | /// @endcond | ||
| 70 | |||
| 71 | /// @brief calculate a bounding volume for a shape in a specific configuration | ||
| 72 | template <typename BV, typename S> | ||
| 73 | 456 | inline void computeBV(const S& s, const Transform3s& tf, BV& bv) { | |
| 74 |
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456 | if (s.getSweptSphereRadius() > 0) { |
| 75 | ✗ | COAL_THROW_PRETTY("Swept-sphere radius not yet supported.", | |
| 76 | std::runtime_error); | ||
| 77 | } | ||
| 78 |
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456 | std::vector<Vec3s> convex_bound_vertices = details::getBoundVertices(s, tf); |
| 79 |
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456 | fit(&convex_bound_vertices[0], (unsigned int)convex_bound_vertices.size(), |
| 80 | bv); | ||
| 81 | } | ||
| 82 | |||
| 83 | template <> | ||
| 84 | COAL_DLLAPI void computeBV<AABB, Box>(const Box& s, const Transform3s& tf, | ||
| 85 | AABB& bv); | ||
| 86 | |||
| 87 | template <> | ||
| 88 | COAL_DLLAPI void computeBV<AABB, Sphere>(const Sphere& s, const Transform3s& tf, | ||
| 89 | AABB& bv); | ||
| 90 | |||
| 91 | template <> | ||
| 92 | COAL_DLLAPI void computeBV<AABB, Ellipsoid>(const Ellipsoid& e, | ||
| 93 | const Transform3s& tf, AABB& bv); | ||
| 94 | |||
| 95 | template <> | ||
| 96 | COAL_DLLAPI void computeBV<AABB, Capsule>(const Capsule& s, | ||
| 97 | const Transform3s& tf, AABB& bv); | ||
| 98 | |||
| 99 | template <> | ||
| 100 | COAL_DLLAPI void computeBV<AABB, Cone>(const Cone& s, const Transform3s& tf, | ||
| 101 | AABB& bv); | ||
| 102 | |||
| 103 | template <> | ||
| 104 | COAL_DLLAPI void computeBV<AABB, Cylinder>(const Cylinder& s, | ||
| 105 | const Transform3s& tf, AABB& bv); | ||
| 106 | |||
| 107 | template <> | ||
| 108 | COAL_DLLAPI void computeBV<AABB, ConvexBase>(const ConvexBase& s, | ||
| 109 | const Transform3s& tf, AABB& bv); | ||
| 110 | |||
| 111 | template <> | ||
| 112 | COAL_DLLAPI void computeBV<AABB, TriangleP>(const TriangleP& s, | ||
| 113 | const Transform3s& tf, AABB& bv); | ||
| 114 | |||
| 115 | template <> | ||
| 116 | COAL_DLLAPI void computeBV<AABB, Halfspace>(const Halfspace& s, | ||
| 117 | const Transform3s& tf, AABB& bv); | ||
| 118 | |||
| 119 | template <> | ||
| 120 | COAL_DLLAPI void computeBV<AABB, Plane>(const Plane& s, const Transform3s& tf, | ||
| 121 | AABB& bv); | ||
| 122 | |||
| 123 | template <> | ||
| 124 | COAL_DLLAPI void computeBV<OBB, Box>(const Box& s, const Transform3s& tf, | ||
| 125 | OBB& bv); | ||
| 126 | |||
| 127 | template <> | ||
| 128 | COAL_DLLAPI void computeBV<OBB, Sphere>(const Sphere& s, const Transform3s& tf, | ||
| 129 | OBB& bv); | ||
| 130 | |||
| 131 | template <> | ||
| 132 | COAL_DLLAPI void computeBV<OBB, Capsule>(const Capsule& s, | ||
| 133 | const Transform3s& tf, OBB& bv); | ||
| 134 | |||
| 135 | template <> | ||
| 136 | COAL_DLLAPI void computeBV<OBB, Cone>(const Cone& s, const Transform3s& tf, | ||
| 137 | OBB& bv); | ||
| 138 | |||
| 139 | template <> | ||
| 140 | COAL_DLLAPI void computeBV<OBB, Cylinder>(const Cylinder& s, | ||
| 141 | const Transform3s& tf, OBB& bv); | ||
| 142 | |||
| 143 | template <> | ||
| 144 | COAL_DLLAPI void computeBV<OBB, ConvexBase>(const ConvexBase& s, | ||
| 145 | const Transform3s& tf, OBB& bv); | ||
| 146 | |||
| 147 | template <> | ||
| 148 | COAL_DLLAPI void computeBV<OBB, Halfspace>(const Halfspace& s, | ||
| 149 | const Transform3s& tf, OBB& bv); | ||
| 150 | |||
| 151 | template <> | ||
| 152 | COAL_DLLAPI void computeBV<RSS, Halfspace>(const Halfspace& s, | ||
| 153 | const Transform3s& tf, RSS& bv); | ||
| 154 | |||
| 155 | template <> | ||
| 156 | COAL_DLLAPI void computeBV<OBBRSS, Halfspace>(const Halfspace& s, | ||
| 157 | const Transform3s& tf, | ||
| 158 | OBBRSS& bv); | ||
| 159 | |||
| 160 | template <> | ||
| 161 | COAL_DLLAPI void computeBV<kIOS, Halfspace>(const Halfspace& s, | ||
| 162 | const Transform3s& tf, kIOS& bv); | ||
| 163 | |||
| 164 | template <> | ||
| 165 | COAL_DLLAPI void computeBV<KDOP<16>, Halfspace>(const Halfspace& s, | ||
| 166 | const Transform3s& tf, | ||
| 167 | KDOP<16>& bv); | ||
| 168 | |||
| 169 | template <> | ||
| 170 | COAL_DLLAPI void computeBV<KDOP<18>, Halfspace>(const Halfspace& s, | ||
| 171 | const Transform3s& tf, | ||
| 172 | KDOP<18>& bv); | ||
| 173 | |||
| 174 | template <> | ||
| 175 | COAL_DLLAPI void computeBV<KDOP<24>, Halfspace>(const Halfspace& s, | ||
| 176 | const Transform3s& tf, | ||
| 177 | KDOP<24>& bv); | ||
| 178 | |||
| 179 | template <> | ||
| 180 | COAL_DLLAPI void computeBV<OBB, Plane>(const Plane& s, const Transform3s& tf, | ||
| 181 | OBB& bv); | ||
| 182 | |||
| 183 | template <> | ||
| 184 | COAL_DLLAPI void computeBV<RSS, Plane>(const Plane& s, const Transform3s& tf, | ||
| 185 | RSS& bv); | ||
| 186 | |||
| 187 | template <> | ||
| 188 | COAL_DLLAPI void computeBV<OBBRSS, Plane>(const Plane& s, const Transform3s& tf, | ||
| 189 | OBBRSS& bv); | ||
| 190 | |||
| 191 | template <> | ||
| 192 | COAL_DLLAPI void computeBV<kIOS, Plane>(const Plane& s, const Transform3s& tf, | ||
| 193 | kIOS& bv); | ||
| 194 | |||
| 195 | template <> | ||
| 196 | COAL_DLLAPI void computeBV<KDOP<16>, Plane>(const Plane& s, | ||
| 197 | const Transform3s& tf, | ||
| 198 | KDOP<16>& bv); | ||
| 199 | |||
| 200 | template <> | ||
| 201 | COAL_DLLAPI void computeBV<KDOP<18>, Plane>(const Plane& s, | ||
| 202 | const Transform3s& tf, | ||
| 203 | KDOP<18>& bv); | ||
| 204 | |||
| 205 | template <> | ||
| 206 | COAL_DLLAPI void computeBV<KDOP<24>, Plane>(const Plane& s, | ||
| 207 | const Transform3s& tf, | ||
| 208 | KDOP<24>& bv); | ||
| 209 | |||
| 210 | /// @brief construct a box shape (with a configuration) from a given bounding | ||
| 211 | /// volume | ||
| 212 | COAL_DLLAPI void constructBox(const AABB& bv, Box& box, Transform3s& tf); | ||
| 213 | |||
| 214 | COAL_DLLAPI void constructBox(const OBB& bv, Box& box, Transform3s& tf); | ||
| 215 | |||
| 216 | COAL_DLLAPI void constructBox(const OBBRSS& bv, Box& box, Transform3s& tf); | ||
| 217 | |||
| 218 | COAL_DLLAPI void constructBox(const kIOS& bv, Box& box, Transform3s& tf); | ||
| 219 | |||
| 220 | COAL_DLLAPI void constructBox(const RSS& bv, Box& box, Transform3s& tf); | ||
| 221 | |||
| 222 | COAL_DLLAPI void constructBox(const KDOP<16>& bv, Box& box, Transform3s& tf); | ||
| 223 | |||
| 224 | COAL_DLLAPI void constructBox(const KDOP<18>& bv, Box& box, Transform3s& tf); | ||
| 225 | |||
| 226 | COAL_DLLAPI void constructBox(const KDOP<24>& bv, Box& box, Transform3s& tf); | ||
| 227 | |||
| 228 | COAL_DLLAPI void constructBox(const AABB& bv, const Transform3s& tf_bv, | ||
| 229 | Box& box, Transform3s& tf); | ||
| 230 | |||
| 231 | COAL_DLLAPI void constructBox(const OBB& bv, const Transform3s& tf_bv, Box& box, | ||
| 232 | Transform3s& tf); | ||
| 233 | |||
| 234 | COAL_DLLAPI void constructBox(const OBBRSS& bv, const Transform3s& tf_bv, | ||
| 235 | Box& box, Transform3s& tf); | ||
| 236 | |||
| 237 | COAL_DLLAPI void constructBox(const kIOS& bv, const Transform3s& tf_bv, | ||
| 238 | Box& box, Transform3s& tf); | ||
| 239 | |||
| 240 | COAL_DLLAPI void constructBox(const RSS& bv, const Transform3s& tf_bv, Box& box, | ||
| 241 | Transform3s& tf); | ||
| 242 | |||
| 243 | COAL_DLLAPI void constructBox(const KDOP<16>& bv, const Transform3s& tf_bv, | ||
| 244 | Box& box, Transform3s& tf); | ||
| 245 | |||
| 246 | COAL_DLLAPI void constructBox(const KDOP<18>& bv, const Transform3s& tf_bv, | ||
| 247 | Box& box, Transform3s& tf); | ||
| 248 | |||
| 249 | COAL_DLLAPI void constructBox(const KDOP<24>& bv, const Transform3s& tf_bv, | ||
| 250 | Box& box, Transform3s& tf); | ||
| 251 | |||
| 252 | COAL_DLLAPI Halfspace transform(const Halfspace& a, const Transform3s& tf); | ||
| 253 | |||
| 254 | COAL_DLLAPI Plane transform(const Plane& a, const Transform3s& tf); | ||
| 255 | |||
| 256 | COAL_DLLAPI std::array<Halfspace, 2> transformToHalfspaces( | ||
| 257 | const Plane& a, const Transform3s& tf); | ||
| 258 | |||
| 259 | } // namespace coal | ||
| 260 | |||
| 261 | #endif | ||
| 262 |