GCC Code Coverage Report

Line	Exec	Source
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_INTERSECT_H
39		#define COAL_INTERSECT_H
40
41		/// @cond INTERNAL
42
43		#include "coal/math/transform.h"
44
45		namespace coal {
46
47		/// @brief CCD intersect kernel among primitives
48		class COAL_DLLAPI Intersect {
49		public:
50		static bool buildTrianglePlane(const Vec3s& v1, const Vec3s& v2,
51		const Vec3s& v3, Vec3s* n, Scalar* t);
52		}; // class Intersect
53
54		/// @brief Project functions
55		template <typename _Scalar>
56		class Project {
57		public:
58		typedef _Scalar Scalar;
59		typedef Eigen::Matrix<Scalar, 3, 1> Vec3;
60
61		struct ProjectResult {
62		/// @brief Parameterization of the projected point (based on the simplex to
63		/// be projected, use 2 or 3 or 4 of the array)
64		Scalar parameterization[4];
65
66		/// @brief square distance from the query point to the projected simplex
67		Scalar sqr_distance;
68
69		/// @brief the code of the projection type
70		unsigned int encode;
71
72	30562207	ProjectResult() : sqr_distance(-1), encode(0) {}
73		};
74
75		/// @brief Project point p onto line a-b
76		static ProjectResult projectLine(const Vec3& a, const Vec3& b, const Vec3& p);
77
78		/// @brief Project point p onto triangle a-b-c
79		static ProjectResult projectTriangle(const Vec3& a, const Vec3& b,
80		const Vec3& c, const Vec3& p);
81
82		/// @brief Project point p onto tetrahedra a-b-c-d
83		static ProjectResult projectTetrahedra(const Vec3& a, const Vec3& b,
84		const Vec3& c, const Vec3& d,
85		const Vec3& p);
86
87		/// @brief Project origin (0) onto line a-b
88		static ProjectResult projectLineOrigin(const Vec3& a, const Vec3& b);
89
90		/// @brief Project origin (0) onto triangle a-b-c
91		static ProjectResult projectTriangleOrigin(const Vec3& a, const Vec3& b,
92		const Vec3& c);
93
94		/// @brief Project origin (0) onto tetrahedran a-b-c-d
95		static ProjectResult projectTetrahedraOrigin(const Vec3& a, const Vec3& b,
96		const Vec3& c, const Vec3& d);
97		};
98
99		/// @brief Triangle distance functions
100		class COAL_DLLAPI TriangleDistance {
101		public:
102		/// @brief Returns closest points between an segment pair.
103		/// The first segment is P + t * A
104		/// The second segment is Q + t * B
105		/// X, Y are the closest points on the two segments
106		/// VEC is the vector between X and Y
107		static void segPoints(const Vec3s& P, const Vec3s& A, const Vec3s& Q,
108		const Vec3s& B, Vec3s& VEC, Vec3s& X, Vec3s& Y);
109
110		/// Compute squared distance between triangles
111		/// @param S and T are two triangles
112		/// @retval P, Q closest points if triangles do not intersect.
113		/// @return squared distance if triangles do not intersect, 0 otherwise.
114		/// If the triangles are disjoint, P and Q give the closet points of
115		/// S and T respectively. However,
116		/// if the triangles overlap, P and Q are basically a random pair of points
117		/// from the triangles, not coincident points on the intersection of the
118		/// triangles, as might be expected.
119		static Scalar sqrTriDistance(const Vec3s S[3], const Vec3s T[3], Vec3s& P,
120		Vec3s& Q);
121
122		static Scalar sqrTriDistance(const Vec3s& S1, const Vec3s& S2,
123		const Vec3s& S3, const Vec3s& T1,
124		const Vec3s& T2, const Vec3s& T3, Vec3s& P,
125		Vec3s& Q);
126
127		/// Compute squared distance between triangles
128		/// @param S and T are two triangles
129		/// @param R, Tl, rotation and translation applied to T,
130		/// @retval P, Q closest points if triangles do not intersect.
131		/// @return squared distance if triangles do not intersect, 0 otherwise.
132		/// If the triangles are disjoint, P and Q give the closet points of
133		/// S and T respectively. However,
134		/// if the triangles overlap, P and Q are basically a random pair of points
135		/// from the triangles, not coincident points on the intersection of the
136		/// triangles, as might be expected.
137		static Scalar sqrTriDistance(const Vec3s S[3], const Vec3s T[3],
138		const Matrix3s& R, const Vec3s& Tl, Vec3s& P,
139		Vec3s& Q);
140
141		/// Compute squared distance between triangles
142		/// @param S and T are two triangles
143		/// @param tf, rotation and translation applied to T,
144		/// @retval P, Q closest points if triangles do not intersect.
145		/// @return squared distance if triangles do not intersect, 0 otherwise.
146		/// If the triangles are disjoint, P and Q give the closet points of
147		/// S and T respectively. However,
148		/// if the triangles overlap, P and Q are basically a random pair of points
149		/// from the triangles, not coincident points on the intersection of the
150		/// triangles, as might be expected.
151		static Scalar sqrTriDistance(const Vec3s S[3], const Vec3s T[3],
152		const Transform3s& tf, Vec3s& P, Vec3s& Q);
153
154		/// Compute squared distance between triangles
155		/// @param S1, S2, S3 and T1, T2, T3 are triangle vertices
156		/// @param R, Tl, rotation and translation applied to T1, T2, T3,
157		/// @retval P, Q closest points if triangles do not intersect.
158		/// @return squared distance if triangles do not intersect, 0 otherwise.
159		/// If the triangles are disjoint, P and Q give the closet points of
160		/// S and T respectively. However,
161		/// if the triangles overlap, P and Q are basically a random pair of points
162		/// from the triangles, not coincident points on the intersection of the
163		/// triangles, as might be expected.
164		static Scalar sqrTriDistance(const Vec3s& S1, const Vec3s& S2,
165		const Vec3s& S3, const Vec3s& T1,
166		const Vec3s& T2, const Vec3s& T3,
167		const Matrix3s& R, const Vec3s& Tl, Vec3s& P,
168		Vec3s& Q);
169
170		/// Compute squared distance between triangles
171		/// @param S1, S2, S3 and T1, T2, T3 are triangle vertices
172		/// @param tf, rotation and translation applied to T1, T2, T3,
173		/// @retval P, Q closest points if triangles do not intersect.
174		/// @return squared distance if triangles do not intersect, 0 otherwise.
175		/// If the triangles are disjoint, P and Q give the closet points of
176		/// S and T respectively. However,
177		/// if the triangles overlap, P and Q are basically a random pair of points
178		/// from the triangles, not coincident points on the intersection of the
179		/// triangles, as might be expected.
180		static Scalar sqrTriDistance(const Vec3s& S1, const Vec3s& S2,
181		const Vec3s& S3, const Vec3s& T1,
182		const Vec3s& T2, const Vec3s& T3,
183		const Transform3s& tf, Vec3s& P, Vec3s& Q);
184		};
185
186		} // namespace coal
187
188		/// @endcond
189
190		#include "coal/internal/intersect.hxx"
191
192		#endif
193