support_functions.h

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#ifndef COAL_SUPPORT_FUNCTIONS_H
#define COAL_SUPPORT_FUNCTIONS_H
 
#include "coal/shape/geometric_shapes.h"
#include "coal/math/transform.h"
#include "coal/collision_data.h"
 
namespace coal {
 
namespace details {
 
enum SupportOptions {
  NoSweptSphere = 0,
  WithSweptSphere = 0x1,
};
 
// ============================================================================
// ============================ SUPPORT FUNCTIONS =============================
// ============================================================================
template <int _SupportOptions = SupportOptions::NoSweptSphere>
Vec3s getSupport(const ShapeBase* shape, const Vec3s& dir, int& hint);
 
struct COAL_DLLAPI ShapeSupportData {
  // @brief Tracks which points have been visited in a ConvexBase.
  std::vector<int8_t> visited;
 
  // @brief Tracks the last support direction used on this shape; used to
  // warm-start the ConvexBase support function.
  Vec3s last_dir = Vec3s::Zero();
 
  // @brief Temporary set used to compute the convex-hull of a support set.
  // Only used for ConvexBase and Box.
  SupportSet::Polygon polygon;
};
 
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupport(const TriangleP* triangle, const Vec3s& dir,
                     Vec3s& support, int& /*unused*/,
                     ShapeSupportData& /*unused*/);
 
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupport(const Box* box, const Vec3s& dir, Vec3s& support,
                     int& /*unused*/, ShapeSupportData& /*unused*/);
 
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupport(const Sphere* sphere, const Vec3s& dir, Vec3s& support,
                     int& /*unused*/, ShapeSupportData& /*unused*/);
 
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupport(const Ellipsoid* ellipsoid, const Vec3s& dir,
                     Vec3s& support, int& /*unused*/,
                     ShapeSupportData& /*unused*/);
 
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupport(const Capsule* capsule, const Vec3s& dir, Vec3s& support,
                     int& /*unused*/, ShapeSupportData& /*unused*/);
 
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupport(const Cone* cone, const Vec3s& dir, Vec3s& support,
                     int& /*unused*/, ShapeSupportData& /*unused*/);
 
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupport(const Cylinder* cylinder, const Vec3s& dir, Vec3s& support,
                     int& /*unused*/, ShapeSupportData& /*unused*/);
 
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupport(const ConvexBase* convex, const Vec3s& dir, Vec3s& support,
                     int& hint, ShapeSupportData& /*unused*/);
 
struct LargeConvex : ShapeBase {};
struct SmallConvex : ShapeBase {};
 
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupport(const SmallConvex* convex, const Vec3s& dir,
                     Vec3s& support, int& hint, ShapeSupportData& data);
 
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupport(const LargeConvex* convex, const Vec3s& dir,
                     Vec3s& support, int& hint, ShapeSupportData& support_data);
 
// ============================================================================
// ========================== SUPPORT SET FUNCTIONS ===========================
// ============================================================================
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getSupportSet(const ShapeBase* shape, SupportSet& support_set, int& hint,
                   size_t num_sampled_supports = 6, Scalar tol = Scalar(1e-3));
 
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getSupportSet(const ShapeBase* shape, const Vec3s& dir,
                   SupportSet& support_set, int& hint,
                   size_t num_sampled_supports = 6, Scalar tol = Scalar(1e-3)) {
  support_set.tf.rotation() = constructOrthonormalBasisFromVector(dir);
  const Vec3s& support_dir = support_set.getNormal();
  const Vec3s support = getSupport<_SupportOptions>(shape, support_dir, hint);
  getSupportSet<_SupportOptions>(shape, support_set, hint, num_sampled_supports,
                                 tol);
}
 
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupportSet(const TriangleP* triangle, SupportSet& support_set,
                        int& /*unused*/, ShapeSupportData& /*unused*/,
                        size_t /*unused*/ num_sampled_supports = 6,
                        Scalar tol = Scalar(1e-3));
 
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupportSet(const Box* box, SupportSet& support_set,
                        int& /*unused*/, ShapeSupportData& support_data,
                        size_t /*unused*/ num_sampled_supports = 6,
                        Scalar tol = Scalar(1e-3));
 
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupportSet(const Sphere* sphere, SupportSet& support_set,
                        int& /*unused*/, ShapeSupportData& /*unused*/,
                        size_t /*unused*/ num_sampled_supports = 6,
                        Scalar /*unused*/ tol = Scalar(1e-3));
 
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupportSet(const Ellipsoid* ellipsoid, SupportSet& support_set,
                        int& /*unused*/, ShapeSupportData& /*unused*/,
                        size_t /*unused*/ num_sampled_supports = 6,
                        Scalar /*unused*/ tol = Scalar(1e-3));
 
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupportSet(const Capsule* capsule, SupportSet& support_set,
                        int& /*unused*/, ShapeSupportData& /*unused*/,
                        size_t /*unused*/ num_sampled_supports = 6,
                        Scalar tol = Scalar(1e-3));
 
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupportSet(const Cone* cone, SupportSet& support_set,
                        int& /*unused*/, ShapeSupportData& /*unused*/,
                        size_t num_sampled_supports = 6,
                        Scalar tol = Scalar(1e-3));
 
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupportSet(const Cylinder* cylinder, SupportSet& support_set,
                        int& /*unused*/, ShapeSupportData& /*unused*/,
                        size_t num_sampled_supports = 6,
                        Scalar tol = Scalar(1e-3));
 
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupportSet(const ConvexBase* convex, SupportSet& support_set,
                        int& hint, ShapeSupportData& support_data,
                        size_t /*unused*/ num_sampled_supports = 6,
                        Scalar tol = Scalar(1e-3));
 
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupportSet(const SmallConvex* convex, SupportSet& support_set,
                        int& /*unused*/, ShapeSupportData& /*unused*/,
                        size_t /*unused*/ num_sampled_supports = 6,
                        Scalar tol = Scalar(1e-3));
 
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupportSet(const LargeConvex* convex, SupportSet& support_set,
                        int& hint, ShapeSupportData& support_data,
                        size_t /*unused*/ num_sampled_supports = 6,
                        Scalar tol = Scalar(1e-3));
 
COAL_DLLAPI void computeSupportSetConvexHull(SupportSet::Polygon& cloud,
                                             SupportSet::Polygon& cvx_hull);
 
}  // namespace details
 
}  // namespace coal
 
#endif  // COAL_SUPPORT_FUNCTIONS_H