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Apply inline pattern to primitive shapes
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,128 @@ | ||
| /* | ||
| * 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. | ||
| */ | ||
|
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| /** @author Jia Pan */ | ||
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| #include "fcl/object/geometry/shape/box.h" | ||
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| namespace fcl | ||
| { | ||
|
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| //============================================================================== | ||
| template <typename S> | ||
| Box<S>::Box(S x, S y, S z) | ||
| : ShapeBase<S>(), side(x, y, z) | ||
| { | ||
| // Do nothing | ||
| } | ||
|
|
||
| //============================================================================== | ||
| template <typename S> | ||
| Box<S>::Box(const Vector3<S>& side_) | ||
| : ShapeBase<S>(), side(side_) | ||
| { | ||
| // Do nothing | ||
| } | ||
|
|
||
| //============================================================================== | ||
| template <typename S> | ||
| Box<S>::Box() | ||
| : ShapeBase<S>(), side(Vector3<S>::Zero()) | ||
| { | ||
| // Do nothing | ||
| } | ||
|
|
||
| //============================================================================== | ||
| template <typename S> | ||
| void Box<S>::computeLocalAABB() | ||
| { | ||
| computeBV(*this, Transform3<S>::Identity(), this->aabb_local); | ||
| this->aabb_center = this->aabb_local.center(); | ||
| this->aabb_radius = (this->aabb_local.min_ - this->aabb_center).norm(); | ||
| } | ||
|
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| //============================================================================== | ||
| template <typename S> | ||
| NODE_TYPE Box<S>::getNodeType() const | ||
| { | ||
| return GEOM_BOX; | ||
| } | ||
|
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||
| //============================================================================== | ||
| template <typename S> | ||
| S Box<S>::computeVolume() const | ||
| { | ||
| return side.prod(); | ||
| } | ||
|
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||
| //============================================================================== | ||
| template <typename S> | ||
| Matrix3<S> Box<S>::computeMomentofInertia() const | ||
| { | ||
| S V = computeVolume(); | ||
|
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| S a2 = side[0] * side[0] * V; | ||
| S b2 = side[1] * side[1] * V; | ||
| S c2 = side[2] * side[2] * V; | ||
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| Vector3<S> I((b2 + c2) / 12, (a2 + c2) / 12, (a2 + b2) / 12); | ||
|
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| return I.asDiagonal(); | ||
| } | ||
|
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||
| //============================================================================== | ||
| template <typename S> | ||
| std::vector<Vector3<S>> Box<S>::getBoundVertices( | ||
| const Transform3<S>& tf) const | ||
| { | ||
| std::vector<Vector3<S>> result(8); | ||
| auto a = side[0] / 2; | ||
| auto b = side[1] / 2; | ||
| auto c = side[2] / 2; | ||
| result[0] = tf * Vector3<S>(a, b, c); | ||
| result[1] = tf * Vector3<S>(a, b, -c); | ||
| result[2] = tf * Vector3<S>(a, -b, c); | ||
| result[3] = tf * Vector3<S>(a, -b, -c); | ||
| result[4] = tf * Vector3<S>(-a, b, c); | ||
| result[5] = tf * Vector3<S>(-a, b, -c); | ||
| result[6] = tf * Vector3<S>(-a, -b, c); | ||
| result[7] = tf * Vector3<S>(-a, -b, -c); | ||
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| return result; | ||
| } | ||
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| } // namespace fcl | ||
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| #include "fcl/object/geometry/shape/detail/bv_computer_box.h" |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,148 @@ | ||
| /* | ||
| * 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. | ||
| */ | ||
|
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| /** @author Jia Pan */ | ||
|
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| #include "fcl/object/geometry/shape/capsule.h" | ||
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| namespace fcl | ||
| { | ||
|
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| //============================================================================== | ||
| template <typename S> | ||
| Capsule<S>::Capsule(S radius, S lz) | ||
| : ShapeBase<S>(), radius(radius), lz(lz) | ||
| { | ||
| // Do nothing | ||
| } | ||
|
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||
| //============================================================================== | ||
| template <typename S> | ||
| void Capsule<S>::computeLocalAABB() | ||
| { | ||
| computeBV(*this, Transform3<S>::Identity(), this->aabb_local); | ||
| this->aabb_center = this->aabb_local.center(); | ||
| this->aabb_radius = (this->aabb_local.min_ - this->aabb_center).norm(); | ||
| } | ||
|
|
||
| //============================================================================== | ||
| template <typename S> | ||
| NODE_TYPE Capsule<S>::getNodeType() const | ||
| { | ||
| return GEOM_CAPSULE; | ||
| } | ||
|
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||
| //============================================================================== | ||
| template <typename S> | ||
| S Capsule<S>::computeVolume() const | ||
| { | ||
| return constants<S>::pi() * radius * radius *(lz + radius * 4/3.0); | ||
| } | ||
|
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| //============================================================================== | ||
| template <typename S> | ||
| Matrix3<S> Capsule<S>::computeMomentofInertia() const | ||
| { | ||
| S v_cyl = radius * radius * lz * constants<S>::pi(); | ||
| S v_sph = radius * radius * radius * constants<S>::pi() * 4 / 3.0; | ||
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| S ix = v_cyl * lz * lz / 12.0 + 0.25 * v_cyl * radius + 0.4 * v_sph * radius * radius + 0.25 * v_sph * lz * lz; | ||
| S iz = (0.5 * v_cyl + 0.4 * v_sph) * radius * radius; | ||
|
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| return Vector3<S>(ix, ix, iz).asDiagonal(); | ||
| } | ||
|
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| //============================================================================== | ||
| template <typename S> | ||
| std::vector<Vector3<S>> Capsule<S>::getBoundVertices( | ||
| const Transform3<S>& tf) const | ||
| { | ||
| std::vector<Vector3<S>> result(36); | ||
| const auto m = (1 + std::sqrt(5.0)) / 2.0; | ||
|
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| auto hl = lz * 0.5; | ||
| auto edge_size = radius * 6 / (std::sqrt(27.0) + std::sqrt(15.0)); | ||
| auto a = edge_size; | ||
| auto b = m * edge_size; | ||
| auto r2 = radius * 2 / std::sqrt(3.0); | ||
|
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| result[0] = tf * Vector3<S>(0, a, b + hl); | ||
| result[1] = tf * Vector3<S>(0, -a, b + hl); | ||
| result[2] = tf * Vector3<S>(0, a, -b + hl); | ||
| result[3] = tf * Vector3<S>(0, -a, -b + hl); | ||
| result[4] = tf * Vector3<S>(a, b, hl); | ||
| result[5] = tf * Vector3<S>(-a, b, hl); | ||
| result[6] = tf * Vector3<S>(a, -b, hl); | ||
| result[7] = tf * Vector3<S>(-a, -b, hl); | ||
| result[8] = tf * Vector3<S>(b, 0, a + hl); | ||
| result[9] = tf * Vector3<S>(b, 0, -a + hl); | ||
| result[10] = tf * Vector3<S>(-b, 0, a + hl); | ||
| result[11] = tf * Vector3<S>(-b, 0, -a + hl); | ||
|
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| result[12] = tf * Vector3<S>(0, a, b - hl); | ||
| result[13] = tf * Vector3<S>(0, -a, b - hl); | ||
| result[14] = tf * Vector3<S>(0, a, -b - hl); | ||
| result[15] = tf * Vector3<S>(0, -a, -b - hl); | ||
| result[16] = tf * Vector3<S>(a, b, -hl); | ||
| result[17] = tf * Vector3<S>(-a, b, -hl); | ||
| result[18] = tf * Vector3<S>(a, -b, -hl); | ||
| result[19] = tf * Vector3<S>(-a, -b, -hl); | ||
| result[20] = tf * Vector3<S>(b, 0, a - hl); | ||
| result[21] = tf * Vector3<S>(b, 0, -a - hl); | ||
| result[22] = tf * Vector3<S>(-b, 0, a - hl); | ||
| result[23] = tf * Vector3<S>(-b, 0, -a - hl); | ||
|
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| auto c = 0.5 * r2; | ||
| auto d = radius; | ||
| result[24] = tf * Vector3<S>(r2, 0, hl); | ||
| result[25] = tf * Vector3<S>(c, d, hl); | ||
| result[26] = tf * Vector3<S>(-c, d, hl); | ||
| result[27] = tf * Vector3<S>(-r2, 0, hl); | ||
| result[28] = tf * Vector3<S>(-c, -d, hl); | ||
| result[29] = tf * Vector3<S>(c, -d, hl); | ||
|
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| result[30] = tf * Vector3<S>(r2, 0, -hl); | ||
| result[31] = tf * Vector3<S>(c, d, -hl); | ||
| result[32] = tf * Vector3<S>(-c, d, -hl); | ||
| result[33] = tf * Vector3<S>(-r2, 0, -hl); | ||
| result[34] = tf * Vector3<S>(-c, -d, -hl); | ||
| result[35] = tf * Vector3<S>(c, -d, -hl); | ||
|
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| return result; | ||
| } | ||
|
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| } // namespace fcl | ||
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| #include "fcl/object/geometry/shape/detail/bv_computer_capsule.h" |
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