GCC Code Coverage Report
Directory: ./ Exec Total Coverage
File: src/distance/convex_halfspace.cpp Lines: 12 23 52.2 %
Date: 2024-02-09 12:57:42 Branches: 1 2 50.0 %

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/*
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 * Software License Agreement (BSD License)
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 *
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 *  Copyright (c) 2020, 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 Joseph Mirabel */
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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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template <>
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FCL_REAL ShapeShapeDistance<ConvexBase, 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 ConvexBase& s1 = static_cast<const ConvexBase&>(*o1);
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  const Halfspace& s2 = static_cast<const Halfspace&>(*o2);
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  details::halfspaceDistance(s2, tf2, s1, tf1, result.min_distance,
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                             result.nearest_points[1], result.nearest_points[0],
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                             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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template <>
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FCL_REAL ShapeShapeDistance<Halfspace, ConvexBase>(
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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 ConvexBase& s2 = static_cast<const ConvexBase&>(*o2);
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  details::halfspaceDistance(s1, tf1, s2, tf2, result.min_distance,
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                             result.nearest_points[0], result.nearest_points[1],
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                             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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}  // namespace fcl
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}  // namespace hpp