aabb.cpp

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/* Author: Martin Pecka */
 
#include <geometric_shapes/aabb.h>
 
#include <fcl/config.h>
#if FCL_MAJOR_VERSION > 0 || FCL_MINOR_VERSION > 5
#include <fcl/geometry/shape/utility.h>
#endif
 
void bodies::AABB::extendWithTransformedBox(const Eigen::Isometry3d& transform, const Eigen::Vector3d& box)
{
#if FCL_MAJOR_VERSION == 0 && FCL_MINOR_VERSION == 5
  // Method adapted from FCL src/shape/geometric_shapes_utility.cpp#computeBV<AABB, Box>(...) (BSD-licensed code):
  // https://github.com/flexible-collision-library/fcl/blob/fcl-0.4/src/shape/geometric_shapes_utility.cpp#L292
  // We don't call their code because it would need creating temporary objects, and their method is in floats in FCL 0.5
  //
  // Here's a nice explanation why it works: https://zeuxcg.org/2010/10/17/aabb-from-obb-with-component-wise-abs/
  const Eigen::Matrix3d& r = transform.rotation();
  const Eigen::Vector3d& t = transform.translation();
 
  double x_range = 0.5 * (fabs(r(0, 0) * box[0]) + fabs(r(0, 1) * box[1]) + fabs(r(0, 2) * box[2]));
  double y_range = 0.5 * (fabs(r(1, 0) * box[0]) + fabs(r(1, 1) * box[1]) + fabs(r(1, 2) * box[2]));
  double z_range = 0.5 * (fabs(r(2, 0) * box[0]) + fabs(r(2, 1) * box[1]) + fabs(r(2, 2) * box[2]));
 
  const Eigen::Vector3d v_delta(x_range, y_range, z_range);
  extend(t + v_delta);
  extend(t - v_delta);
#else
  fcl::AABBd aabb;
  fcl::computeBV(fcl::Boxd(box), transform, aabb);
  extend(aabb.min_);
  extend(aabb.max_);
#endif
}