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coal  3.0.1
Coal, The Collision Detection Library. Previously known as HPP-FCL, fork of FCL -- The Flexible Collision Library
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shape_shape_func.h
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35 
38 #ifndef COAL_INTERNAL_SHAPE_SHAPE_FUNC_H
39 #define COAL_INTERNAL_SHAPE_SHAPE_FUNC_H
40 
42 
43 #include "coal/collision_data.h"
44 #include "coal/collision_utility.h"
45 #include "coal/narrowphase/narrowphase.h"
46 #include "coal/shape/geometric_shapes_traits.h"
47 
48 #include "coal/tracy.hh"
49 
50 namespace coal {
51 
52 template <typename ShapeType1, typename ShapeType2>
53 struct ShapeShapeDistancer {
54  static Scalar run(const CollisionGeometry* o1, const Transform3s& tf1,
55  const CollisionGeometry* o2, const Transform3s& tf2,
56  const GJKSolver* nsolver, const DistanceRequest& request,
57  DistanceResult& result) {
58  if (request.isSatisfied(result)) return result.min_distance;
59 
60  // Witness points on shape1 and shape2, normal pointing from shape1 to
61  // shape2.
62  Vec3s p1, p2, normal;
63  const Scalar distance = ShapeShapeDistancer<ShapeType1, ShapeType2>::run(
64  o1, tf1, o2, tf2, nsolver, request.enable_signed_distance, p1, p2,
65  normal);
66 
67  result.update(distance, o1, o2, DistanceResult::NONE, DistanceResult::NONE,
68  p1, p2, normal);
69 
70  return distance;
71  }
72 
73  static Scalar run(const CollisionGeometry* o1, const Transform3s& tf1,
74  const CollisionGeometry* o2, const Transform3s& tf2,
75  const GJKSolver* nsolver,
76  const bool compute_signed_distance, Vec3s& p1, Vec3s& p2,
77  Vec3s& normal) {
78  const ShapeType1* obj1 = static_cast<const ShapeType1*>(o1);
79  const ShapeType2* obj2 = static_cast<const ShapeType2*>(o2);
80  return nsolver->shapeDistance(*obj1, tf1, *obj2, tf2,
81  compute_signed_distance, p1, p2, normal);
82  }
83 };
84 
92 template <typename ShapeType1, typename ShapeType2>
93 Scalar ShapeShapeDistance(const CollisionGeometry* o1, const Transform3s& tf1,
94  const CollisionGeometry* o2, const Transform3s& tf2,
95  const GJKSolver* nsolver,
96  const DistanceRequest& request,
97  DistanceResult& result) {
98  COAL_TRACY_ZONE_SCOPED_N("coal::ShapeShapeDistance");
99  return ShapeShapeDistancer<ShapeType1, ShapeType2>::run(
100  o1, tf1, o2, tf2, nsolver, request, result);
101 }
102 
103 namespace internal {
114 template <typename ShapeType1, typename ShapeType2>
115 Scalar ShapeShapeDistance(const CollisionGeometry* o1, const Transform3s& tf1,
116  const CollisionGeometry* o2, const Transform3s& tf2,
117  const GJKSolver* nsolver,
118  const bool compute_signed_distance, Vec3s& p1,
119  Vec3s& p2, Vec3s& normal) {
120  return ::coal::ShapeShapeDistancer<ShapeType1, ShapeType2>::run(
121  o1, tf1, o2, tf2, nsolver, compute_signed_distance, p1, p2, normal);
122 }
123 } // namespace internal
124 
134 template <typename ShapeType1, typename ShapeType2>
135 struct ShapeShapeCollider {
136  static std::size_t run(const CollisionGeometry* o1, const Transform3s& tf1,
137  const CollisionGeometry* o2, const Transform3s& tf2,
138  const GJKSolver* nsolver,
139  const CollisionRequest& request,
140  CollisionResult& result) {
141  if (request.isSatisfied(result)) return result.numContacts();
142 
143  const bool compute_penetration =
144  request.enable_contact || (request.security_margin < 0);
145  Vec3s p1, p2, normal;
146  Scalar distance = internal::ShapeShapeDistance<ShapeType1, ShapeType2>(
147  o1, tf1, o2, tf2, nsolver, compute_penetration, p1, p2, normal);
148 
149  size_t num_contacts = 0;
150  const Scalar distToCollision = distance - request.security_margin;
151 
152  internal::updateDistanceLowerBoundFromLeaf(request, result, distToCollision,
153  p1, p2, normal);
154  if (distToCollision <= request.collision_distance_threshold &&
155  result.numContacts() < request.num_max_contacts) {
156  if (result.numContacts() < request.num_max_contacts) {
157  Contact contact(o1, o2, Contact::NONE, Contact::NONE, p1, p2, normal,
158  distance);
159  result.addContact(contact);
160  }
161  num_contacts = result.numContacts();
162  }
163 
164  return num_contacts;
165  }
166 };
167 
168 template <typename ShapeType1, typename ShapeType2>
169 std::size_t ShapeShapeCollide(const CollisionGeometry* o1,
170  const Transform3s& tf1,
171  const CollisionGeometry* o2,
172  const Transform3s& tf2, const GJKSolver* nsolver,
173  const CollisionRequest& request,
174  CollisionResult& result) {
175  COAL_TRACY_ZONE_SCOPED_N("coal::ShapeShapeCollide");
176  return ShapeShapeCollider<ShapeType1, ShapeType2>::run(
177  o1, tf1, o2, tf2, nsolver, request, result);
178 }
179 
180 // clang-format off
181 // ==============================================================================================================
182 // ==============================================================================================================
183 // ==============================================================================================================
184 // Shape distance algorithms based on:
185 // - built-in function: 0
186 // - GJK: 1
187 //
188 // +------------+-----+--------+---------+------+----------+-------+------------+----------+-----------+--------+
189 // | | box | sphere | capsule | cone | cylinder | plane | half-space | triangle | ellipsoid | convex |
190 // +------------+-----+--------+---------+------+----------+-------+------------+----------+-----------+--------+
191 // | box | 1 | 0 | 1 | 1 | 1 | 0 | 0 | 1 | 1 | 1 |
192 // +------------+-----+--------+---------+------+----------+-------+------------+----------+-----------+--------+
193 // | sphere |/////| 0 | 0 | 1 | 0 | 0 | 0 | 0 | 1 | 1 |
194 // +------------+-----+--------+---------+------+----------+-------+------------+----------+-----------+--------+
195 // | capsule |/////|////////| 0 | 1 | 1 | 0 | 0 | 1 | 1 | 1 |
196 // +------------+-----+--------+---------+------+----------+-------+------------+----------+-----------+--------+
197 // | cone |/////|////////|/////////| 1 | 1 | 0 | 0 | 1 | 1 | 1 |
198 // +------------+-----+--------+---------+------+----------+-------+------------+----------+-----------+--------+
199 // | cylinder |/////|////////|/////////|//////| 1 | 0 | 0 | 1 | 1 | 1 |
200 // +------------+-----+--------+---------+------+----------+-------+------------+----------+-----------+--------+
201 // | plane |/////|////////|/////////|//////|//////////| ? | ? | 0 | 0 | 0 |
202 // +------------+-----+--------+---------+------+----------+-------+------------+----------+-----------+--------+
203 // | half-space |/////|////////|/////////|//////|//////////|///////| ? | 0 | 0 | 0 |
204 // +------------+-----+--------+---------+------+----------+-------+------------+----------+-----------+--------+
205 // | triangle |/////|////////|/////////|//////|//////////|///////|////////////| 0 | 1 | 1 |
206 // +------------+-----+--------+---------+------+----------+-------+------------+----------+-----------+--------+
207 // | ellipsoid |/////|////////|/////////|//////|//////////|///////|////////////|//////////| 1 | 1 |
208 // +------------+-----+--------+---------+------+----------+-------+------------+----------+-----------+--------+
209 // | convex |/////|////////|/////////|//////|//////////|///////|////////////|//////////|///////////| 1 |
210 // +------------+-----+--------+---------+------+----------+-------+------------+----------+-----------+--------+
211 //
212 // Number of pairs: 55
213 // - Specialized: 26
214 // - GJK: 29
215 // clang-format on
216 
217 #define SHAPE_SHAPE_DISTANCE_SPECIALIZATION(T1, T2) \
218  template <> \
219  COAL_DLLAPI Scalar internal::ShapeShapeDistance<T1, T2>( \
220  const CollisionGeometry* o1, const Transform3s& tf1, \
221  const CollisionGeometry* o2, const Transform3s& tf2, \
222  const GJKSolver* nsolver, const bool compute_signed_distance, Vec3s& p1, \
223  Vec3s& p2, Vec3s& normal); \
224  template <> \
225  COAL_DLLAPI Scalar internal::ShapeShapeDistance<T2, T1>( \
226  const CollisionGeometry* o1, const Transform3s& tf1, \
227  const CollisionGeometry* o2, const Transform3s& tf2, \
228  const GJKSolver* nsolver, const bool compute_signed_distance, Vec3s& p1, \
229  Vec3s& p2, Vec3s& normal); \
230  template <> \
231  inline COAL_DLLAPI Scalar ShapeShapeDistance<T1, T2>( \
232  const CollisionGeometry* o1, const Transform3s& tf1, \
233  const CollisionGeometry* o2, const Transform3s& tf2, \
234  const GJKSolver* nsolver, const DistanceRequest& request, \
235  DistanceResult& result) { \
236  result.o1 = o1; \
237  result.o2 = o2; \
238  result.b1 = DistanceResult::NONE; \
239  result.b2 = DistanceResult::NONE; \
240  result.min_distance = internal::ShapeShapeDistance<T1, T2>( \
241  o1, tf1, o2, tf2, nsolver, request.enable_signed_distance, \
242  result.nearest_points[0], result.nearest_points[1], result.normal); \
243  return result.min_distance; \
244  } \
245  template <> \
246  inline COAL_DLLAPI Scalar ShapeShapeDistance<T2, T1>( \
247  const CollisionGeometry* o1, const Transform3s& tf1, \
248  const CollisionGeometry* o2, const Transform3s& tf2, \
249  const GJKSolver* nsolver, const DistanceRequest& request, \
250  DistanceResult& result) { \
251  result.o1 = o1; \
252  result.o2 = o2; \
253  result.b1 = DistanceResult::NONE; \
254  result.b2 = DistanceResult::NONE; \
255  result.min_distance = internal::ShapeShapeDistance<T2, T1>( \
256  o1, tf1, o2, tf2, nsolver, request.enable_signed_distance, \
257  result.nearest_points[0], result.nearest_points[1], result.normal); \
258  return result.min_distance; \
259  }
260 
261 #define SHAPE_SELF_DISTANCE_SPECIALIZATION(T) \
262  template <> \
263  COAL_DLLAPI Scalar internal::ShapeShapeDistance<T, T>( \
264  const CollisionGeometry* o1, const Transform3s& tf1, \
265  const CollisionGeometry* o2, const Transform3s& tf2, \
266  const GJKSolver* nsolver, const bool compute_signed_distance, Vec3s& p1, \
267  Vec3s& p2, Vec3s& normal); \
268  template <> \
269  inline COAL_DLLAPI Scalar ShapeShapeDistance<T, T>( \
270  const CollisionGeometry* o1, const Transform3s& tf1, \
271  const CollisionGeometry* o2, const Transform3s& tf2, \
272  const GJKSolver* nsolver, const DistanceRequest& request, \
273  DistanceResult& result) { \
274  result.o1 = o1; \
275  result.o2 = o2; \
276  result.b1 = DistanceResult::NONE; \
277  result.b2 = DistanceResult::NONE; \
278  result.min_distance = internal::ShapeShapeDistance<T, T>( \
279  o1, tf1, o2, tf2, nsolver, request.enable_signed_distance, \
280  result.nearest_points[0], result.nearest_points[1], result.normal); \
281  return result.min_distance; \
282  }
283 
284 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Box, Halfspace)
285 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Box, Plane)
286 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Box, Sphere)
287 SHAPE_SELF_DISTANCE_SPECIALIZATION(Capsule)
288 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Capsule, Halfspace)
289 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Capsule, Plane)
290 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Cone, Halfspace)
291 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Cone, Plane)
292 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Cylinder, Halfspace)
293 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Cylinder, Plane)
294 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Sphere, Halfspace)
295 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Sphere, Plane)
296 SHAPE_SELF_DISTANCE_SPECIALIZATION(Sphere)
297 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Sphere, Cylinder)
298 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Sphere, Capsule)
299 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Ellipsoid, Halfspace)
300 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Ellipsoid, Plane)
301 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(ConvexBase, Halfspace)
302 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(ConvexBase, Plane)
303 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(TriangleP, Halfspace)
304 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(TriangleP, Plane)
305 SHAPE_SELF_DISTANCE_SPECIALIZATION(TriangleP)
306 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(TriangleP, Sphere)
307 SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Plane, Halfspace)
308 SHAPE_SELF_DISTANCE_SPECIALIZATION(Plane)
309 SHAPE_SELF_DISTANCE_SPECIALIZATION(Halfspace)
310 
311 #undef SHAPE_SHAPE_DISTANCE_SPECIALIZATION
312 #undef SHAPE_SELF_DISTANCE_SPECIALIZATION
313 
314 } // namespace coal
315 
317 
318 #endif
collision_data.h
collision_utility.h
geometric_shapes_traits.h
coal::distance
Scalar distance(const Matrix3s &R0, const Vec3s &T0, const kIOS &b1, const kIOS &b2, Vec3s *P=NULL, Vec3s *Q=NULL)
Approximate distance between two kIOS bounding volumes.
coal::internal::updateDistanceLowerBoundFromLeaf
void updateDistanceLowerBoundFromLeaf(const CollisionRequest &, CollisionResult &res, const Scalar &distance, const Vec3s &p0, const Vec3s &p1, const Vec3s &normal)
Definition: collision_data.h:1180
coal
Main namespace.
Definition: broadphase_bruteforce.h:44
coal::Vec3s
Eigen::Matrix< Scalar, 3, 1 > Vec3s
Definition: data_types.h:70
coal::Scalar
double Scalar
Definition: data_types.h:68
coal::Contact::NONE
static const int NONE
invalid contact primitive information
Definition: collision_data.h:108
coal::DistanceResult::NONE
static const int NONE
invalid contact primitive information
Definition: collision_data.h:1085
COAL_TRACY_ZONE_SCOPED_N
#define COAL_TRACY_ZONE_SCOPED_N(x)
Definition: tracy.hh:26