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plane.h
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plane.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_DETAIL_PLANE_H
#define FCL_NARROWPHASE_DETAIL_PLANE_H
#include "fcl/object/geometry/shape/sphere.h"
#include "fcl/object/geometry/shape/halfspace.h"
#include "fcl/object/geometry/shape/ellipsoid.h"
#include "fcl/object/geometry/shape/box.h"
#include "fcl/object/geometry/shape/capsule.h"
#include "fcl/object/geometry/shape/cylinder.h"
#include "fcl/object/geometry/shape/cone.h"
#include "fcl/object/geometry/shape/convex.h"
#include "fcl/object/geometry/shape/plane.h"
#include "fcl/narrowphase/contact_point.h"
namespace fcl
{
namespace detail
{
template <typename S>
S planeIntersectTolerance();
template <>
double planeIntersectTolerance();
template <>
float planeIntersectTolerance();
template <typename S>
bool spherePlaneIntersect(const Sphere<S>& s1, const Transform3<S>& tf1,
const Plane<S>& s2, const Transform3<S>& tf2,
std::vector<ContactPoint<S>>* contacts);
template <typename S>
bool ellipsoidPlaneIntersect(const Ellipsoid<S>& s1, const Transform3<S>& tf1,
const Plane<S>& s2, const Transform3<S>& tf2,
std::vector<ContactPoint<S>>* contacts);
/// @brief box half space, a, b, c = +/- edge size
/// n^T * (R(o + a v1 + b v2 + c v3) + T) ~ d
/// so (R^T n) (a v1 + b v2 + c v3) + n * T ~ d
/// check whether d - n * T - (R^T n) (a v1 + b v2 + c v3) >= 0 for some a, b, c and <=0 for some a, b, c
/// so need to check whether |d - n * T| <= |(R^T n)(a v1 + b v2 + c v3)|, the reason is as follows:
/// (R^T n) (a v1 + b v2 + c v3) can get |(R^T n) (a v1 + b v2 + c v3)| for one a, b, c.
/// if |d - n * T| <= |(R^T n)(a v1 + b v2 + c v3)| then can get both positive and negative value on the right side.
template <typename S>
bool boxPlaneIntersect(const Box<S>& s1, const Transform3<S>& tf1,
const Plane<S>& s2, const Transform3<S>& tf2,
std::vector<ContactPoint<S>>* contacts);
template <typename S>
bool capsulePlaneIntersect(const Capsule<S>& s1, const Transform3<S>& tf1,
const Plane<S>& s2, const Transform3<S>& tf2);
template <typename S>
bool capsulePlaneIntersect(const Capsule<S>& s1, const Transform3<S>& tf1,
const Plane<S>& s2, const Transform3<S>& tf2,
std::vector<ContactPoint<S>>* contacts);
/// @brief cylinder-plane intersect
/// n^T (R (r * cosa * v1 + r * sina * v2 + h * v3) + T) ~ d
/// need one point to be positive and one to be negative
/// (n^T * v3) * h + n * T -d + r * (cosa * (n^T * R * v1) + sina * (n^T * R * v2)) ~ 0
/// (n^T * v3) * h + r * (cosa * (n^T * R * v1) + sina * (n^T * R * v2)) + n * T - d ~ 0
template <typename S>
bool cylinderPlaneIntersect(const Cylinder<S>& s1, const Transform3<S>& tf1,
const Plane<S>& s2, const Transform3<S>& tf2);
template <typename S>
bool cylinderPlaneIntersect(const Cylinder<S>& s1, const Transform3<S>& tf1,
const Plane<S>& s2, const Transform3<S>& tf2,
std::vector<ContactPoint<S>>* contacts);
template <typename S>
bool conePlaneIntersect(const Cone<S>& s1, const Transform3<S>& tf1,
const Plane<S>& s2, const Transform3<S>& tf2,
std::vector<ContactPoint<S>>* contacts);
template <typename S>
bool convexPlaneIntersect(const Convex<S>& s1, const Transform3<S>& tf1,
const Plane<S>& s2, const Transform3<S>& tf2,
Vector3<S>* contact_points, S* penetration_depth, Vector3<S>* normal);
template <typename S>
bool planeTriangleIntersect(const Plane<S>& s1, const Transform3<S>& tf1,
const Vector3<S>& P1, const Vector3<S>& P2, const Vector3<S>& P3, const Transform3<S>& tf2,
Vector3<S>* contact_points, S* penetration_depth, Vector3<S>* normal);
template <typename S>
bool halfspacePlaneIntersect(const Halfspace<S>& s1, const Transform3<S>& tf1,
const Plane<S>& s2, const Transform3<S>& tf2,
Plane<S>& pl, Vector3<S>& p, Vector3<S>& d,
S& penetration_depth,
int& ret);
template <typename S>
bool planeIntersect(const Plane<S>& s1, const Transform3<S>& tf1,
const Plane<S>& s2, const Transform3<S>& tf2,
std::vector<ContactPoint<S>>* contacts);
} // namespace detail
} // namespace fcl
#include "fcl/narrowphase/detail/primitive_shape_algorithm/plane-inl.h"
#endif