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broadphase_spatialhash.h
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broadphase_spatialhash.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_BROADPHASE_BROADPAHSESPATIALHASH_H
#define FCL_BROADPHASE_BROADPAHSESPATIALHASH_H
#include <list>
#include <map>
#include "fcl/math/bv/AABB.h"
#include "fcl/broadphase/broadphase_collision_manager.h"
#include "fcl/broadphase/detail/simple_hash_table.h"
#include "fcl/broadphase/detail/sparse_hash_table.h"
#include "fcl/broadphase/detail/spatial_hash.h"
namespace fcl
{
/// @brief spatial hashing collision mananger
template<typename S,
typename HashTable
= detail::SimpleHashTable<AABB<S>, CollisionObject<S>*, detail::SpatialHash<S>> >
class SpatialHashingCollisionManager : public BroadPhaseCollisionManager<S>
{
public:
SpatialHashingCollisionManager(
S cell_size,
const Vector3<S>& scene_min,
const Vector3<S>& scene_max,
unsigned int default_table_size = 1000);
~SpatialHashingCollisionManager();
/// @brief add one object to the manager
void registerObject(CollisionObject<S>* obj);
/// @brief remove one object from the manager
void unregisterObject(CollisionObject<S>* obj);
/// @brief initialize the manager, related with the specific type of manager
void setup();
/// @brief update the condition of manager
void update();
/// @brief update the manager by explicitly given the object updated
void update(CollisionObject<S>* updated_obj);
/// @brief update the manager by explicitly given the set of objects update
void update(const std::vector<CollisionObject<S>*>& updated_objs);
/// @brief clear the manager
void clear();
/// @brief return the objects managed by the manager
void getObjects(std::vector<CollisionObject<S>*>& objs) const;
/// @brief perform collision test between one object and all the objects belonging to the manager
void collide(CollisionObject<S>* obj, void* cdata, CollisionCallBack<S> callback) const;
/// @brief perform distance computation between one object and all the objects belonging ot the manager
void distance(CollisionObject<S>* obj, void* cdata, DistanceCallBack<S> callback) const;
/// @brief perform collision test for the objects belonging to the manager (i.e, N^2 self collision)
void collide(void* cdata, CollisionCallBack<S> callback) const;
/// @brief perform distance test for the objects belonging to the manager (i.e., N^2 self distance)
void distance(void* cdata, DistanceCallBack<S> callback) const;
/// @brief perform collision test with objects belonging to another manager
void collide(BroadPhaseCollisionManager<S>* other_manager, void* cdata, CollisionCallBack<S> callback) const;
/// @brief perform distance test with objects belonging to another manager
void distance(BroadPhaseCollisionManager<S>* other_manager, void* cdata, DistanceCallBack<S> callback) const;
/// @brief whether the manager is empty
bool empty() const;
/// @brief the number of objects managed by the manager
size_t size() const;
/// @brief compute the bound for the environent
static void computeBound(std::vector<CollisionObject<S>*>& objs, Vector3<S>& l, Vector3<S>& u);
protected:
/// @brief perform collision test between one object and all the objects belonging to the manager
bool collide_(CollisionObject<S>* obj, void* cdata, CollisionCallBack<S> callback) const;
/// @brief perform distance computation between one object and all the objects belonging ot the manager
bool distance_(CollisionObject<S>* obj, void* cdata, DistanceCallBack<S> callback, S& min_dist) const;
/// @brief all objects in the scene
std::list<CollisionObject<S>*> objs;
/// @brief objects partially penetrating (not totally inside nor outside) the
/// scene limit are in another list
std::list<CollisionObject<S>*> objs_partially_penetrating_scene_limit;
/// @brief objects outside the scene limit are in another list
std::list<CollisionObject<S>*> objs_outside_scene_limit;
/// @brief the size of the scene
AABB<S> scene_limit;
/// @brief store the map between objects and their aabbs. will make update more convenient
std::map<CollisionObject<S>*, AABB<S>> obj_aabb_map;
/// @brief objects in the scene limit (given by scene_min and scene_max) are in the spatial hash table
HashTable* hash_table;
private:
enum ObjectStatus
{
Inside,
PartiallyPenetrating,
Outside
};
template <typename Container>
bool distanceObjectToObjects(
CollisionObject<S>* obj,
const Container& objs,
void* cdata,
DistanceCallBack<S> callback,
S& min_dist) const;
};
template<typename HashTable = detail::SimpleHashTable<AABB<float>, CollisionObject<float>*, detail::SpatialHash<float>>>
using SpatialHashingCollisionManagerf = SpatialHashingCollisionManager<float, HashTable>;
template<typename HashTable = detail::SimpleHashTable<AABB<double>, CollisionObject<double>*, detail::SpatialHash<double>>>
using SpatialHashingCollisionManagerd = SpatialHashingCollisionManager<double, HashTable>;
//============================================================================//
// //
// Implementations //
// //
//============================================================================//
//==============================================================================
template<typename S, typename HashTable>
SpatialHashingCollisionManager<S, HashTable>::SpatialHashingCollisionManager(
S cell_size,
const Vector3<S>& scene_min,
const Vector3<S>& scene_max,
unsigned int default_table_size)
: scene_limit(AABB<S>(scene_min, scene_max)),
hash_table(new HashTable(detail::SpatialHash<S>(scene_limit, cell_size)))
{
hash_table->init(default_table_size);
}
//==============================================================================
template<typename S, typename HashTable>
SpatialHashingCollisionManager<S, HashTable>::~SpatialHashingCollisionManager()
{
delete hash_table;
}
//==============================================================================
template<typename S, typename HashTable>
void SpatialHashingCollisionManager<S, HashTable>::registerObject(
CollisionObject<S>* obj)
{
objs.push_back(obj);
const AABB<S>& obj_aabb = obj->getAABB();
AABB<S> overlap_aabb;
if(scene_limit.overlap(obj_aabb, overlap_aabb))
{
if(!scene_limit.contain(obj_aabb))
objs_partially_penetrating_scene_limit.push_back(obj);
hash_table->insert(overlap_aabb, obj);
}
else
{
objs_outside_scene_limit.push_back(obj);
}
obj_aabb_map[obj] = obj_aabb;
}
//==============================================================================
template<typename S, typename HashTable>
void SpatialHashingCollisionManager<S, HashTable>::unregisterObject(CollisionObject<S>* obj)
{
objs.remove(obj);
const AABB<S>& obj_aabb = obj->getAABB();
AABB<S> overlap_aabb;
if(scene_limit.overlap(obj_aabb, overlap_aabb))
{
if(!scene_limit.contain(obj_aabb))
objs_partially_penetrating_scene_limit.remove(obj);
hash_table->remove(overlap_aabb, obj);
}
else
{
objs_outside_scene_limit.remove(obj);
}
obj_aabb_map.erase(obj);
}
//==============================================================================
template<typename S, typename HashTable>
void SpatialHashingCollisionManager<S, HashTable>::setup()
{
// Do nothing
}
//==============================================================================
template<typename S, typename HashTable>
void SpatialHashingCollisionManager<S, HashTable>::update()
{
hash_table->clear();
objs_partially_penetrating_scene_limit.clear();
objs_outside_scene_limit.clear();
for(auto it = objs.cbegin(), end = objs.cend(); it != end; ++it)
{
CollisionObject<S>* obj = *it;
const AABB<S>& obj_aabb = obj->getAABB();
AABB<S> overlap_aabb;
if(scene_limit.overlap(obj_aabb, overlap_aabb))
{
if(!scene_limit.contain(obj_aabb))
objs_partially_penetrating_scene_limit.push_back(obj);
hash_table->insert(overlap_aabb, obj);
}
else
{
objs_outside_scene_limit.push_back(obj);
}
obj_aabb_map[obj] = obj_aabb;
}
}
//==============================================================================
template<typename S, typename HashTable>
void SpatialHashingCollisionManager<S, HashTable>::update(CollisionObject<S>* updated_obj)
{
const AABB<S>& new_aabb = updated_obj->getAABB();
const AABB<S>& old_aabb = obj_aabb_map[updated_obj];
AABB<S> old_overlap_aabb;
const auto is_old_aabb_overlapping
= scene_limit.overlap(old_aabb, old_overlap_aabb);
if(is_old_aabb_overlapping)
hash_table->remove(old_overlap_aabb, updated_obj);
AABB<S> new_overlap_aabb;
const auto is_new_aabb_overlapping
= scene_limit.overlap(new_aabb, new_overlap_aabb);
if(is_new_aabb_overlapping)
hash_table->insert(new_overlap_aabb, updated_obj);
ObjectStatus old_status;
if(is_old_aabb_overlapping)
{
if(scene_limit.contain(old_aabb))
old_status = Inside;
else
old_status = PartiallyPenetrating;
}
else
{
old_status = Outside;
}
if(is_new_aabb_overlapping)
{
if(scene_limit.contain(new_aabb))
{
if (old_status == PartiallyPenetrating)
{
// Status change: PartiallyPenetrating --> Inside
// Required action(s):
// - remove object from "objs_partially_penetrating_scene_limit"
auto find_it = std::find(objs_partially_penetrating_scene_limit.begin(),
objs_partially_penetrating_scene_limit.end(),
updated_obj);
objs_partially_penetrating_scene_limit.erase(find_it);
}
else if (old_status == Outside)
{
// Status change: Outside --> Inside
// Required action(s):
// - remove object from "objs_outside_scene_limit"
auto find_it = std::find(objs_outside_scene_limit.begin(),
objs_outside_scene_limit.end(),
updated_obj);
objs_outside_scene_limit.erase(find_it);
}
}
else
{
if (old_status == Inside)
{
// Status change: Inside --> PartiallyPenetrating
// Required action(s):
// - add object to "objs_partially_penetrating_scene_limit"
objs_partially_penetrating_scene_limit.push_back(updated_obj);
}
else if (old_status == Outside)
{
// Status change: Outside --> PartiallyPenetrating
// Required action(s):
// - remove object from "objs_outside_scene_limit"
// - add object to "objs_partially_penetrating_scene_limit"
auto find_it = std::find(objs_outside_scene_limit.begin(),
objs_outside_scene_limit.end(),
updated_obj);
objs_outside_scene_limit.erase(find_it);
objs_partially_penetrating_scene_limit.push_back(updated_obj);
}
}
}
else
{
if (old_status == Inside)
{
// Status change: Inside --> Outside
// Required action(s):
// - add object to "objs_outside_scene_limit"
objs_outside_scene_limit.push_back(updated_obj);
}
else if (old_status == PartiallyPenetrating)
{
// Status change: PartiallyPenetrating --> Outside
// Required action(s):
// - remove object from "objs_partially_penetrating_scene_limit"
// - add object to "objs_outside_scene_limit"
auto find_it = std::find(objs_partially_penetrating_scene_limit.begin(),
objs_partially_penetrating_scene_limit.end(),
updated_obj);
objs_partially_penetrating_scene_limit.erase(find_it);
objs_outside_scene_limit.push_back(updated_obj);
}
}
obj_aabb_map[updated_obj] = new_aabb;
}
//==============================================================================
template<typename S, typename HashTable>
void SpatialHashingCollisionManager<S, HashTable>::update(const std::vector<CollisionObject<S>*>& updated_objs)
{
for(size_t i = 0; i < updated_objs.size(); ++i)
update(updated_objs[i]);
}
//==============================================================================
template<typename S, typename HashTable>
void SpatialHashingCollisionManager<S, HashTable>::clear()
{
objs.clear();
hash_table->clear();
objs_outside_scene_limit.clear();
obj_aabb_map.clear();
}
//==============================================================================
template<typename S, typename HashTable>
void SpatialHashingCollisionManager<S, HashTable>::getObjects(std::vector<CollisionObject<S>*>& objs_) const
{
objs_.resize(objs.size());
std::copy(objs.begin(), objs.end(), objs_.begin());
}
//==============================================================================
template<typename S, typename HashTable>
void SpatialHashingCollisionManager<S, HashTable>::collide(CollisionObject<S>* obj, void* cdata, CollisionCallBack<S> callback) const
{
if(size() == 0) return;
collide_(obj, cdata, callback);
}
//==============================================================================
template<typename S, typename HashTable>
void SpatialHashingCollisionManager<S, HashTable>::distance(CollisionObject<S>* obj, void* cdata, DistanceCallBack<S> callback) const
{
if(size() == 0) return;
S min_dist = std::numeric_limits<S>::max();
distance_(obj, cdata, callback, min_dist);
}
//==============================================================================
template<typename S, typename HashTable>
bool SpatialHashingCollisionManager<S, HashTable>::collide_(
CollisionObject<S>* obj, void* cdata, CollisionCallBack<S> callback) const
{
const auto& obj_aabb = obj->getAABB();
AABB<S> overlap_aabb;
if(scene_limit.overlap(obj_aabb, overlap_aabb))
{
const auto query_result = hash_table->query(overlap_aabb);
for(const auto& obj2 : query_result)
{
if(obj == obj2)
continue;
if(callback(obj, obj2, cdata))
return true;
}
if(!scene_limit.contain(obj_aabb))
{
for(const auto& obj2 : objs_outside_scene_limit)
{
if(obj == obj2)
continue;
if(callback(obj, obj2, cdata))
return true;
}
}
}
else
{
for(const auto& obj2 : objs_partially_penetrating_scene_limit)
{
if(obj == obj2)
continue;
if(callback(obj, obj2, cdata))
return true;
}
for(const auto& obj2 : objs_outside_scene_limit)
{
if(obj == obj2)
continue;
if(callback(obj, obj2, cdata))
return true;
}
}
return false;
}
//==============================================================================
template<typename S, typename HashTable>
bool SpatialHashingCollisionManager<S, HashTable>::distance_(
CollisionObject<S>* obj, void* cdata, DistanceCallBack<S> callback, S& min_dist) const
{
auto delta = (obj->getAABB().max_ - obj->getAABB().min_) * 0.5;
auto aabb = obj->getAABB();
if(min_dist < std::numeric_limits<S>::max())
{
Vector3<S> min_dist_delta(min_dist, min_dist, min_dist);
aabb.expand(min_dist_delta);
}
AABB<S> overlap_aabb;
auto status = 1;
S old_min_distance;
while(1)
{
old_min_distance = min_dist;
if(scene_limit.overlap(aabb, overlap_aabb))
{
if (distanceObjectToObjects(
obj, hash_table->query(overlap_aabb), cdata, callback, min_dist))
{
return true;
}
if(!scene_limit.contain(aabb))
{
if (distanceObjectToObjects(
obj, objs_outside_scene_limit, cdata, callback, min_dist))
{
return true;
}
}
}
else
{
if (distanceObjectToObjects(
obj, objs_partially_penetrating_scene_limit, cdata, callback, min_dist))
{
return true;
}
if (distanceObjectToObjects(
obj, objs_outside_scene_limit, cdata, callback, min_dist))
{
return true;
}
}
if(status == 1)
{
if(old_min_distance < std::numeric_limits<S>::max())
{
break;
}
else
{
if(min_dist < old_min_distance)
{
Vector3<S> min_dist_delta(min_dist, min_dist, min_dist);
aabb = AABB<S>(obj->getAABB(), min_dist_delta);
status = 0;
}
else
{
if(aabb.equal(obj->getAABB()))
aabb.expand(delta);
else
aabb.expand(obj->getAABB(), 2.0);
}
}
}
else if(status == 0)
{
break;
}
}
return false;
}
//==============================================================================
template<typename S, typename HashTable>
void SpatialHashingCollisionManager<S, HashTable>::collide(
void* cdata, CollisionCallBack<S> callback) const
{
if(size() == 0)
return;
for(const auto& obj1 : objs)
{
const auto& obj_aabb = obj1->getAABB();
AABB<S> overlap_aabb;
if(scene_limit.overlap(obj_aabb, overlap_aabb))
{
auto query_result = hash_table->query(overlap_aabb);
for(const auto& obj2 : query_result)
{
if(obj1 < obj2)
{
if(callback(obj1, obj2, cdata))
return;
}
}
if(!scene_limit.contain(obj_aabb))
{
for(const auto& obj2 : objs_outside_scene_limit)
{
if(obj1 < obj2)
{
if(callback(obj1, obj2, cdata))
return;
}
}
}
}
else
{
for(const auto& obj2 : objs_partially_penetrating_scene_limit)
{
if(obj1 < obj2)
{
if(callback(obj1, obj2, cdata))
return;
}
}
for(const auto& obj2 : objs_outside_scene_limit)
{
if(obj1 < obj2)
{
if(callback(obj1, obj2, cdata))
return;
}
}
}
}
}
//==============================================================================
template<typename S, typename HashTable>
void SpatialHashingCollisionManager<S, HashTable>::distance(
void* cdata, DistanceCallBack<S> callback) const
{
if(size() == 0)
return;
this->enable_tested_set_ = true;
this->tested_set.clear();
S min_dist = std::numeric_limits<S>::max();
for(const auto& obj : objs)
{
if(distance_(obj, cdata, callback, min_dist))
break;
}
this->enable_tested_set_ = false;
this->tested_set.clear();
}
//==============================================================================
template<typename S, typename HashTable>
void SpatialHashingCollisionManager<S, HashTable>::collide(BroadPhaseCollisionManager<S>* other_manager_, void* cdata, CollisionCallBack<S> callback) const
{
auto* other_manager = static_cast<SpatialHashingCollisionManager<S, HashTable>* >(other_manager_);
if((size() == 0) || (other_manager->size() == 0))
return;
if(this == other_manager)
{
collide(cdata, callback);
return;
}
if(this->size() < other_manager->size())
{
for(const auto& obj : objs)
{
if(other_manager->collide_(obj, cdata, callback))
return;
}
}
else
{
for(const auto& obj : other_manager->objs)
{
if(collide_(obj, cdata, callback))
return;
}
}
}
//==============================================================================
template<typename S, typename HashTable>
void SpatialHashingCollisionManager<S, HashTable>::distance(BroadPhaseCollisionManager<S>* other_manager_, void* cdata, DistanceCallBack<S> callback) const
{
auto* other_manager = static_cast<SpatialHashingCollisionManager<S, HashTable>* >(other_manager_);
if((size() == 0) || (other_manager->size() == 0))
return;
if(this == other_manager)
{
distance(cdata, callback);
return;
}
S min_dist = std::numeric_limits<S>::max();
if(this->size() < other_manager->size())
{
for(const auto& obj : objs)
if(other_manager->distance_(obj, cdata, callback, min_dist)) return;
}
else
{
for(const auto& obj : other_manager->objs)
if(distance_(obj, cdata, callback, min_dist)) return;
}
}
//==============================================================================
template<typename S, typename HashTable>
bool SpatialHashingCollisionManager<S, HashTable>::empty() const
{
return objs.empty();
}
//==============================================================================
template<typename S, typename HashTable>
size_t SpatialHashingCollisionManager<S, HashTable>::size() const
{
return objs.size();
}
//==============================================================================
template<typename S, typename HashTable>
void SpatialHashingCollisionManager<S, HashTable>::computeBound(
std::vector<CollisionObject<S>*>& objs, Vector3<S>& l, Vector3<S>& u)
{
AABB<S> bound;
for(unsigned int i = 0; i < objs.size(); ++i)
bound += objs[i]->getAABB();
l = bound.min_;
u = bound.max_;
}
//==============================================================================
template<typename S, typename HashTable>
template<typename Container>
bool SpatialHashingCollisionManager<S, HashTable>::distanceObjectToObjects(
CollisionObject<S>* obj,
const Container& objs,
void* cdata,
DistanceCallBack<S> callback,
S& min_dist) const
{
for(auto& obj2 : objs)
{
if(obj == obj2)
continue;
if(!this->enable_tested_set_)
{
if(obj->getAABB().distance(obj2->getAABB()) < min_dist)
{
if(callback(obj, obj2, cdata, min_dist))
return true;
}
}
else
{
if(!this->inTestedSet(obj, obj2))
{
if(obj->getAABB().distance(obj2->getAABB()) < min_dist)
{
if(callback(obj, obj2, cdata, min_dist))
return true;
}
this->insertTestedSet(obj, obj2);
}
}
}
return false;
}
} // namespace fcl
#endif