GCC Code Coverage Report

Directory: ./
File: src/distance/triangle_triangle.cpp
Date: 2025-04-01 09:23:31
Exec Total Coverage
Lines: 31 32 96.9%
Branches: 43 86 50.0%
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1 /*
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2024, INRIA
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
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18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 */
34
35 /** \author Louis Montaut */
36
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
46 namespace internal {
47 template <>
48 29205604 Scalar ShapeShapeDistance<TriangleP, TriangleP>(
49 const CollisionGeometry* o1, const Transform3s& tf1,
50 const CollisionGeometry* o2, const Transform3s& tf2,
51 const GJKSolver* solver, const bool, Vec3s& p1, Vec3s& p2, Vec3s& normal) {
52 COAL_TRACY_ZONE_SCOPED_N(
53 "coal::internal::ShapeShapeDistance<TriangleP, TriangleP>");
54 // Transform the triangles in world frame
55 29205604 const TriangleP& s1 = static_cast<const TriangleP&>(*o1);
56
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 29205604 const TriangleP t1(tf1.transform(s1.a), tf1.transform(s1.b),
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 58411208 tf1.transform(s1.c));
58
59 29205604 const TriangleP& s2 = static_cast<const TriangleP&>(*o2);
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 29205604 const TriangleP t2(tf2.transform(s2.a), tf2.transform(s2.b),
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 58411208 tf2.transform(s2.c));
62
63 // Reset GJK algorithm
64 // We don't need to take into account swept-sphere radius in GJK iterations;
65 // the result will be corrected after GJK terminates.
66 solver->minkowski_difference
67
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 29205604 .set<::coal::details::SupportOptions::NoSweptSphere>(&t1, &t2);
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 29205604 solver->gjk.reset(solver->gjk_max_iterations, solver->gjk_tolerance);
69
70 // Get GJK initial guess
71
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 29205604 Vec3s guess;
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 29205604 if (solver->gjk_initial_guess == GJKInitialGuess::CachedGuess ||
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 29205604 solver->enable_cached_guess) {
74 ✗ guess = solver->cached_guess;
75 } else {
76
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 29205604 guess = (t1.a + t1.b + t1.c - t2.a - t2.b - t2.c) / 3;
77 }
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 29205604 support_func_guess_t support_hint;
79 29205604 solver->epa.status =
80 details::EPA::DidNotRun; // EPA is never called in this function
81
82
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 29205604 Vec3ps guess_ = guess.cast<SolverScalar>();
83 details::GJK::Status gjk_status =
84
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 29205604 solver->gjk.evaluate(solver->minkowski_difference, guess_, support_hint);
85
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 29205604 solver->cached_guess = solver->gjk.getGuessFromSimplex().cast<Scalar>();
87
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 29205604 solver->support_func_cached_guess = solver->gjk.support_hint;
88
89 // Retrieve witness points and normal
90
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 29205604 Vec3ps p1_, p2_, normal_;
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 29205604 solver->gjk.getWitnessPointsAndNormal(solver->minkowski_difference, p1_, p2_,
92 normal_);
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 29205604 p1 = p1_.cast<Scalar>();
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 29205604 p2 = p2_.cast<Scalar>();
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 29205604 normal = normal_.cast<Scalar>();
96 29205604 Scalar distance = Scalar(solver->gjk.distance);
97
98
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 29205604 if (gjk_status == details::GJK::Collision) {
99 Scalar penetrationDepth =
100
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 21227 details::computePenetration(t1.a, t1.b, t1.c, t2.a, t2.b, t2.c, normal);
101 21227 distance = -penetrationDepth;
102 } else {
103 // No collision
104 // TODO On degenerated case, the closest point may be wrong
105 // (i.e. an object face normal is colinear to gjk.ray
106 // assert (dist == (w0 - w1).norm());
107
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 29184377 assert(solver->gjk.ray.norm() > solver->gjk.getTolerance());
108 }
109 // assert(false && "should not reach this point");
110 // return false;
111
112 29205604 return distance;
113 29205604 }
114 } // namespace internal
115
116 } // namespace coal
117