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/* |
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* Software License Agreement (BSD License) |
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* |
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* Copyright (c) 2014, CNRS-LAAS |
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* All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* * Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* * Redistributions in binary form must reproduce the above |
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* copyright notice, this list of conditions and the following |
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* disclaimer in the documentation and/or other materials provided |
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* with the distribution. |
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* * Neither the name of Willow Garage, Inc. nor the names of its |
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* contributors may be used to endorse or promote products derived |
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* from this software without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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*/ |
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/** \author Florent Lamiraux */ |
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#ifndef HPP_FCL_INTERNAL_SHAPE_SHAPE_FUNC_H |
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#define HPP_FCL_INTERNAL_SHAPE_SHAPE_FUNC_H |
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/// @cond INTERNAL |
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#include <hpp/fcl/collision_data.h> |
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#include <hpp/fcl/collision_utility.h> |
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#include <hpp/fcl/narrowphase/narrowphase.h> |
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#include <hpp/fcl/shape/geometric_shapes_traits.h> |
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namespace hpp { |
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namespace fcl { |
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template <typename T_SH1, typename T_SH2> |
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HPP_FCL_DLLAPI FCL_REAL ShapeShapeDistance(const CollisionGeometry* o1, |
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const Transform3f& tf1, |
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const CollisionGeometry* o2, |
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const Transform3f& tf2, |
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const GJKSolver* nsolver, |
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const DistanceRequest& request, |
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DistanceResult& result); |
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template <typename T_SH1, typename T_SH2> |
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struct ShapeShapeCollider { |
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static std::size_t run(const CollisionGeometry* o1, const Transform3f& tf1, |
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const CollisionGeometry* o2, const Transform3f& tf2, |
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const GJKSolver* nsolver, |
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const CollisionRequest& request, |
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CollisionResult& result) { |
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✓✗✗✓
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if (request.isSatisfied(result)) return result.numContacts(); |
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✓✗ |
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DistanceResult distanceResult; |
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✓✗ |
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DistanceRequest distanceRequest(request.enable_contact); |
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✓✗ |
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FCL_REAL distance = ShapeShapeDistance<T_SH1, T_SH2>( |
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o1, tf1, o2, tf2, nsolver, distanceRequest, distanceResult); |
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size_t num_contacts = 0; |
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const Vec3f& p1 = distanceResult.nearest_points[0]; |
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const Vec3f& p2 = distanceResult.nearest_points[1]; |
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FCL_REAL distToCollision = distance - request.security_margin; |
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✓✗ |
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internal::updateDistanceLowerBoundFromLeaf(request, result, distToCollision, |
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p1, p2); |
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✓✓✓✓
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if (distToCollision <= request.collision_distance_threshold && |
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✓✗ |
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result.numContacts() < request.num_max_contacts) { |
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✓✗ |
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if (result.numContacts() < request.num_max_contacts) { |
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const Vec3f& p1 = distanceResult.nearest_points[0]; |
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const Vec3f& p2 = distanceResult.nearest_points[1]; |
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✓✓✓✗
✓✗✓✗
✓✗✓✗
✓✗ |
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Contact contact( |
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✓✗ |
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o1, o2, distanceResult.b1, distanceResult.b2, (p1 + p2) / 2, |
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(distance <= 0 ? distanceResult.normal : (p2 - p1).normalized()), |
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-distance); |
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✓✗ |
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result.addContact(contact); |
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} |
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num_contacts = result.numContacts(); |
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} |
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return num_contacts; |
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} |
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}; |
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template <typename ShapeType1, typename ShapeType2> |
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std::size_t ShapeShapeCollide(const CollisionGeometry* o1, |
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const Transform3f& tf1, |
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const CollisionGeometry* o2, |
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const Transform3f& tf2, const GJKSolver* nsolver, |
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const CollisionRequest& request, |
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CollisionResult& result) { |
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return ShapeShapeCollider<ShapeType1, ShapeType2>::run( |
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o1, tf1, o2, tf2, nsolver, request, result); |
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} |
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#define SHAPE_SHAPE_DISTANCE_SPECIALIZATION(T1, T2) \ |
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template <> \ |
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HPP_FCL_DLLAPI FCL_REAL ShapeShapeDistance<T1, T2>( \ |
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const CollisionGeometry* o1, const Transform3f& tf1, \ |
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const CollisionGeometry* o2, const Transform3f& tf2, \ |
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const GJKSolver* nsolver, const DistanceRequest& request, \ |
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DistanceResult& result); \ |
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template <> \ |
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HPP_FCL_DLLAPI FCL_REAL ShapeShapeDistance<T2, T1>( \ |
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const CollisionGeometry* o1, const Transform3f& tf1, \ |
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const CollisionGeometry* o2, const Transform3f& tf2, \ |
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const GJKSolver* nsolver, const DistanceRequest& request, \ |
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DistanceResult& result) |
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SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Box, Halfspace); |
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SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Box, Plane); |
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SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Box, Sphere); |
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SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Capsule, Capsule); |
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SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Capsule, Halfspace); |
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SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Capsule, Plane); |
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SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Cone, Halfspace); |
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SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Cone, Plane); |
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SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Cylinder, Halfspace); |
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SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Cylinder, Plane); |
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SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Sphere, Halfspace); |
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SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Sphere, Plane); |
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SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Sphere, Sphere); |
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SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Sphere, Cylinder); |
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SHAPE_SHAPE_DISTANCE_SPECIALIZATION(ConvexBase, Halfspace); |
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SHAPE_SHAPE_DISTANCE_SPECIALIZATION(TriangleP, Halfspace); |
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#undef SHAPE_SHAPE_DISTANCE_SPECIALIZATION |
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#define SHAPE_SHAPE_COLLIDE_SPECIALIZATION(T1, T2) \ |
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template <> \ |
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struct ShapeShapeCollider<T1, T2> { \ |
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static HPP_FCL_DLLAPI std::size_t run(const CollisionGeometry* o1, \ |
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const Transform3f& tf1, \ |
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const CollisionGeometry* o2, \ |
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const Transform3f& tf2, \ |
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const GJKSolver* nsolver, \ |
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const CollisionRequest& request, \ |
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CollisionResult& result); \ |
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} |
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SHAPE_SHAPE_COLLIDE_SPECIALIZATION(Sphere, Sphere); |
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#undef SHAPE_SHAPE_COLLIDE_SPECIALIZATION |
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} // namespace fcl |
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} // namespace hpp |
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/// @endcond |
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#endif |