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GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	src/distance/sphere_sphere.cpp	Lines:	51	51	100.0 %
Date:	2024-02-09 12:57:42	Branches:	43	78	55.1 %


/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2018-2019, CNRS
 *  Author: Florent Lamiraux
 *  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.
 */

#include <cmath>
#include <limits>
#include <hpp/fcl/math/transform.h>
#include <hpp/fcl/shape/geometric_shapes.h>
#include <hpp/fcl/internal/shape_shape_func.h>
#include <hpp/fcl/internal/traversal_node_base.h>

// Note that partial specialization of template functions is not allowed.
// Therefore, two implementations with the default narrow phase solvers are
// provided. If another narrow phase solver were to be used, the default
// template implementation would be called, unless the function is also
// specialized for this new type.
//
// One solution would be to make narrow phase solvers derive from an abstract
// class and specialize the template for this abstract class.
namespace hpp {
namespace fcl {
struct GJKSolver;

template <>
FCL_REAL ShapeShapeDistance<Sphere, Sphere>(
    const CollisionGeometry* o1, const Transform3f& tf1,
    const CollisionGeometry* o2, const Transform3f& tf2, const GJKSolver*,
    const DistanceRequest&, DistanceResult& result) {
  FCL_REAL epsilon = 1e-7;
  const Sphere* s1 = static_cast<const Sphere*>(o1);
  const Sphere* s2 = static_cast<const Sphere*>(o2);

  // We assume that spheres are centered at the origin of their frame.
  const fcl::Vec3f& center1 = tf1.getTranslation();
  const fcl::Vec3f& center2 = tf2.getTranslation();
  FCL_REAL r1 = s1->radius;
  FCL_REAL r2 = s2->radius;

  result.o1 = o1;
  result.o2 = o2;
  result.b1 = result.b2 = -1;
  Vec3f c1c2 = center2 - center1;
  FCL_REAL dist = c1c2.norm();
  Vec3f unit(0, 0, 0);
  if (dist > epsilon) unit = c1c2 / dist;
  FCL_REAL penetrationDepth;
  penetrationDepth = r1 + r2 - dist;
  bool collision = (penetrationDepth >= 0);
  result.min_distance = -penetrationDepth;
  if (collision) {
    // Take contact point at the middle of intersection between each sphere
    // and segment [c1 c2].
    FCL_REAL abscissa = .5 * r1 + .5 * (dist - r2);
    Vec3f contact = center1 + abscissa * unit;
    result.nearest_points[0] = result.nearest_points[1] = contact;
    return result.min_distance;
  } else {
    FCL_REAL abs1(r1), abs2(dist - r2);
    result.nearest_points[0] = center1 + abs1 * unit;
    result.nearest_points[1] = center1 + abs2 * unit;
  }
  return result.min_distance;
}

std::size_t ShapeShapeCollider<Sphere, Sphere>::run(
    const CollisionGeometry* o1, const Transform3f& tf1,
    const CollisionGeometry* o2, const Transform3f& tf2, const GJKSolver*,
    const CollisionRequest& request, CollisionResult& result) {
  FCL_REAL epsilon = 1e-7;
  const Sphere* s1 = static_cast<const Sphere*>(o1);
  const Sphere* s2 = static_cast<const Sphere*>(o2);

  // We assume that capsules are centered at the origin.
  const fcl::Vec3f& center1 = tf1.getTranslation();
  const fcl::Vec3f& center2 = tf2.getTranslation();
  FCL_REAL r1 = s1->radius;
  FCL_REAL r2 = s2->radius;
  FCL_REAL margin = request.security_margin;

  Vec3f c1c2 = center2 - center1;
  FCL_REAL dist = c1c2.norm();
  Vec3f unit(0, 0, 0);
  if (dist > epsilon) unit = c1c2 / dist;
  // Unlike in distance computation, we consider the security margin.
  FCL_REAL distToCollision = dist - (r1 + r2 + margin);

  internal::updateDistanceLowerBoundFromLeaf(request, result, distToCollision,
                                             center1 + unit * r1,
                                             center2 - unit * r2);
  if (distToCollision <= request.collision_distance_threshold) {
    // Take contact point at the middle of intersection between each sphere
    // and segment [c1 c2].
    FCL_REAL abscissa = .5 * r1 + .5 * (dist - r2);
    Vec3f contactPoint = center1 + abscissa * unit;
    Contact contact(o1, o2, -1, -1, contactPoint, unit,
                    -(distToCollision + margin));
    result.addContact(contact);
    return 1;
  }
  return 0;
}
}  // namespace fcl

}  // namespace hpp


Generated by: GCOVR (Version 4.2)

Line	Branch	Exec	Source
1			/*
2			* Software License Agreement (BSD License)
3			*
4			* Copyright (c) 2018-2019, CNRS
5			* Author: Florent Lamiraux
6			* All rights reserved.
7			*
8			* Redistribution and use in source and binary forms, with or without
9			* modification, are permitted provided that the following conditions
10			* are met:
11			*
12			* * Redistributions of source code must retain the above copyright
13			* notice, this list of conditions and the following disclaimer.
14			* * Redistributions in binary form must reproduce the above
15			* copyright notice, this list of conditions and the following
16			* disclaimer in the documentation and/or other materials provided
17			* with the distribution.
18			* * Neither the name of Open Source Robotics Foundation nor the names of its
19			* contributors may be used to endorse or promote products derived
20			* from this software without specific prior written permission.
21			*
22			* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23			* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24			* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25			* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26			* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27			* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28			* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29			* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30			* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31			* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32			* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33			* POSSIBILITY OF SUCH DAMAGE.
34			*/
35
36			#include <cmath>
37			#include <limits>
38			#include <hpp/fcl/math/transform.h>
39			#include <hpp/fcl/shape/geometric_shapes.h>
40			#include <hpp/fcl/internal/shape_shape_func.h>
41			#include <hpp/fcl/internal/traversal_node_base.h>
42
43			// Note that partial specialization of template functions is not allowed.
44			// Therefore, two implementations with the default narrow phase solvers are
45			// provided. If another narrow phase solver were to be used, the default
46			// template implementation would be called, unless the function is also
47			// specialized for this new type.
48			//
49			// One solution would be to make narrow phase solvers derive from an abstract
50			// class and specialize the template for this abstract class.
51			namespace hpp {
52			namespace fcl {
53			struct GJKSolver;
54
55			template <>
56		1038	FCL_REAL ShapeShapeDistance<Sphere, Sphere>(
57			const CollisionGeometry* o1, const Transform3f& tf1,
58			const CollisionGeometry* o2, const Transform3f& tf2, const GJKSolver*,
59			const DistanceRequest&, DistanceResult& result) {
60		1038	FCL_REAL epsilon = 1e-7;
61		1038	const Sphere* s1 = static_cast<const Sphere*>(o1);
62		1038	const Sphere* s2 = static_cast<const Sphere*>(o2);
63
64			// We assume that spheres are centered at the origin of their frame.
65		1038	const fcl::Vec3f& center1 = tf1.getTranslation();
66		1038	const fcl::Vec3f& center2 = tf2.getTranslation();
67		1038	FCL_REAL r1 = s1->radius;
68		1038	FCL_REAL r2 = s2->radius;
69
70		1038	result.o1 = o1;
71		1038	result.o2 = o2;
72		1038	result.b1 = result.b2 = -1;
73	✓✗✓✗	1038	Vec3f c1c2 = center2 - center1;
74	✓✗	1038	FCL_REAL dist = c1c2.norm();
75	✓✗	1038	Vec3f unit(0, 0, 0);
76	✓✓✓✗ ✓✗	1038	if (dist > epsilon) unit = c1c2 / dist;
77			FCL_REAL penetrationDepth;
78		1038	penetrationDepth = r1 + r2 - dist;
79		1038	bool collision = (penetrationDepth >= 0);
80		1038	result.min_distance = -penetrationDepth;
81	✓✓	1038	if (collision) {
82			// Take contact point at the middle of intersection between each sphere
83			// and segment [c1 c2].
84		227	FCL_REAL abscissa = .5 * r1 + .5 * (dist - r2);
85	✓✗✓✗ ✓✗	227	Vec3f contact = center1 + abscissa * unit;
86	✓✗✓✗	227	result.nearest_points[0] = result.nearest_points[1] = contact;
87		227	return result.min_distance;
88			} else {
89		811	FCL_REAL abs1(r1), abs2(dist - r2);
90	✓✗✓✗ ✓✗	811	result.nearest_points[0] = center1 + abs1 * unit;
91	✓✗✓✗ ✓✗	811	result.nearest_points[1] = center1 + abs2 * unit;
92			}
93		811	return result.min_distance;
94			}
95
96		71327	std::size_t ShapeShapeCollider<Sphere, Sphere>::run(
97			const CollisionGeometry* o1, const Transform3f& tf1,
98			const CollisionGeometry* o2, const Transform3f& tf2, const GJKSolver*,
99			const CollisionRequest& request, CollisionResult& result) {
100		71327	FCL_REAL epsilon = 1e-7;
101		71327	const Sphere* s1 = static_cast<const Sphere*>(o1);
102		71327	const Sphere* s2 = static_cast<const Sphere*>(o2);
103
104			// We assume that capsules are centered at the origin.
105		71327	const fcl::Vec3f& center1 = tf1.getTranslation();
106		71327	const fcl::Vec3f& center2 = tf2.getTranslation();
107		71327	FCL_REAL r1 = s1->radius;
108		71327	FCL_REAL r2 = s2->radius;
109		71327	FCL_REAL margin = request.security_margin;
110
111	✓✗✓✗	71327	Vec3f c1c2 = center2 - center1;
112	✓✗	71327	FCL_REAL dist = c1c2.norm();
113	✓✗	71327	Vec3f unit(0, 0, 0);
114	✓✓✓✗ ✓✗	71327	if (dist > epsilon) unit = c1c2 / dist;
115			// Unlike in distance computation, we consider the security margin.
116		71327	FCL_REAL distToCollision = dist - (r1 + r2 + margin);
117
118	✓✗✓✗ ✓✗	142654	internal::updateDistanceLowerBoundFromLeaf(request, result, distToCollision,
119	✓✗✓✗	71327	center1 + unit * r1,
120	✓✗✓✗	71327	center2 - unit * r2);
121	✓✓	71327	if (distToCollision <= request.collision_distance_threshold) {
122			// Take contact point at the middle of intersection between each sphere
123			// and segment [c1 c2].
124		560	FCL_REAL abscissa = .5 * r1 + .5 * (dist - r2);
125	✓✗✓✗ ✓✗	560	Vec3f contactPoint = center1 + abscissa * unit;
126			Contact contact(o1, o2, -1, -1, contactPoint, unit,
127	✓✗	560	-(distToCollision + margin));
128	✓✗	560	result.addContact(contact);
129		560	return 1;
130			}
131		70767	return 0;
132			}
133			} // namespace fcl
134
135			} // namespace hpp