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/* |
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* Software License Agreement (BSD License) |
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* |
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* Copyright (c) 2021-2022, CNRS |
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* Author: Louis Montaut |
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* All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* * Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* * Redistributions in binary form must reproduce the above |
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* copyright notice, this list of conditions and the following |
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* disclaimer in the documentation and/or other materials provided |
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* with the distribution. |
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* * Neither the name of Open Source Robotics Foundation nor the names of its |
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* contributors may be used to endorse or promote products derived |
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* from this software without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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*/ |
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#include "coal/math/transform.h" |
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#include "coal/shape/geometric_shapes.h" |
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#include "coal/internal/shape_shape_func.h" |
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#include "../narrowphase/details.h" |
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#include "coal/tracy.hh" |
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namespace coal { |
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struct GJKSolver; |
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namespace internal { |
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template <> |
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Scalar ShapeShapeDistance<Sphere, Capsule>( |
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const CollisionGeometry* o1, const Transform3s& tf1, |
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const CollisionGeometry* o2, const Transform3s& tf2, const GJKSolver*, |
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const bool, Vec3s& p1, Vec3s& p2, Vec3s& normal) { |
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COAL_TRACY_ZONE_SCOPED_N( |
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"coal::internal::ShapeShapeDistance<Sphere, Capsule>"); |
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const Sphere& s1 = static_cast<const Sphere&>(*o1); |
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const Capsule& s2 = static_cast<const Capsule&>(*o2); |
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return details::sphereCapsuleDistance(s1, tf1, s2, tf2, p1, p2, normal); |
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} |
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template <> |
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Scalar ShapeShapeDistance<Capsule, Sphere>( |
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const CollisionGeometry* o1, const Transform3s& tf1, |
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const CollisionGeometry* o2, const Transform3s& tf2, const GJKSolver*, |
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const bool, Vec3s& p1, Vec3s& p2, Vec3s& normal) { |
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COAL_TRACY_ZONE_SCOPED_N( |
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"coal::internal::ShapeShapeDistance<Capsule, Sphere>"); |
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const Capsule& s1 = static_cast<const Capsule&>(*o1); |
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const Sphere& s2 = static_cast<const Sphere&>(*o2); |
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const Scalar distance = |
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details::sphereCapsuleDistance(s2, tf2, s1, tf1, p2, p1, normal); |
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normal = -normal; |
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return distance; |
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} |
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} // namespace internal |
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} // namespace coal |
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