| Line | Branch | 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 | 30562209 | 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 |