coal  3.0.1
Coal, The Collision Detection Library. Previously known as HPP-FCL, fork of FCL -- The Flexible Collision Library
geometric_shapes_utility.h
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35 
38 #ifndef COAL_GEOMETRIC_SHAPES_UTILITY_H
39 #define COAL_GEOMETRIC_SHAPES_UTILITY_H
40 
41 #include <vector>
42 #include "coal/shape/geometric_shapes.h"
43 #include "coal/BV/BV.h"
44 #include "coal/internal/BV_fitter.h"
45 
46 namespace coal {
47 
49 namespace details {
52 COAL_DLLAPI std::vector<Vec3s> getBoundVertices(const Box& box,
53  const Transform3s& tf);
54 COAL_DLLAPI std::vector<Vec3s> getBoundVertices(const Sphere& sphere,
55  const Transform3s& tf);
56 COAL_DLLAPI std::vector<Vec3s> getBoundVertices(const Ellipsoid& ellipsoid,
57  const Transform3s& tf);
58 COAL_DLLAPI std::vector<Vec3s> getBoundVertices(const Capsule& capsule,
59  const Transform3s& tf);
60 COAL_DLLAPI std::vector<Vec3s> getBoundVertices(const Cone& cone,
61  const Transform3s& tf);
62 COAL_DLLAPI std::vector<Vec3s> getBoundVertices(const Cylinder& cylinder,
63  const Transform3s& tf);
64 COAL_DLLAPI std::vector<Vec3s> getBoundVertices(const ConvexBase& convex,
65  const Transform3s& tf);
66 COAL_DLLAPI std::vector<Vec3s> getBoundVertices(const TriangleP& triangle,
67  const Transform3s& tf);
68 } // namespace details
70 
72 template <typename BV, typename S>
73 inline void computeBV(const S& s, const Transform3s& tf, BV& bv) {
74  if (s.getSweptSphereRadius() > 0) {
75  COAL_THROW_PRETTY("Swept-sphere radius not yet supported.",
76  std::runtime_error);
77  }
78  std::vector<Vec3s> convex_bound_vertices = details::getBoundVertices(s, tf);
79  fit(&convex_bound_vertices[0], (unsigned int)convex_bound_vertices.size(),
80  bv);
81 }
82 
83 template <>
84 COAL_DLLAPI void computeBV<AABB, Box>(const Box& s, const Transform3s& tf,
85  AABB& bv);
86 
87 template <>
88 COAL_DLLAPI void computeBV<AABB, Sphere>(const Sphere& s, const Transform3s& tf,
89  AABB& bv);
90 
91 template <>
92 COAL_DLLAPI void computeBV<AABB, Ellipsoid>(const Ellipsoid& e,
93  const Transform3s& tf, AABB& bv);
94 
95 template <>
96 COAL_DLLAPI void computeBV<AABB, Capsule>(const Capsule& s,
97  const Transform3s& tf, AABB& bv);
98 
99 template <>
100 COAL_DLLAPI void computeBV<AABB, Cone>(const Cone& s, const Transform3s& tf,
101  AABB& bv);
102 
103 template <>
104 COAL_DLLAPI void computeBV<AABB, Cylinder>(const Cylinder& s,
105  const Transform3s& tf, AABB& bv);
106 
107 template <>
108 COAL_DLLAPI void computeBV<AABB, ConvexBase>(const ConvexBase& s,
109  const Transform3s& tf, AABB& bv);
110 
111 template <>
112 COAL_DLLAPI void computeBV<AABB, TriangleP>(const TriangleP& s,
113  const Transform3s& tf, AABB& bv);
114 
115 template <>
116 COAL_DLLAPI void computeBV<AABB, Halfspace>(const Halfspace& s,
117  const Transform3s& tf, AABB& bv);
118 
119 template <>
120 COAL_DLLAPI void computeBV<AABB, Plane>(const Plane& s, const Transform3s& tf,
121  AABB& bv);
122 
123 template <>
124 COAL_DLLAPI void computeBV<OBB, Box>(const Box& s, const Transform3s& tf,
125  OBB& bv);
126 
127 template <>
128 COAL_DLLAPI void computeBV<OBB, Sphere>(const Sphere& s, const Transform3s& tf,
129  OBB& bv);
130 
131 template <>
132 COAL_DLLAPI void computeBV<OBB, Capsule>(const Capsule& s,
133  const Transform3s& tf, OBB& bv);
134 
135 template <>
136 COAL_DLLAPI void computeBV<OBB, Cone>(const Cone& s, const Transform3s& tf,
137  OBB& bv);
138 
139 template <>
140 COAL_DLLAPI void computeBV<OBB, Cylinder>(const Cylinder& s,
141  const Transform3s& tf, OBB& bv);
142 
143 template <>
144 COAL_DLLAPI void computeBV<OBB, ConvexBase>(const ConvexBase& s,
145  const Transform3s& tf, OBB& bv);
146 
147 template <>
148 COAL_DLLAPI void computeBV<OBB, Halfspace>(const Halfspace& s,
149  const Transform3s& tf, OBB& bv);
150 
151 template <>
152 COAL_DLLAPI void computeBV<RSS, Halfspace>(const Halfspace& s,
153  const Transform3s& tf, RSS& bv);
154 
155 template <>
156 COAL_DLLAPI void computeBV<OBBRSS, Halfspace>(const Halfspace& s,
157  const Transform3s& tf,
158  OBBRSS& bv);
159 
160 template <>
161 COAL_DLLAPI void computeBV<kIOS, Halfspace>(const Halfspace& s,
162  const Transform3s& tf, kIOS& bv);
163 
164 template <>
165 COAL_DLLAPI void computeBV<KDOP<16>, Halfspace>(const Halfspace& s,
166  const Transform3s& tf,
167  KDOP<16>& bv);
168 
169 template <>
170 COAL_DLLAPI void computeBV<KDOP<18>, Halfspace>(const Halfspace& s,
171  const Transform3s& tf,
172  KDOP<18>& bv);
173 
174 template <>
175 COAL_DLLAPI void computeBV<KDOP<24>, Halfspace>(const Halfspace& s,
176  const Transform3s& tf,
177  KDOP<24>& bv);
178 
179 template <>
180 COAL_DLLAPI void computeBV<OBB, Plane>(const Plane& s, const Transform3s& tf,
181  OBB& bv);
182 
183 template <>
184 COAL_DLLAPI void computeBV<RSS, Plane>(const Plane& s, const Transform3s& tf,
185  RSS& bv);
186 
187 template <>
188 COAL_DLLAPI void computeBV<OBBRSS, Plane>(const Plane& s, const Transform3s& tf,
189  OBBRSS& bv);
190 
191 template <>
192 COAL_DLLAPI void computeBV<kIOS, Plane>(const Plane& s, const Transform3s& tf,
193  kIOS& bv);
194 
195 template <>
196 COAL_DLLAPI void computeBV<KDOP<16>, Plane>(const Plane& s,
197  const Transform3s& tf,
198  KDOP<16>& bv);
199 
200 template <>
201 COAL_DLLAPI void computeBV<KDOP<18>, Plane>(const Plane& s,
202  const Transform3s& tf,
203  KDOP<18>& bv);
204 
205 template <>
206 COAL_DLLAPI void computeBV<KDOP<24>, Plane>(const Plane& s,
207  const Transform3s& tf,
208  KDOP<24>& bv);
209 
212 COAL_DLLAPI void constructBox(const AABB& bv, Box& box, Transform3s& tf);
213 
214 COAL_DLLAPI void constructBox(const OBB& bv, Box& box, Transform3s& tf);
215 
216 COAL_DLLAPI void constructBox(const OBBRSS& bv, Box& box, Transform3s& tf);
217 
218 COAL_DLLAPI void constructBox(const kIOS& bv, Box& box, Transform3s& tf);
219 
220 COAL_DLLAPI void constructBox(const RSS& bv, Box& box, Transform3s& tf);
221 
222 COAL_DLLAPI void constructBox(const KDOP<16>& bv, Box& box, Transform3s& tf);
223 
224 COAL_DLLAPI void constructBox(const KDOP<18>& bv, Box& box, Transform3s& tf);
225 
226 COAL_DLLAPI void constructBox(const KDOP<24>& bv, Box& box, Transform3s& tf);
227 
228 COAL_DLLAPI void constructBox(const AABB& bv, const Transform3s& tf_bv,
229  Box& box, Transform3s& tf);
230 
231 COAL_DLLAPI void constructBox(const OBB& bv, const Transform3s& tf_bv, Box& box,
232  Transform3s& tf);
233 
234 COAL_DLLAPI void constructBox(const OBBRSS& bv, const Transform3s& tf_bv,
235  Box& box, Transform3s& tf);
236 
237 COAL_DLLAPI void constructBox(const kIOS& bv, const Transform3s& tf_bv,
238  Box& box, Transform3s& tf);
239 
240 COAL_DLLAPI void constructBox(const RSS& bv, const Transform3s& tf_bv, Box& box,
241  Transform3s& tf);
242 
243 COAL_DLLAPI void constructBox(const KDOP<16>& bv, const Transform3s& tf_bv,
244  Box& box, Transform3s& tf);
245 
246 COAL_DLLAPI void constructBox(const KDOP<18>& bv, const Transform3s& tf_bv,
247  Box& box, Transform3s& tf);
248 
249 COAL_DLLAPI void constructBox(const KDOP<24>& bv, const Transform3s& tf_bv,
250  Box& box, Transform3s& tf);
251 
252 COAL_DLLAPI Halfspace transform(const Halfspace& a, const Transform3s& tf);
253 
254 COAL_DLLAPI Plane transform(const Plane& a, const Transform3s& tf);
255 
256 COAL_DLLAPI std::array<Halfspace, 2> transformToHalfspaces(
257  const Plane& a, const Transform3s& tf);
258 
259 } // namespace coal
260 
261 #endif
BV_fitter.h
coal::AABB
A class describing the AABB collision structure, which is a box in 3D space determined by two diagona...
Definition: AABB.h:55
coal::Box
Center at zero point, axis aligned box.
Definition: geometric_shapes.h:164
coal::Capsule
Capsule It is where is the distance between the point x and the capsule segment AB,...
Definition: geometric_shapes.h:381
coal::Cone
Cone The base of the cone is at and the top is at .
Definition: geometric_shapes.h:466
coal::ConvexBase
Base for convex polytope.
Definition: geometric_shapes.h:639
coal::Cylinder
Cylinder along Z axis. The cylinder is defined at its centroid.
Definition: geometric_shapes.h:556
coal::Ellipsoid
Ellipsoid centered at point zero.
Definition: geometric_shapes.h:303
coal::Halfspace
Half Space: this is equivalent to the Plane in ODE. A Half space has a priviledged direction: the dir...
Definition: geometric_shapes.h:886
coal::KDOP
KDOP class describes the KDOP collision structures. K is set as the template parameter,...
Definition: kDOP.h:91
coal::Plane
Infinite plane. A plane can be viewed as two half spaces; it has no priviledged direction....
Definition: geometric_shapes.h:977
coal::Sphere
Center at zero point sphere.
Definition: geometric_shapes.h:238
coal::Transform3s
Simple transform class used locally by InterpMotion.
Definition: transform.h:55
coal::TriangleP
Triangle stores the points instead of only indices of points.
Definition: geometric_shapes.h:108
coal::kIOS
A class describing the kIOS collision structure, which is a set of spheres.
Definition: kIOS.h:52
COAL_DLLAPI
#define COAL_DLLAPI
Definition: config.hh:88
COAL_THROW_PRETTY
#define COAL_THROW_PRETTY(message, exception)
Definition: fwd.hh:64
coal
Main namespace.
Definition: broadphase_bruteforce.h:44
coal::computeBV
void computeBV(const S &s, const Transform3s &tf, BV &bv)
calculate a bounding volume for a shape in a specific configuration
Definition: geometric_shapes_utility.h:73
coal::computeBV< OBB, Plane >
void computeBV< OBB, Plane >(const Plane &s, const Transform3s &tf, OBB &bv)
coal::transformToHalfspaces
std::array< Halfspace, 2 > transformToHalfspaces(const Plane &a, const Transform3s &tf)
coal::constructBox
void constructBox(const AABB &bv, Box &box, Transform3s &tf)
construct a box shape (with a configuration) from a given bounding volume
coal::computeBV< OBBRSS, Halfspace >
void computeBV< OBBRSS, Halfspace >(const Halfspace &s, const Transform3s &tf, OBBRSS &bv)
coal::computeBV< AABB, Ellipsoid >
void computeBV< AABB, Ellipsoid >(const Ellipsoid &e, const Transform3s &tf, AABB &bv)
coal::computeBV< AABB, Sphere >
void computeBV< AABB, Sphere >(const Sphere &s, const Transform3s &tf, AABB &bv)
coal::computeBV< AABB, Box >
void computeBV< AABB, Box >(const Box &s, const Transform3s &tf, AABB &bv)
coal::computeBV< AABB, Capsule >
void computeBV< AABB, Capsule >(const Capsule &s, const Transform3s &tf, AABB &bv)
coal::computeBV< AABB, TriangleP >
void computeBV< AABB, TriangleP >(const TriangleP &s, const Transform3s &tf, AABB &bv)
coal::computeBV< OBB, Box >
void computeBV< OBB, Box >(const Box &s, const Transform3s &tf, OBB &bv)
coal::computeBV< OBB, Cylinder >
void computeBV< OBB, Cylinder >(const Cylinder &s, const Transform3s &tf, OBB &bv)
coal::transform
Halfspace transform(const Halfspace &a, const Transform3s &tf)
coal::computeBV< OBBRSS, Plane >
void computeBV< OBBRSS, Plane >(const Plane &s, const Transform3s &tf, OBBRSS &bv)
coal::fit
void fit(Vec3s *ps, unsigned int n, BV &bv)
Compute a bounding volume that fits a set of n points.
Definition: BV_fitter.h:51
coal::computeBV< kIOS, Halfspace >
void computeBV< kIOS, Halfspace >(const Halfspace &s, const Transform3s &tf, kIOS &bv)
coal::computeBV< RSS, Plane >
void computeBV< RSS, Plane >(const Plane &s, const Transform3s &tf, RSS &bv)
coal::computeBV< OBB, Halfspace >
void computeBV< OBB, Halfspace >(const Halfspace &s, const Transform3s &tf, OBB &bv)
coal::computeBV< RSS, Halfspace >
void computeBV< RSS, Halfspace >(const Halfspace &s, const Transform3s &tf, RSS &bv)
coal::computeBV< kIOS, Plane >
void computeBV< kIOS, Plane >(const Plane &s, const Transform3s &tf, kIOS &bv)
coal::computeBV< AABB, Cylinder >
void computeBV< AABB, Cylinder >(const Cylinder &s, const Transform3s &tf, AABB &bv)
coal::computeBV< AABB, Halfspace >
void computeBV< AABB, Halfspace >(const Halfspace &s, const Transform3s &tf, AABB &bv)
coal::computeBV< AABB, Plane >
void computeBV< AABB, Plane >(const Plane &s, const Transform3s &tf, AABB &bv)
coal::computeBV< AABB, Cone >
void computeBV< AABB, Cone >(const Cone &s, const Transform3s &tf, AABB &bv)
coal::computeBV< AABB, ConvexBase >
void computeBV< AABB, ConvexBase >(const ConvexBase &s, const Transform3s &tf, AABB &bv)
coal::computeBV< OBB, Sphere >
void computeBV< OBB, Sphere >(const Sphere &s, const Transform3s &tf, OBB &bv)
coal::computeBV< OBB, Capsule >
void computeBV< OBB, Capsule >(const Capsule &s, const Transform3s &tf, OBB &bv)
coal::computeBV< OBB, ConvexBase >
void computeBV< OBB, ConvexBase >(const ConvexBase &s, const Transform3s &tf, OBB &bv)
coal::computeBV< OBB, Cone >
void computeBV< OBB, Cone >(const Cone &s, const Transform3s &tf, OBB &bv)
geometric_shapes.h
coal::OBBRSS
Class merging the OBB and RSS, can handle collision and distance simultaneously.
Definition: OBBRSS.h:53
coal::OBB
Oriented bounding box class.
Definition: OBB.h:51
coal::RSS
A class for rectangle sphere-swept bounding volume.
Definition: RSS.h:53