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gjk_solver_libccd.h
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gjk_solver_libccd.h
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/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2011-2014, Willow Garage, Inc.
* Copyright (c) 2014-2016, Open Source Robotics Foundation
* 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.
*/
/** @author Jia Pan */
#ifndef FCL_NARROWPHASE_GJKSOLVERLIBCCD_H
#define FCL_NARROWPHASE_GJKSOLVERLIBCCD_H
#include "fcl/common/types.h"
#include "fcl/narrowphase/contact_point.h"
namespace fcl
{
namespace detail
{
/// @brief collision and distance solver based on libccd library.
template <typename S_>
struct FCL_EXPORT GJKSolver_libccd
{
using S = S_;
/// @brief intersection checking between two shapes
/// @deprecated use shapeIntersect(const Shape1&, const Transform3<S>&, const Shape2&, const Transform3<S>&, std::vector<ContactPoint<S>>*) const
template<typename Shape1, typename Shape2>
FCL_DEPRECATED
bool shapeIntersect(
const Shape1& s1,
const Transform3<S>& tf1,
const Shape2& s2,
const Transform3<S>& tf2,
Vector3<S>* contact_points,
S* penetration_depth,
Vector3<S>* normal) const;
/// @brief intersection checking between two shapes
template<typename Shape1, typename Shape2>
bool shapeIntersect(
const Shape1& s1,
const Transform3<S>& tf1,
const Shape2& s2,
const Transform3<S>& tf2,
std::vector<ContactPoint<S>>* contacts = nullptr) const;
/// @brief intersection checking between one shape and a triangle
template<typename Shape>
bool shapeTriangleIntersect(
const Shape& s,
const Transform3<S>& tf,
const Vector3<S>& P1,
const Vector3<S>& P2,
const Vector3<S>& P3,
Vector3<S>* contact_points = nullptr,
S* penetration_depth = nullptr,
Vector3<S>* normal = nullptr) const;
//// @brief intersection checking between one shape and a triangle with transformation
template<typename Shape>
bool shapeTriangleIntersect(
const Shape& s,
const Transform3<S>& tf1,
const Vector3<S>& P1,
const Vector3<S>& P2,
const Vector3<S>& P3,
const Transform3<S>& tf2,
Vector3<S>* contact_points = nullptr,
S* penetration_depth = nullptr,
Vector3<S>* normal = nullptr) const;
/// @brief distance computation between two shapes
template<typename Shape1, typename Shape2>
bool shapeDistance(
const Shape1& s1,
const Transform3<S>& tf1,
const Shape2& s2,
const Transform3<S>& tf2,
S* dist = nullptr,
Vector3<S>* p1 = nullptr,
Vector3<S>* p2 = nullptr) const;
template<typename Shape1, typename Shape2>
bool shapeSignedDistance(
const Shape1& s1,
const Transform3<S>& tf1,
const Shape2& s2,
const Transform3<S>& tf2,
S* dist = nullptr,
Vector3<S>* p1 = nullptr,
Vector3<S>* p2 = nullptr) const;
/// @brief distance computation between one shape and a triangle
template<typename Shape>
bool shapeTriangleDistance(
const Shape& s,
const Transform3<S>& tf,
const Vector3<S>& P1,
const Vector3<S>& P2,
const Vector3<S>& P3,
S* dist = nullptr,
Vector3<S>* p1 = nullptr,
Vector3<S>* p2 = nullptr) const;
/// @brief distance computation between one shape and a triangle with transformation
template<typename Shape>
bool shapeTriangleDistance(
const Shape& s,
const Transform3<S>& tf1,
const Vector3<S>& P1,
const Vector3<S>& P2,
const Vector3<S>& P3,
const Transform3<S>& tf2,
S* dist = nullptr,
Vector3<S>* p1 = nullptr,
Vector3<S>* p2 = nullptr) const;
/// @brief default setting for GJK algorithm
GJKSolver_libccd();
void enableCachedGuess(bool if_enable) const;
void setCachedGuess(const Vector3<S>& guess) const;
Vector3<S> getCachedGuess() const;
/// @brief maximum number of iterations used in GJK algorithm for collision
unsigned int max_collision_iterations;
/// @brief maximum number of iterations used in GJK algorithm for distance
unsigned int max_distance_iterations;
/// @brief the threshold used in GJK algorithm to stop collision iteration
S collision_tolerance;
/// @brief the threshold used in GJK algorithm to stop distance iteration
S distance_tolerance;
friend
std::ostream& operator<<(std::ostream& out, const GJKSolver_libccd& solver) {
out << "GjkSolver_libccd"
<< "\n collision_tolerance: " << solver.collision_tolerance
<< "\n max collision iterations: " << solver.max_collision_iterations
<< "\n distance tolerance: " << solver.distance_tolerance
<< "\n max distance iterations: " << solver.max_distance_iterations;
// NOTE: Cached guesses are not supported.
return out;
}
};
using GJKSolver_libccdf = GJKSolver_libccd<float>;
using GJKSolver_libccdd = GJKSolver_libccd<double>;
} // namespace detail
} // namespace fcl
#include "fcl/narrowphase/detail/gjk_solver_libccd-inl.h"
#endif