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/* |
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* Software License Agreement (BSD License) |
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* |
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* Copyright (c) 2011-2014, Willow Garage, Inc. |
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* Copyright (c) 2014-2015, Open Source Robotics Foundation |
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* Copyright (c) 2018-2019, Center National de la Recherche Scientifique |
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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 Open Source Robotics Foundation 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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#include <cmath> |
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#include <limits> |
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#include <hpp/fcl/math/transform.h> |
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#include <hpp/fcl/shape/geometric_shapes.h> |
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#include <hpp/fcl/internal/shape_shape_func.h> |
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#include "../narrowphase/details.h" |
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namespace hpp { |
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namespace fcl { |
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struct GJKSolver; |
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template <> |
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FCL_REAL ShapeShapeDistance<Capsule, Halfspace>( |
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const CollisionGeometry* o1, const Transform3f& tf1, |
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const CollisionGeometry* o2, const Transform3f& tf2, const GJKSolver*, |
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const DistanceRequest&, DistanceResult& result) { |
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const Capsule& s1 = static_cast<const Capsule&>(*o1); |
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const Halfspace& s2 = static_cast<const Halfspace&>(*o2); |
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details::capsuleHalfspaceIntersect(s1, tf1, s2, tf2, result.min_distance, |
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result.nearest_points[0], |
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result.nearest_points[1], result.normal); |
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result.o1 = o1; |
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result.o2 = o2; |
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result.b1 = -1; |
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result.b2 = -1; |
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return result.min_distance; |
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} |
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template <> |
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FCL_REAL ShapeShapeDistance<Halfspace, Capsule>( |
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const CollisionGeometry* o1, const Transform3f& tf1, |
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const CollisionGeometry* o2, const Transform3f& tf2, const GJKSolver*, |
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const DistanceRequest&, DistanceResult& result) { |
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const Halfspace& s1 = static_cast<const Halfspace&>(*o1); |
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const Capsule& s2 = static_cast<const Capsule&>(*o2); |
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details::capsuleHalfspaceIntersect(s2, tf2, s1, tf1, result.min_distance, |
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result.nearest_points[1], |
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result.nearest_points[0], result.normal); |
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result.o1 = o1; |
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result.o2 = o2; |
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result.b1 = -1; |
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result.b2 = -1; |
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result.normal = -result.normal; |
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return result.min_distance; |
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} |
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} // namespace fcl |
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} // namespace hpp |