GCC Code Coverage Report

Directory: ./
File: include/coal/internal/intersect.hxx
Date: 2025-04-01 09:23:31
Exec Total Coverage
Lines: 156 174 89.7%
Branches: 175 326 53.7%
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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_INTERSECT_HXX
39 #define COAL_INTERSECT_HXX
40
41 #include "coal/internal/intersect.h"
42 #include "coal/internal/tools.h"
43
44 #include <iostream>
45 #include <limits>
46 #include <vector>
47 #include <cmath>
48
49 namespace coal {
50
51 template <typename Scalar>
52 42338 inline typename Project<Scalar>::ProjectResult Project<Scalar>::projectLine(
53 const Vec3& a, const Vec3& b, const Vec3& p) {
54 42338 ProjectResult res;
55
56
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 42338 const Vec3 d = b - a;
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 42338 const Scalar l = d.squaredNorm();
58
59
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 42338 if (l > 0) {
60
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 42338 const Scalar t = (p - a).dot(d);
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 42338 res.parameterization[1] = (t >= l) ? 1 : ((t <= 0) ? 0 : (t / l));
62 42338 res.parameterization[0] = 1 - res.parameterization[1];
63
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 42338 if (t >= l) {
64
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 20313 res.sqr_distance = (p - b).squaredNorm();
65 20313 res.encode = 2; /* 0x10 */
66
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 22025 } else if (t <= 0) {
67
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 11047 res.sqr_distance = (p - a).squaredNorm();
68 11047 res.encode = 1; /* 0x01 */
69 } else {
70
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 10978 res.sqr_distance = (a + d * res.parameterization[1] - p).squaredNorm();
71 10978 res.encode = 3; /* 0x00 */
72 }
73 }
74
75 84676 return res;
76 }
77
78 template <typename Scalar>
79 122577 inline typename Project<Scalar>::ProjectResult Project<Scalar>::projectTriangle(
80 const Vec3& a, const Vec3& b, const Vec3& c, const Vec3& p) {
81 122577 ProjectResult res;
82
83 static const size_t nexti[3] = {1, 2, 0};
84 122577 const Vec3* vt[] = {&a, &b, &c};
85
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 122577 const Vec3 dl[] = {a - b, b - c, c - a};
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 122577 const Vec3& n = dl[0].cross(dl[1]);
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 122577 const Scalar l = n.squaredNorm();
88
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 122577 if (l > 0) {
90 122577 Scalar mindist = -1;
91
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92
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 367731 if ((*vt[i] - p).dot(dl[i].cross(n)) >
93 0) // origin is to the outside part of the triangle edge, then the
94 // optimal can only be on the edge
95 {
96 42335 size_t j = nexti[i];
97
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 42335 ProjectResult res_line = projectLine(*vt[i], *vt[j], p);
98
99
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 42335 if (mindist < 0 || res_line.sqr_distance < mindist) {
100 41411 mindist = res_line.sqr_distance;
101 41411 res.encode =
102
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 41411 static_cast<unsigned int>(((res_line.encode & 1) ? 1 << i : 0) +
103
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 41411 ((res_line.encode & 2) ? 1 << j : 0));
104 41411 res.parameterization[i] = res_line.parameterization[0];
105 41411 res.parameterization[j] = res_line.parameterization[1];
106 41411 res.parameterization[nexti[j]] = 0;
107 }
108 }
109 }
110
111
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 122577 if (mindist < 0) // the origin project is within the triangle
112 {
113
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 81166 Scalar d = (a - p).dot(n);
114 81166 Scalar s = std::sqrt(l);
115
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 81166 Vec3 p_to_project = n * (d / l);
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 81166 mindist = p_to_project.squaredNorm();
117 81166 res.encode = 7; // m = 0x111
118
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 81166 res.parameterization[0] = dl[1].cross(b - p - p_to_project).norm() / s;
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 81166 res.parameterization[1] = dl[2].cross(c - p - p_to_project).norm() / s;
120 81166 res.parameterization[2] =
121 81166 1 - res.parameterization[0] - res.parameterization[1];
122 }
123
124 122577 res.sqr_distance = mindist;
125 }
126
127 245154 return res;
128 }
129
130 template <typename Scalar>
131 inline typename Project<Scalar>::ProjectResult
132 15 Project<Scalar>::projectTetrahedra(const Vec3& a, const Vec3& b, const Vec3& c,
133 const Vec3& d, const Vec3& p) {
134 15 ProjectResult res;
135
136 static const size_t nexti[] = {1, 2, 0};
137 15 const Vec3* vt[] = {&a, &b, &c, &d};
138
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 15 const Vec3 dl[3] = {a - d, b - d, c - d};
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 15 Scalar vl = triple(dl[0], dl[1], dl[2]);
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 15 bool ng = (vl * (a - p).dot((b - c).cross(a - b))) <= 0;
141
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 23 if (ng &&
142 8 std::abs(vl) > 0) // abs(vl) == 0, the tetrahedron is degenerated; if ng
143 // is false, then the last vertex in the tetrahedron
144 // does not grow toward the origin (in fact origin is
145 // on the other side of the abc face)
146 {
147 8 Scalar mindist = -1;
148
149
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 32 for (size_t i = 0; i < 3; ++i) {
150 24 size_t j = nexti[i];
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 24 Scalar s = vl * (d - p).dot(dl[i].cross(dl[j]));
152
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 24 if (s > 0) // the origin is to the outside part of a triangle face, then
153 // the optimal can only be on the triangle face
154 {
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 12 ProjectResult res_triangle = projectTriangle(*vt[i], *vt[j], d, p);
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 12 if (mindist < 0 || res_triangle.sqr_distance < mindist) {
157 7 mindist = res_triangle.sqr_distance;
158 7 res.encode =
159
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 7 static_cast<unsigned int>((res_triangle.encode & 1 ? 1 << i : 0) +
160
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 7 (res_triangle.encode & 2 ? 1 << j : 0) +
161 7 (res_triangle.encode & 4 ? 8 : 0));
162 7 res.parameterization[i] = res_triangle.parameterization[0];
163 7 res.parameterization[j] = res_triangle.parameterization[1];
164 7 res.parameterization[nexti[j]] = 0;
165 7 res.parameterization[3] = res_triangle.parameterization[2];
166 }
167 }
168 }
169
170
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 8 if (mindist < 0) {
171 1 mindist = 0;
172 1 res.encode = 15;
173
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 1 res.parameterization[0] = triple(c - p, b - p, d - p) / vl;
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 1 res.parameterization[1] = triple(a - p, c - p, d - p) / vl;
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 1 res.parameterization[2] = triple(b - p, a - p, d - p) / vl;
176 1 res.parameterization[3] =
177 1 1 - (res.parameterization[0] + res.parameterization[1] +
178 1 res.parameterization[2]);
179 }
180
181 8 res.sqr_distance = mindist;
182
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 7 } else if (!ng) {
183
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 7 res = projectTriangle(a, b, c, p);
184 7 res.parameterization[3] = 0;
185 }
186 30 return res;
187 }
188
189 template <typename Scalar>
190 inline typename Project<Scalar>::ProjectResult
191 7 Project<Scalar>::projectLineOrigin(const Vec3& a, const Vec3& b) {
192 7 ProjectResult res;
193
194
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 7 const Vec3 d = b - a;
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 7 const Scalar l = d.squaredNorm();
196
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 7 if (l > 0) {
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 7 const Scalar t = -a.dot(d);
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 7 res.parameterization[1] = (t >= l) ? 1 : ((t <= 0) ? 0 : (t / l));
200 7 res.parameterization[0] = 1 - res.parameterization[1];
201
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 7 if (t >= l) {
202 ✗ res.sqr_distance = b.squaredNorm();
203 ✗ res.encode = 2; /* 0x10 */
204
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 7 } else if (t <= 0) {
205 ✗ res.sqr_distance = a.squaredNorm();
206 ✗ res.encode = 1; /* 0x01 */
207 } else {
208
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 7 res.sqr_distance = (a + d * res.parameterization[1]).squaredNorm();
209 7 res.encode = 3; /* 0x00 */
210 }
211 }
212
213 14 return res;
214 }
215
216 template <typename Scalar>
217 inline typename Project<Scalar>::ProjectResult
218 376296 Project<Scalar>::projectTriangleOrigin(const Vec3& a, const Vec3& b,
219 const Vec3& c) {
220 376296 ProjectResult res;
221
222 static const size_t nexti[3] = {1, 2, 0};
223 376296 const Vec3* vt[] = {&a, &b, &c};
224
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 376296 const Vec3 dl[] = {a - b, b - c, c - a};
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 376296 const Vec3& n = dl[0].cross(dl[1]);
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 376296 const Scalar l = n.squaredNorm();
227
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 376296 if (l > 0) {
229 376296 Scalar mindist = -1;
230
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 1128888 if (vt[i]->dot(dl[i].cross(n)) >
232 0) // origin is to the outside part of the triangle edge, then the
233 // optimal can only be on the edge
234 {
235 7 size_t j = nexti[i];
236
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 7 ProjectResult res_line = projectLineOrigin(*vt[i], *vt[j]);
237
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 7 if (mindist < 0 || res_line.sqr_distance < mindist) {
239 7 mindist = res_line.sqr_distance;
240 7 res.encode =
241
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 7 static_cast<unsigned int>(((res_line.encode & 1) ? 1 << i : 0) +
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 7 ((res_line.encode & 2) ? 1 << j : 0));
243 7 res.parameterization[i] = res_line.parameterization[0];
244 7 res.parameterization[j] = res_line.parameterization[1];
245 7 res.parameterization[nexti[j]] = 0;
246 }
247 }
248 }
249
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 376296 if (mindist < 0) // the origin project is within the triangle
251 {
252
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 376289 Scalar d = a.dot(n);
253 376289 Scalar s = std::sqrt(l);
254
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 376289 Vec3 o_to_project = n * (d / l);
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 376289 mindist = o_to_project.squaredNorm();
256 376289 res.encode = 7; // m = 0x111
257
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 376289 res.parameterization[0] = dl[1].cross(b - o_to_project).norm() / s;
258
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 376289 res.parameterization[1] = dl[2].cross(c - o_to_project).norm() / s;
259 376289 res.parameterization[2] =
260 376289 1 - res.parameterization[0] - res.parameterization[1];
261 }
262
263 376296 res.sqr_distance = mindist;
264 }
265
266 752592 return res;
267 }
268
269 template <typename Scalar>
270 inline typename Project<Scalar>::ProjectResult
271 21109 Project<Scalar>::projectTetrahedraOrigin(const Vec3& a, const Vec3& b,
272 const Vec3& c, const Vec3& d) {
273 21109 ProjectResult res;
274
275 static const size_t nexti[] = {1, 2, 0};
276 21109 const Vec3* vt[] = {&a, &b, &c, &d};
277
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 21109 const Vec3 dl[3] = {a - d, b - d, c - d};
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 21109 Scalar vl = triple(dl[0], dl[1], dl[2]);
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 21109 bool ng = (vl * a.dot((b - c).cross(a - b))) <= 0;
280
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 42218 if (ng &&
281 21109 std::abs(vl) > 0) // abs(vl) == 0, the tetrahedron is degenerated; if ng
282 // is false, then the last vertex in the tetrahedron
283 // does not grow toward the origin (in fact origin is
284 // on the other side of the abc face)
285 {
286 21109 Scalar mindist = -1;
287
288
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 84436 for (size_t i = 0; i < 3; ++i) {
289 63327 size_t j = nexti[i];
290
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 63327 Scalar s = vl * d.dot(dl[i].cross(dl[j]));
291
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 63327 if (s > 0) // the origin is to the outside part of a triangle face, then
292 // the optimal can only be on the triangle face
293 {
294 ✗ ProjectResult res_triangle = projectTriangleOrigin(*vt[i], *vt[j], d);
295 ✗ if (mindist < 0 || res_triangle.sqr_distance < mindist) {
296 ✗ mindist = res_triangle.sqr_distance;
297 ✗ res.encode =
298 ✗ static_cast<unsigned int>((res_triangle.encode & 1 ? 1 << i : 0) +
299 ✗ (res_triangle.encode & 2 ? 1 << j : 0) +
300 ✗ (res_triangle.encode & 4 ? 8 : 0));
301 ✗ res.parameterization[i] = res_triangle.parameterization[0];
302 ✗ res.parameterization[j] = res_triangle.parameterization[1];
303 ✗ res.parameterization[nexti[j]] = 0;
304 ✗ res.parameterization[3] = res_triangle.parameterization[2];
305 }
306 }
307 }
308
309
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 21109 if (mindist < 0) {
310 21109 mindist = 0;
311 21109 res.encode = 15;
312
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 21109 res.parameterization[0] = triple(c, b, d) / vl;
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 21109 res.parameterization[1] = triple(a, c, d) / vl;
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 21109 res.parameterization[2] = triple(b, a, d) / vl;
315 21109 res.parameterization[3] =
316 21109 1 - (res.parameterization[0] + res.parameterization[1] +
317 21109 res.parameterization[2]);
318 }
319
320 21109 res.sqr_distance = mindist;
321 ✗ } else if (!ng) {
322 ✗ res = projectTriangleOrigin(a, b, c);
323 ✗ res.parameterization[3] = 0;
324 }
325 42218 return res;
326 }
327
328 } // namespace coal
329
330 #endif // COAL_INTERSECT_HXX
331