convex.hxx

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2019, CNRS - LAAS
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Open Source Robotics Foundation nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef HPP_FCL_SHAPE_CONVEX_HXX
#define HPP_FCL_SHAPE_CONVEX_HXX
 
#include <set>
#include <vector>
#include <iostream>
 
namespace hpp {
namespace fcl {
 
template <typename PolygonT>
Convex<PolygonT>::Convex(std::shared_ptr<std::vector<Vec3f>> points_,
                         unsigned int num_points_,
                         std::shared_ptr<std::vector<PolygonT>> polygons_,
                         unsigned int num_polygons_)
    : ConvexBase(), polygons(polygons_), num_polygons(num_polygons_) {
  this->initialize(points_, num_points_);
  this->fillNeighbors();
  this->buildSupportWarmStart();
}
 
template <typename PolygonT>
Convex<PolygonT>::Convex(const Convex<PolygonT>& other)
    : ConvexBase(other), num_polygons(other.num_polygons) {
  if (other.polygons.get()) {
    polygons.reset(new std::vector<PolygonT>(*(other.polygons)));
  } else
    polygons.reset();
}
 
template <typename PolygonT>
Convex<PolygonT>::~Convex() {}
 
template <typename PolygonT>
void Convex<PolygonT>::set(std::shared_ptr<std::vector<Vec3f>> points_,
                           unsigned int num_points_,
                           std::shared_ptr<std::vector<PolygonT>> polygons_,
                           unsigned int num_polygons_) {
  ConvexBase::set(points_, num_points_);
 
  this->num_polygons = num_polygons_;
  this->polygons = polygons_;
 
  this->fillNeighbors();
  this->buildSupportWarmStart();
}
 
template <typename PolygonT>
Convex<PolygonT>* Convex<PolygonT>::clone() const {
  return new Convex(*this);
}
 
template <typename PolygonT>
Matrix3f Convex<PolygonT>::computeMomentofInertia() const {
  typedef typename PolygonT::size_type size_type;
  typedef typename PolygonT::index_type index_type;
 
  Matrix3f C = Matrix3f::Zero();
 
  Matrix3f C_canonical;
  C_canonical << 1 / 60.0, 1 / 120.0, 1 / 120.0, 1 / 120.0, 1 / 60.0, 1 / 120.0,
      1 / 120.0, 1 / 120.0, 1 / 60.0;
 
  if (!(points.get())) {
    std::cerr
        << "Error in `Convex::computeMomentofInertia`! Convex has no vertices."
        << std::endl;
    return C;
  }
  const std::vector<Vec3f>& points_ = *points;
  if (!(polygons.get())) {
    std::cerr
        << "Error in `Convex::computeMomentofInertia`! Convex has no polygons."
        << std::endl;
    return C;
  }
  const std::vector<PolygonT>& polygons_ = *polygons;
  for (unsigned int i = 0; i < num_polygons; ++i) {
    const PolygonT& polygon = polygons_[i];
 
    // compute the center of the polygon
    Vec3f plane_center(0, 0, 0);
    for (size_type j = 0; j < polygon.size(); ++j)
      plane_center += points_[polygon[(index_type)j]];
    plane_center /= polygon.size();
 
    // compute the volume of tetrahedron making by neighboring two points, the
    // plane center and the reference point (zero) of the convex shape
    const Vec3f& v3 = plane_center;
    for (size_type j = 0; j < polygon.size(); ++j) {
      index_type e_first = polygon[static_cast<index_type>(j)];
      index_type e_second =
          polygon[static_cast<index_type>((j + 1) % polygon.size())];
      const Vec3f& v1 = points_[e_first];
      const Vec3f& v2 = points_[e_second];
      Matrix3f A;
      A << v1.transpose(), v2.transpose(),
          v3.transpose();  // this is A' in the original document
      C += A.transpose() * C_canonical * A * (v1.cross(v2)).dot(v3);
    }
  }
 
  return C.trace() * Matrix3f::Identity() - C;
}
 
template <typename PolygonT>
Vec3f Convex<PolygonT>::computeCOM() const {
  typedef typename PolygonT::size_type size_type;
  typedef typename PolygonT::index_type index_type;
 
  Vec3f com(0, 0, 0);
  FCL_REAL vol = 0;
  if (!(points.get())) {
    std::cerr << "Error in `Convex::computeCOM`! Convex has no vertices."
              << std::endl;
    return com;
  }
  const std::vector<Vec3f>& points_ = *points;
  if (!(polygons.get())) {
    std::cerr << "Error in `Convex::computeCOM`! Convex has no polygons."
              << std::endl;
    return com;
  }
  const std::vector<PolygonT>& polygons_ = *polygons;
  for (unsigned int i = 0; i < num_polygons; ++i) {
    const PolygonT& polygon = polygons_[i];
    // compute the center of the polygon
    Vec3f plane_center(0, 0, 0);
    for (size_type j = 0; j < polygon.size(); ++j)
      plane_center += points_[polygon[(index_type)j]];
    plane_center /= polygon.size();
 
    // compute the volume of tetrahedron making by neighboring two points, the
    // plane center and the reference point (zero) of the convex shape
    const Vec3f& v3 = plane_center;
    for (size_type j = 0; j < polygon.size(); ++j) {
      index_type e_first = polygon[static_cast<index_type>(j)];
      index_type e_second =
          polygon[static_cast<index_type>((j + 1) % polygon.size())];
      const Vec3f& v1 = points_[e_first];
      const Vec3f& v2 = points_[e_second];
      FCL_REAL d_six_vol = (v1.cross(v2)).dot(v3);
      vol += d_six_vol;
      com += (points_[e_first] + points_[e_second] + plane_center) * d_six_vol;
    }
  }
 
  return com / (vol * 4);  // here we choose zero as the reference
}
 
template <typename PolygonT>
FCL_REAL Convex<PolygonT>::computeVolume() const {
  typedef typename PolygonT::size_type size_type;
  typedef typename PolygonT::index_type index_type;
 
  FCL_REAL vol = 0;
  if (!(points.get())) {
    std::cerr << "Error in `Convex::computeVolume`! Convex has no vertices."
              << std::endl;
    return vol;
  }
  const std::vector<Vec3f>& points_ = *points;
  if (!(polygons.get())) {
    std::cerr << "Error in `Convex::computeVolume`! Convex has no polygons."
              << std::endl;
    return vol;
  }
  const std::vector<PolygonT>& polygons_ = *polygons;
  for (unsigned int i = 0; i < num_polygons; ++i) {
    const PolygonT& polygon = polygons_[i];
 
    // compute the center of the polygon
    Vec3f plane_center(0, 0, 0);
    for (size_type j = 0; j < polygon.size(); ++j)
      plane_center += points_[polygon[(index_type)j]];
    plane_center /= polygon.size();
 
    // compute the volume of tetrahedron making by neighboring two points, the
    // plane center and the reference point (zero point) of the convex shape
    const Vec3f& v3 = plane_center;
    for (size_type j = 0; j < polygon.size(); ++j) {
      index_type e_first = polygon[static_cast<index_type>(j)];
      index_type e_second =
          polygon[static_cast<index_type>((j + 1) % polygon.size())];
      const Vec3f& v1 = points_[e_first];
      const Vec3f& v2 = points_[e_second];
      FCL_REAL d_six_vol = (v1.cross(v2)).dot(v3);
      vol += d_six_vol;
    }
  }
 
  return vol / 6;
}
 
template <typename PolygonT>
void Convex<PolygonT>::fillNeighbors() {
  neighbors.reset(new std::vector<Neighbors>(num_points));
 
  typedef typename PolygonT::size_type size_type;
  typedef typename PolygonT::index_type index_type;
  std::vector<std::set<index_type>> nneighbors(num_points);
  unsigned int c_nneighbors = 0;
 
  if (!(polygons.get())) {
    std::cerr << "Error in `Convex::fillNeighbors`! Convex has no polygons."
              << std::endl;
  }
  const std::vector<PolygonT>& polygons_ = *polygons;
  for (unsigned int l = 0; l < num_polygons; ++l) {
    const PolygonT& polygon = polygons_[l];
    const size_type n = polygon.size();
 
    for (size_type j = 0; j < polygon.size(); ++j) {
      size_type i = (j == 0) ? n - 1 : j - 1;
      size_type k = (j == n - 1) ? 0 : j + 1;
      index_type pi = polygon[(index_type)i], pj = polygon[(index_type)j],
                 pk = polygon[(index_type)k];
      // Update neighbors of pj;
      if (nneighbors[pj].count(pi) == 0) {
        c_nneighbors++;
        nneighbors[pj].insert(pi);
      }
      if (nneighbors[pj].count(pk) == 0) {
        c_nneighbors++;
        nneighbors[pj].insert(pk);
      }
    }
  }
 
  nneighbors_.reset(new std::vector<unsigned int>(c_nneighbors));
 
  unsigned int* p_nneighbors = nneighbors_->data();
  std::vector<Neighbors>& neighbors_ = *neighbors;
  for (unsigned int i = 0; i < num_points; ++i) {
    Neighbors& n = neighbors_[i];
    if (nneighbors[i].size() >= (std::numeric_limits<unsigned char>::max)())
      HPP_FCL_THROW_PRETTY("Too many neighbors.", std::logic_error);
    n.count_ = (unsigned char)nneighbors[i].size();
    n.n_ = p_nneighbors;
    p_nneighbors =
        std::copy(nneighbors[i].begin(), nneighbors[i].end(), p_nneighbors);
  }
  assert(p_nneighbors == nneighbors_->data() + c_nneighbors);
}
 
}  // namespace fcl
 
}  // namespace hpp
 
#endif