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|---|---|---|---|
| 1 | /* | ||
| 2 | * Software License Agreement (BSD License) | ||
| 3 | * | ||
| 4 | * Copyright (c) 2021-2022, CNRS | ||
| 5 | * Author: Louis Montaut | ||
| 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 | #include "coal/math/transform.h" | ||
| 37 | #include "coal/shape/geometric_shapes.h" | ||
| 38 | |||
| 39 | #include "coal/internal/shape_shape_func.h" | ||
| 40 | #include "../narrowphase/details.h" | ||
| 41 | |||
| 42 | #include "coal/tracy.hh" | ||
| 43 | |||
| 44 | namespace coal { | ||
| 45 | struct GJKSolver; | ||
| 46 | |||
| 47 | namespace internal { | ||
| 48 | template <> | ||
| 49 | 449 | Scalar ShapeShapeDistance<Sphere, Capsule>( | |
| 50 | const CollisionGeometry* o1, const Transform3s& tf1, | ||
| 51 | const CollisionGeometry* o2, const Transform3s& tf2, const GJKSolver*, | ||
| 52 | const bool, Vec3s& p1, Vec3s& p2, Vec3s& normal) { | ||
| 53 | COAL_TRACY_ZONE_SCOPED_N( | ||
| 54 | "coal::internal::ShapeShapeDistance<Sphere, Capsule>"); | ||
| 55 | 449 | const Sphere& s1 = static_cast<const Sphere&>(*o1); | |
| 56 | 449 | const Capsule& s2 = static_cast<const Capsule&>(*o2); | |
| 57 | 449 | return details::sphereCapsuleDistance(s1, tf1, s2, tf2, p1, p2, normal); | |
| 58 | } | ||
| 59 | |||
| 60 | template <> | ||
| 61 | 432 | Scalar ShapeShapeDistance<Capsule, Sphere>( | |
| 62 | const CollisionGeometry* o1, const Transform3s& tf1, | ||
| 63 | const CollisionGeometry* o2, const Transform3s& tf2, const GJKSolver*, | ||
| 64 | const bool, Vec3s& p1, Vec3s& p2, Vec3s& normal) { | ||
| 65 | COAL_TRACY_ZONE_SCOPED_N( | ||
| 66 | "coal::internal::ShapeShapeDistance<Capsule, Sphere>"); | ||
| 67 | 432 | const Capsule& s1 = static_cast<const Capsule&>(*o1); | |
| 68 | 432 | const Sphere& s2 = static_cast<const Sphere&>(*o2); | |
| 69 | const Scalar distance = | ||
| 70 | 432 | details::sphereCapsuleDistance(s2, tf2, s1, tf1, p2, p1, normal); | |
| 71 |
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432 | normal = -normal; |
| 72 | 432 | return distance; | |
| 73 | } | ||
| 74 | |||
| 75 | } // namespace internal | ||
| 76 | |||
| 77 | } // namespace coal | ||
| 78 |