kIOS.h

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#ifndef HPP_FCL_KIOS_H
#define HPP_FCL_KIOS_H
 
#include "hpp/fcl/BV/OBB.h"
 
namespace hpp {
namespace fcl {
 
struct CollisionRequest;
 
 
class HPP_FCL_DLLAPI kIOS {
  struct HPP_FCL_DLLAPI kIOS_Sphere {
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    Vec3f o;
    FCL_REAL r;
 
    bool operator==(const kIOS_Sphere& other) const {
      return o == other.o && r == other.r;
    }
 
    bool operator!=(const kIOS_Sphere& other) const {
      return !(*this == other);
    }
  };
 
  static kIOS_Sphere encloseSphere(const kIOS_Sphere& s0,
                                   const kIOS_Sphere& s1) {
    Vec3f d = s1.o - s0.o;
    FCL_REAL dist2 = d.squaredNorm();
    FCL_REAL diff_r = s1.r - s0.r;
 
    if (diff_r * diff_r >= dist2) {
      if (s1.r > s0.r)
        return s1;
      else
        return s0;
    } else 
    {
      float dist = (float)std::sqrt(dist2);
      kIOS_Sphere s;
      s.r = dist + s0.r + s1.r;
      if (dist > 0)
        s.o = s0.o + d * ((s.r - s0.r) / dist);
      else
        s.o = s0.o;
      return s;
    }
  }
 
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  bool operator==(const kIOS& other) const {
    bool res = obb == other.obb && num_spheres == other.num_spheres;
    if (!res) return false;
 
    for (size_t k = 0; k < num_spheres; ++k) {
      if (spheres[k] != other.spheres[k]) return false;
    }
 
    return true;
  }
 
  bool operator!=(const kIOS& other) const { return !(*this == other); }
 
  static constexpr size_t max_num_spheres = 5;
 
  kIOS_Sphere spheres[max_num_spheres];
 
  unsigned int num_spheres;
 
  OBB obb;
 
  bool contain(const Vec3f& p) const;
 
  bool overlap(const kIOS& other) const;
 
  bool overlap(const kIOS& other, const CollisionRequest&,
               FCL_REAL& sqrDistLowerBound) const;
 
  FCL_REAL distance(const kIOS& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;
 
  kIOS& operator+=(const Vec3f& p);
 
  kIOS& operator+=(const kIOS& other) {
    *this = *this + other;
    return *this;
  }
 
  kIOS operator+(const kIOS& other) const;
 
  FCL_REAL size() const;
 
  const Vec3f& center() const { return spheres[0].o; }
 
  FCL_REAL width() const;
 
  FCL_REAL height() const;
 
  FCL_REAL depth() const;
 
  FCL_REAL volume() const;
};
 
HPP_FCL_DLLAPI kIOS translate(const kIOS& bv, const Vec3f& t);
 
HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0, const kIOS& b1,
                            const kIOS& b2);
 
HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0, const kIOS& b1,
                            const kIOS& b2, const CollisionRequest& request,
                            FCL_REAL& sqrDistLowerBound);
 
HPP_FCL_DLLAPI FCL_REAL distance(const Matrix3f& R0, const Vec3f& T0,
                                 const kIOS& b1, const kIOS& b2,
                                 Vec3f* P = NULL, Vec3f* Q = NULL);
 
}  // namespace fcl
 
}  // namespace hpp
 
#endif