-
Notifications
You must be signed in to change notification settings - Fork 413
/
gjk_libccd.h
204 lines (176 loc) · 6.64 KB
/
gjk_libccd.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
/*
* 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_DETAIL_GJKLIBCCD_H
#define FCL_NARROWPHASE_DETAIL_GJKLIBCCD_H
#include <ccd/ccd.h>
#include <ccd/quat.h>
#include <ccd/vec3.h>
#include "fcl/object/geometry/shape/box.h"
#include "fcl/object/geometry/shape/capsule.h"
#include "fcl/object/geometry/shape/cone.h"
#include "fcl/object/geometry/shape/convex.h"
#include "fcl/object/geometry/shape/cylinder.h"
#include "fcl/object/geometry/shape/ellipsoid.h"
#include "fcl/object/geometry/shape/halfspace.h"
#include "fcl/object/geometry/shape/plane.h"
#include "fcl/object/geometry/shape/sphere.h"
#include "fcl/object/geometry/shape/triangle_p.h"
#include "fcl/narrowphase/detail/convexity_based_algorithm/simplex.h"
#include "fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd.h"
namespace fcl
{
namespace detail
{
/// @brief callback function used by GJK algorithm
using GJKSupportFunction = void (*)(const void* obj, const ccd_vec3_t* dir_, ccd_vec3_t* v);
using GJKCenterFunction = void (*)(const void* obj, ccd_vec3_t* c);
/// @brief initialize GJK stuffs
template <typename S, typename T>
class GJKInitializer
{
public:
/// @brief Get GJK support function
static GJKSupportFunction getSupportFunction() { return nullptr; }
/// @brief Get GJK center function
static GJKCenterFunction getCenterFunction() { return nullptr; }
/// @brief Get GJK object from a shape
/// Notice that only local transformation is applied.
/// Gloal transformation are considered later
static void* createGJKObject(const T& /* s */, const Transform3<S>& /*tf*/) { return nullptr; }
/// @brief Delete GJK object
static void deleteGJKObject(void* o) {}
};
/// @brief initialize GJK Cylinder<S>
template <typename S>
class GJKInitializer<S, Cylinder<S>>
{
public:
static GJKSupportFunction getSupportFunction();
static GJKCenterFunction getCenterFunction();
static void* createGJKObject(const Cylinder<S>& s, const Transform3<S>& tf);
static void deleteGJKObject(void* o);
};
/// @brief initialize GJK Sphere<S>
template <typename S>
class GJKInitializer<S, Sphere<S>>
{
public:
static GJKSupportFunction getSupportFunction();
static GJKCenterFunction getCenterFunction();
static void* createGJKObject(const Sphere<S>& s, const Transform3<S>& tf);
static void deleteGJKObject(void* o);
};
/// @brief initialize GJK Ellipsoid<S>
template <typename S>
class GJKInitializer<S, Ellipsoid<S>>
{
public:
static GJKSupportFunction getSupportFunction();
static GJKCenterFunction getCenterFunction();
static void* createGJKObject(const Ellipsoid<S>& s, const Transform3<S>& tf);
static void deleteGJKObject(void* o);
};
/// @brief initialize GJK Box<S>
template <typename S>
class GJKInitializer<S, Box<S>>
{
public:
static GJKSupportFunction getSupportFunction();
static GJKCenterFunction getCenterFunction();
static void* createGJKObject(const Box<S>& s, const Transform3<S>& tf);
static void deleteGJKObject(void* o);
};
/// @brief initialize GJK Capsule<S>
template <typename S>
class GJKInitializer<S, Capsule<S>>
{
public:
static GJKSupportFunction getSupportFunction();
static GJKCenterFunction getCenterFunction();
static void* createGJKObject(const Capsule<S>& s, const Transform3<S>& tf);
static void deleteGJKObject(void* o);
};
/// @brief initialize GJK Cone<S>
template <typename S>
class GJKInitializer<S, Cone<S>>
{
public:
static GJKSupportFunction getSupportFunction();
static GJKCenterFunction getCenterFunction();
static void* createGJKObject(const Cone<S>& s, const Transform3<S>& tf);
static void deleteGJKObject(void* o);
};
/// @brief initialize GJK Convex<S>
template <typename S>
class GJKInitializer<S, Convex<S>>
{
public:
static GJKSupportFunction getSupportFunction();
static GJKCenterFunction getCenterFunction();
static void* createGJKObject(const Convex<S>& s, const Transform3<S>& tf);
static void deleteGJKObject(void* o);
};
/// @brief initialize GJK Triangle
GJKSupportFunction triGetSupportFunction();
GJKCenterFunction triGetCenterFunction();
template <typename S>
void* triCreateGJKObject(const Vector3<S>& P1, const Vector3<S>& P2, const Vector3<S>& P3);
template <typename S>
void* triCreateGJKObject(const Vector3<S>& P1, const Vector3<S>& P2, const Vector3<S>& P3, const Transform3<S>& tf);
void triDeleteGJKObject(void* o);
/// @brief GJK collision algorithm
template <typename S>
bool GJKCollide(
void* obj1,
ccd_support_fn supp1,
ccd_center_fn cen1,
void* obj2,
ccd_support_fn supp2,
ccd_center_fn cen2,
unsigned int max_iterations,
S tolerance,
Vector3<S>* contact_points,
S* penetration_depth,
Vector3<S>* normal);
template <typename S>
bool GJKDistance(void* obj1, ccd_support_fn supp1,
void* obj2, ccd_support_fn supp2,
unsigned int max_iterations, S tolerance,
S* dist, Vector3<S>* p1, Vector3<S>* p2);
} // namespace detail
} // namespace fcl
#include "fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd-inl.h"
#endif