minkowski_difference.h

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#ifndef HPP_FCL_MINKOWSKI_DIFFERENCE_H
#define HPP_FCL_MINKOWSKI_DIFFERENCE_H
 
#include "hpp/fcl/shape/geometric_shapes.h"
#include "hpp/fcl/math/transform.h"
#include "hpp/fcl/narrowphase/support_functions.h"
 
namespace hpp {
namespace fcl {
 
namespace details {
 
struct HPP_FCL_DLLAPI MinkowskiDiff {
  typedef Eigen::Array<FCL_REAL, 1, 2> Array2d;
 
  const ShapeBase* shapes[2];
 
  ShapeSupportData data[2];
 
  Matrix3f oR1;
 
  Vec3f ot1;
 
  Array2d swept_sphere_radius;
 
  bool normalize_support_direction;
 
  typedef void (*GetSupportFunction)(const MinkowskiDiff& minkowskiDiff,
                                     const Vec3f& dir, Vec3f& support0,
                                     Vec3f& support1,
                                     support_func_guess_t& hint,
                                     ShapeSupportData data[2]);
  GetSupportFunction getSupportFunc;
 
  MinkowskiDiff() : normalize_support_direction(false), getSupportFunc(NULL) {}
 
  template <int _SupportOptions = SupportOptions::NoSweptSphere>
  void set(const ShapeBase* shape0, const ShapeBase* shape1);
 
  template <int _SupportOptions = SupportOptions::NoSweptSphere>
  void set(const ShapeBase* shape0, const ShapeBase* shape1,
           const Transform3f& tf0, const Transform3f& tf1);
 
  template <int _SupportOptions = SupportOptions::NoSweptSphere>
  inline Vec3f support0(const Vec3f& dir, int& hint) const {
    return getSupport<_SupportOptions>(shapes[0], dir, hint);
  }
 
  template <int _SupportOptions = SupportOptions::NoSweptSphere>
  inline Vec3f support1(const Vec3f& dir, int& hint) const {
    // clang-format off
    return oR1 * getSupport<_SupportOptions>(shapes[1], oR1.transpose() * dir, hint) + ot1;
    // clang-format on
  }
 
  inline void support(const Vec3f& dir, Vec3f& supp0, Vec3f& supp1,
                      support_func_guess_t& hint) const {
    assert(getSupportFunc != NULL);
    getSupportFunc(*this, dir, supp0, supp1, hint,
                   const_cast<ShapeSupportData*>(data));
  }
};
 
}  // namespace details
 
}  // namespace fcl
}  // namespace hpp
 
#endif  // HPP_FCL_MINKOWSKI_DIFFERENCE_H