contact_patch_func_matrix.cpp
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34 
37 #include "coal/contact_patch_func_matrix.h"
38 #include "coal/shape/geometric_shapes.h"
39 #include "coal/internal/shape_shape_contact_patch_func.h"
40 #include "coal/BV/BV.h"
41 
42 namespace coal {
43 
44 template <typename T_BVH, typename T_SH>
45 struct BVHShapeComputeContactPatch {
46  static void run(const CollisionGeometry* o1, const Transform3s& tf1,
47  const CollisionGeometry* o2, const Transform3s& tf2,
48  const CollisionResult& collision_result,
49  const ContactPatchSolver* csolver,
50  const ContactPatchRequest& request,
51  ContactPatchResult& result) {
52  COAL_UNUSED_VARIABLE(o1);
53  COAL_UNUSED_VARIABLE(tf1);
54  COAL_UNUSED_VARIABLE(o2);
55  COAL_UNUSED_VARIABLE(tf2);
56  COAL_UNUSED_VARIABLE(csolver);
57  for (size_t i = 0; i < collision_result.numContacts(); ++i) {
58  if (i >= request.max_num_patch) {
59  break;
60  }
61  const Contact& contact = collision_result.getContact(i);
62  ContactPatch& contact_patch = result.getUnusedContactPatch();
63  constructContactPatchFrameFromContact(contact, contact_patch);
64  contact_patch.addPoint(contact.pos);
65  }
66  }
67 };
68 
69 template <typename BV, typename Shape>
70 struct HeightFieldShapeComputeContactPatch {
71  static void run(const CollisionGeometry* o1, const Transform3s& tf1,
72  const CollisionGeometry* o2, const Transform3s& tf2,
73  const CollisionResult& collision_result,
74  const ContactPatchSolver* csolver,
75  const ContactPatchRequest& request,
76  ContactPatchResult& result) {
77  COAL_UNUSED_VARIABLE(o1);
78  COAL_UNUSED_VARIABLE(tf1);
79  COAL_UNUSED_VARIABLE(o2);
80  COAL_UNUSED_VARIABLE(tf2);
81  COAL_UNUSED_VARIABLE(csolver);
82  for (size_t i = 0; i < collision_result.numContacts(); ++i) {
83  if (i >= request.max_num_patch) {
84  break;
85  }
86  const Contact& contact = collision_result.getContact(i);
87  ContactPatch& contact_patch = result.getUnusedContactPatch();
88  constructContactPatchFrameFromContact(contact, contact_patch);
89  contact_patch.addPoint(contact.pos);
90  }
91  }
92 };
93 
94 template <typename BV>
95 struct BVHComputeContactPatch {
96  static void run(const CollisionGeometry* o1, const Transform3s& tf1,
97  const CollisionGeometry* o2, const Transform3s& tf2,
98  const CollisionResult& collision_result,
99  const ContactPatchSolver* csolver,
100  const ContactPatchRequest& request,
101  ContactPatchResult& result) {
102  COAL_UNUSED_VARIABLE(o1);
103  COAL_UNUSED_VARIABLE(tf1);
104  COAL_UNUSED_VARIABLE(o2);
105  COAL_UNUSED_VARIABLE(tf2);
106  COAL_UNUSED_VARIABLE(csolver);
107  for (size_t i = 0; i < collision_result.numContacts(); ++i) {
108  if (i >= request.max_num_patch) {
109  break;
110  }
111  const Contact& contact = collision_result.getContact(i);
112  ContactPatch& contact_patch = result.getUnusedContactPatch();
113  constructContactPatchFrameFromContact(contact, contact_patch);
114  contact_patch.addPoint(contact.pos);
115  }
116  }
117 };
118 
119 COAL_LOCAL void contact_patch_function_not_implemented(
120  const CollisionGeometry* o1, const Transform3s& /*tf1*/,
121  const CollisionGeometry* o2, const Transform3s& /*tf2*/,
122  const CollisionResult& /*collision_result*/,
123  const ContactPatchSolver* /*csolver*/,
124  const ContactPatchRequest& /*request*/, ContactPatchResult& /*result*/) {
125  NODE_TYPE node_type1 = o1->getNodeType();
126  NODE_TYPE node_type2 = o2->getNodeType();
127 
128  COAL_THROW_PRETTY("Contact patch function between node type "
129  << std::string(get_node_type_name(node_type1))
130  << " and node type "
131  << std::string(get_node_type_name(node_type2))
132  << " is not yet supported.",
133  std::invalid_argument);
134 }
135 
136 ContactPatchFunctionMatrix::ContactPatchFunctionMatrix() {
137  for (int i = 0; i < NODE_COUNT; ++i) {
138  for (int j = 0; j < NODE_COUNT; ++j) contact_patch_matrix[i][j] = nullptr;
139  }
140 
141  // clang-format off
142  contact_patch_matrix[GEOM_BOX][GEOM_BOX] = &ShapeShapeContactPatch<Box, Box>;
143  contact_patch_matrix[GEOM_BOX][GEOM_SPHERE] = &ShapeShapeContactPatch<Box, Sphere>;
144  contact_patch_matrix[GEOM_BOX][GEOM_CAPSULE] = &ShapeShapeContactPatch<Box, Capsule>;
145  contact_patch_matrix[GEOM_BOX][GEOM_CONE] = &ShapeShapeContactPatch<Box, Cone>;
146  contact_patch_matrix[GEOM_BOX][GEOM_CYLINDER] = &ShapeShapeContactPatch<Box, Cylinder>;
147  contact_patch_matrix[GEOM_BOX][GEOM_CONVEX] = &ShapeShapeContactPatch<Box, ConvexBase>;
148  contact_patch_matrix[GEOM_BOX][GEOM_PLANE] = &ShapeShapeContactPatch<Box, Plane>;
149  contact_patch_matrix[GEOM_BOX][GEOM_HALFSPACE] = &ShapeShapeContactPatch<Box, Halfspace>;
150  contact_patch_matrix[GEOM_BOX][GEOM_ELLIPSOID] = &ShapeShapeContactPatch<Box, Ellipsoid>;
151  contact_patch_matrix[GEOM_BOX][GEOM_TRIANGLE] = &ShapeShapeContactPatch<Box, TriangleP>;
152 
153  contact_patch_matrix[GEOM_SPHERE][GEOM_BOX] = &ShapeShapeContactPatch<Sphere, Box>;
154  contact_patch_matrix[GEOM_SPHERE][GEOM_SPHERE] = &ShapeShapeContactPatch<Sphere, Sphere>;
155  contact_patch_matrix[GEOM_SPHERE][GEOM_CAPSULE] = &ShapeShapeContactPatch<Sphere, Capsule>;
156  contact_patch_matrix[GEOM_SPHERE][GEOM_CONE] = &ShapeShapeContactPatch<Sphere, Cone>;
157  contact_patch_matrix[GEOM_SPHERE][GEOM_CYLINDER] = &ShapeShapeContactPatch<Sphere, Cylinder>;
158  contact_patch_matrix[GEOM_SPHERE][GEOM_CONVEX] = &ShapeShapeContactPatch<Sphere, ConvexBase>;
159  contact_patch_matrix[GEOM_SPHERE][GEOM_PLANE] = &ShapeShapeContactPatch<Sphere, Plane>;
160  contact_patch_matrix[GEOM_SPHERE][GEOM_HALFSPACE] = &ShapeShapeContactPatch<Sphere, Halfspace>;
161  contact_patch_matrix[GEOM_SPHERE][GEOM_ELLIPSOID] = &ShapeShapeContactPatch<Sphere, Ellipsoid>;
162  contact_patch_matrix[GEOM_SPHERE][GEOM_TRIANGLE] = &ShapeShapeContactPatch<Sphere, TriangleP>;
163 
164  contact_patch_matrix[GEOM_ELLIPSOID][GEOM_BOX] = &ShapeShapeContactPatch<Ellipsoid, Box>;
165  contact_patch_matrix[GEOM_ELLIPSOID][GEOM_SPHERE] = &ShapeShapeContactPatch<Ellipsoid, Sphere>;
166  contact_patch_matrix[GEOM_ELLIPSOID][GEOM_CAPSULE] = &ShapeShapeContactPatch<Ellipsoid, Capsule>;
167  contact_patch_matrix[GEOM_ELLIPSOID][GEOM_CONE] = &ShapeShapeContactPatch<Ellipsoid, Cone>;
168  contact_patch_matrix[GEOM_ELLIPSOID][GEOM_CYLINDER] = &ShapeShapeContactPatch<Ellipsoid, Cylinder>;
169  contact_patch_matrix[GEOM_ELLIPSOID][GEOM_CONVEX] = &ShapeShapeContactPatch<Ellipsoid, ConvexBase>;
170  contact_patch_matrix[GEOM_ELLIPSOID][GEOM_PLANE] = &ShapeShapeContactPatch<Ellipsoid, Plane>;
171  contact_patch_matrix[GEOM_ELLIPSOID][GEOM_HALFSPACE] = &ShapeShapeContactPatch<Ellipsoid, Halfspace>;
172  contact_patch_matrix[GEOM_ELLIPSOID][GEOM_ELLIPSOID] = &ShapeShapeContactPatch<Ellipsoid, Ellipsoid>;
173  contact_patch_matrix[GEOM_ELLIPSOID][GEOM_TRIANGLE] = &ShapeShapeContactPatch<Ellipsoid, TriangleP>;
174 
175  contact_patch_matrix[GEOM_CAPSULE][GEOM_BOX] = &ShapeShapeContactPatch<Capsule, Box>;
176  contact_patch_matrix[GEOM_CAPSULE][GEOM_SPHERE] = &ShapeShapeContactPatch<Capsule, Sphere>;
177  contact_patch_matrix[GEOM_CAPSULE][GEOM_CAPSULE] = &ShapeShapeContactPatch<Capsule, Capsule>;
178  contact_patch_matrix[GEOM_CAPSULE][GEOM_CONE] = &ShapeShapeContactPatch<Capsule, Cone>;
179  contact_patch_matrix[GEOM_CAPSULE][GEOM_CYLINDER] = &ShapeShapeContactPatch<Capsule, Cylinder>;
180  contact_patch_matrix[GEOM_CAPSULE][GEOM_CONVEX] = &ShapeShapeContactPatch<Capsule, ConvexBase>;
181  contact_patch_matrix[GEOM_CAPSULE][GEOM_PLANE] = &ShapeShapeContactPatch<Capsule, Plane>;
182  contact_patch_matrix[GEOM_CAPSULE][GEOM_HALFSPACE] = &ShapeShapeContactPatch<Capsule, Halfspace>;
183  contact_patch_matrix[GEOM_CAPSULE][GEOM_ELLIPSOID] = &ShapeShapeContactPatch<Capsule, Ellipsoid>;
184  contact_patch_matrix[GEOM_CAPSULE][GEOM_TRIANGLE] = &ShapeShapeContactPatch<Capsule, TriangleP>;
185 
186  contact_patch_matrix[GEOM_CONE][GEOM_BOX] = &ShapeShapeContactPatch<Cone, Box>;
187  contact_patch_matrix[GEOM_CONE][GEOM_SPHERE] = &ShapeShapeContactPatch<Cone, Sphere>;
188  contact_patch_matrix[GEOM_CONE][GEOM_CAPSULE] = &ShapeShapeContactPatch<Cone, Capsule>;
189  contact_patch_matrix[GEOM_CONE][GEOM_CONE] = &ShapeShapeContactPatch<Cone, Cone>;
190  contact_patch_matrix[GEOM_CONE][GEOM_CYLINDER] = &ShapeShapeContactPatch<Cone, Cylinder>;
191  contact_patch_matrix[GEOM_CONE][GEOM_CONVEX] = &ShapeShapeContactPatch<Cone, ConvexBase>;
192  contact_patch_matrix[GEOM_CONE][GEOM_PLANE] = &ShapeShapeContactPatch<Cone, Plane>;
193  contact_patch_matrix[GEOM_CONE][GEOM_HALFSPACE] = &ShapeShapeContactPatch<Cone, Halfspace>;
194  contact_patch_matrix[GEOM_CONE][GEOM_ELLIPSOID] = &ShapeShapeContactPatch<Cone, Ellipsoid>;
195  contact_patch_matrix[GEOM_CONE][GEOM_TRIANGLE] = &ShapeShapeContactPatch<Cone, TriangleP>;
196 
197  contact_patch_matrix[GEOM_CYLINDER][GEOM_BOX] = &ShapeShapeContactPatch<Cylinder, Box>;
198  contact_patch_matrix[GEOM_CYLINDER][GEOM_SPHERE] = &ShapeShapeContactPatch<Cylinder, Sphere>;
199  contact_patch_matrix[GEOM_CYLINDER][GEOM_CAPSULE] = &ShapeShapeContactPatch<Cylinder, Capsule>;
200  contact_patch_matrix[GEOM_CYLINDER][GEOM_CONE] = &ShapeShapeContactPatch<Cylinder, Cone>;
201  contact_patch_matrix[GEOM_CYLINDER][GEOM_CYLINDER] = &ShapeShapeContactPatch<Cylinder, Cylinder>;
202  contact_patch_matrix[GEOM_CYLINDER][GEOM_CONVEX] = &ShapeShapeContactPatch<Cylinder, ConvexBase>;
203  contact_patch_matrix[GEOM_CYLINDER][GEOM_PLANE] = &ShapeShapeContactPatch<Cylinder, Plane>;
204  contact_patch_matrix[GEOM_CYLINDER][GEOM_HALFSPACE] = &ShapeShapeContactPatch<Cylinder, Halfspace>;
205  contact_patch_matrix[GEOM_CYLINDER][GEOM_ELLIPSOID] = &ShapeShapeContactPatch<Cylinder, Ellipsoid>;
206  contact_patch_matrix[GEOM_CYLINDER][GEOM_TRIANGLE] = &ShapeShapeContactPatch<Cylinder, TriangleP>;
207 
208  contact_patch_matrix[GEOM_CONVEX][GEOM_BOX] = &ShapeShapeContactPatch<ConvexBase, Box>;
209  contact_patch_matrix[GEOM_CONVEX][GEOM_SPHERE] = &ShapeShapeContactPatch<ConvexBase, Sphere>;
210  contact_patch_matrix[GEOM_CONVEX][GEOM_CAPSULE] = &ShapeShapeContactPatch<ConvexBase, Capsule>;
211  contact_patch_matrix[GEOM_CONVEX][GEOM_CONE] = &ShapeShapeContactPatch<ConvexBase, Cone>;
212  contact_patch_matrix[GEOM_CONVEX][GEOM_CYLINDER] = &ShapeShapeContactPatch<ConvexBase, Cylinder>;
213  contact_patch_matrix[GEOM_CONVEX][GEOM_CONVEX] = &ShapeShapeContactPatch<ConvexBase, ConvexBase>;
214  contact_patch_matrix[GEOM_CONVEX][GEOM_PLANE] = &ShapeShapeContactPatch<ConvexBase, Plane>;
215  contact_patch_matrix[GEOM_CONVEX][GEOM_HALFSPACE] = &ShapeShapeContactPatch<ConvexBase, Halfspace>;
216  contact_patch_matrix[GEOM_CONVEX][GEOM_ELLIPSOID] = &ShapeShapeContactPatch<ConvexBase, Ellipsoid>;
217  contact_patch_matrix[GEOM_CONVEX][GEOM_TRIANGLE] = &ShapeShapeContactPatch<ConvexBase, TriangleP>;
218 
219  contact_patch_matrix[GEOM_PLANE][GEOM_BOX] = &ShapeShapeContactPatch<Plane, Box>;
220  contact_patch_matrix[GEOM_PLANE][GEOM_SPHERE] = &ShapeShapeContactPatch<Plane, Sphere>;
221  contact_patch_matrix[GEOM_PLANE][GEOM_CAPSULE] = &ShapeShapeContactPatch<Plane, Capsule>;
222  contact_patch_matrix[GEOM_PLANE][GEOM_CONE] = &ShapeShapeContactPatch<Plane, Cone>;
223  contact_patch_matrix[GEOM_PLANE][GEOM_CYLINDER] = &ShapeShapeContactPatch<Plane, Cylinder>;
224  contact_patch_matrix[GEOM_PLANE][GEOM_CONVEX] = &ShapeShapeContactPatch<Plane, ConvexBase>;
225  contact_patch_matrix[GEOM_PLANE][GEOM_PLANE] = &ShapeShapeContactPatch<Plane, Plane>;
226  contact_patch_matrix[GEOM_PLANE][GEOM_HALFSPACE] = &ShapeShapeContactPatch<Plane, Halfspace>;
227  contact_patch_matrix[GEOM_PLANE][GEOM_ELLIPSOID] = &ShapeShapeContactPatch<Plane, Ellipsoid>;
228  contact_patch_matrix[GEOM_PLANE][GEOM_TRIANGLE] = &ShapeShapeContactPatch<Plane, TriangleP>;
229 
230  contact_patch_matrix[GEOM_HALFSPACE][GEOM_BOX] = &ShapeShapeContactPatch<Halfspace, Box>;
231  contact_patch_matrix[GEOM_HALFSPACE][GEOM_SPHERE] = &ShapeShapeContactPatch<Halfspace, Sphere>;
232  contact_patch_matrix[GEOM_HALFSPACE][GEOM_CAPSULE] = &ShapeShapeContactPatch<Halfspace, Capsule>;
233  contact_patch_matrix[GEOM_HALFSPACE][GEOM_CONE] = &ShapeShapeContactPatch<Halfspace, Cone>;
234  contact_patch_matrix[GEOM_HALFSPACE][GEOM_CYLINDER] = &ShapeShapeContactPatch<Halfspace, Cylinder>;
235  contact_patch_matrix[GEOM_HALFSPACE][GEOM_CONVEX] = &ShapeShapeContactPatch<Halfspace, ConvexBase>;
236  contact_patch_matrix[GEOM_HALFSPACE][GEOM_PLANE] = &ShapeShapeContactPatch<Halfspace, Plane>;
237  contact_patch_matrix[GEOM_HALFSPACE][GEOM_HALFSPACE] = &ShapeShapeContactPatch<Halfspace, Halfspace>;
238  contact_patch_matrix[GEOM_HALFSPACE][GEOM_ELLIPSOID] = &ShapeShapeContactPatch<Halfspace, Ellipsoid>;
239  contact_patch_matrix[GEOM_HALFSPACE][GEOM_TRIANGLE] = &ShapeShapeContactPatch<Halfspace, TriangleP>;
240 
241  contact_patch_matrix[GEOM_TRIANGLE][GEOM_BOX] = &ShapeShapeContactPatch<TriangleP, Box>;
242  contact_patch_matrix[GEOM_TRIANGLE][GEOM_SPHERE] = &ShapeShapeContactPatch<TriangleP, Sphere>;
243  contact_patch_matrix[GEOM_TRIANGLE][GEOM_CAPSULE] = &ShapeShapeContactPatch<TriangleP, Capsule>;
244  contact_patch_matrix[GEOM_TRIANGLE][GEOM_CONE] = &ShapeShapeContactPatch<TriangleP, Cone>;
245  contact_patch_matrix[GEOM_TRIANGLE][GEOM_CYLINDER] = &ShapeShapeContactPatch<TriangleP, Cylinder>;
246  contact_patch_matrix[GEOM_TRIANGLE][GEOM_CONVEX] = &ShapeShapeContactPatch<TriangleP, ConvexBase>;
247  contact_patch_matrix[GEOM_TRIANGLE][GEOM_PLANE] = &ShapeShapeContactPatch<TriangleP, Plane>;
248  contact_patch_matrix[GEOM_TRIANGLE][GEOM_HALFSPACE] = &ShapeShapeContactPatch<TriangleP, Halfspace>;
249  contact_patch_matrix[GEOM_TRIANGLE][GEOM_ELLIPSOID] = &ShapeShapeContactPatch<TriangleP, Ellipsoid>;
250  contact_patch_matrix[GEOM_TRIANGLE][GEOM_TRIANGLE] = &ShapeShapeContactPatch<TriangleP, TriangleP>;
251 
252  // TODO(louis): properly handle non-convex shapes like BVH, Octrees and Hfields.
253  // The following functions work. However apart from the contact frame, these functions don't
254  // compute more information than a call to `collide`.
255  contact_patch_matrix[BV_AABB][GEOM_BOX] = &BVHShapeComputeContactPatch<AABB, Box>::run;
256  contact_patch_matrix[BV_AABB][GEOM_SPHERE] = &BVHShapeComputeContactPatch<AABB, Sphere>::run;
257  contact_patch_matrix[BV_AABB][GEOM_CAPSULE] = &BVHShapeComputeContactPatch<AABB, Capsule>::run;
258  contact_patch_matrix[BV_AABB][GEOM_CONE] = &BVHShapeComputeContactPatch<AABB, Cone>::run;
259  contact_patch_matrix[BV_AABB][GEOM_CYLINDER] = &BVHShapeComputeContactPatch<AABB, Cylinder>::run;
260  contact_patch_matrix[BV_AABB][GEOM_CONVEX] = &BVHShapeComputeContactPatch<AABB, ConvexBase>::run;
261  contact_patch_matrix[BV_AABB][GEOM_PLANE] = &BVHShapeComputeContactPatch<AABB, Plane>::run;
262  contact_patch_matrix[BV_AABB][GEOM_HALFSPACE] = &BVHShapeComputeContactPatch<AABB, Halfspace>::run;
263  contact_patch_matrix[BV_AABB][GEOM_ELLIPSOID] = &BVHShapeComputeContactPatch<AABB, Ellipsoid>::run;
264 
265  contact_patch_matrix[BV_OBB][GEOM_BOX] = &BVHShapeComputeContactPatch<OBB, Box>::run;
266  contact_patch_matrix[BV_OBB][GEOM_SPHERE] = &BVHShapeComputeContactPatch<OBB, Sphere>::run;
267  contact_patch_matrix[BV_OBB][GEOM_CAPSULE] = &BVHShapeComputeContactPatch<OBB, Capsule>::run;
268  contact_patch_matrix[BV_OBB][GEOM_CONE] = &BVHShapeComputeContactPatch<OBB, Cone>::run;
269  contact_patch_matrix[BV_OBB][GEOM_CYLINDER] = &BVHShapeComputeContactPatch<OBB, Cylinder>::run;
270  contact_patch_matrix[BV_OBB][GEOM_CONVEX] = &BVHShapeComputeContactPatch<OBB, ConvexBase>::run;
271  contact_patch_matrix[BV_OBB][GEOM_PLANE] = &BVHShapeComputeContactPatch<OBB, Plane>::run;
272  contact_patch_matrix[BV_OBB][GEOM_HALFSPACE] = &BVHShapeComputeContactPatch<OBB, Halfspace>::run;
273  contact_patch_matrix[BV_OBB][GEOM_ELLIPSOID] = &BVHShapeComputeContactPatch<OBB, Ellipsoid>::run;
274 
275  contact_patch_matrix[BV_RSS][GEOM_BOX] = &BVHShapeComputeContactPatch<RSS, Box>::run;
276  contact_patch_matrix[BV_RSS][GEOM_SPHERE] = &BVHShapeComputeContactPatch<RSS, Sphere>::run;
277  contact_patch_matrix[BV_RSS][GEOM_CAPSULE] = &BVHShapeComputeContactPatch<RSS, Capsule>::run;
278  contact_patch_matrix[BV_RSS][GEOM_CONE] = &BVHShapeComputeContactPatch<RSS, Cone>::run;
279  contact_patch_matrix[BV_RSS][GEOM_CYLINDER] = &BVHShapeComputeContactPatch<RSS, Cylinder>::run;
280  contact_patch_matrix[BV_RSS][GEOM_CONVEX] = &BVHShapeComputeContactPatch<RSS, ConvexBase>::run;
281  contact_patch_matrix[BV_RSS][GEOM_PLANE] = &BVHShapeComputeContactPatch<RSS, Plane>::run;
282  contact_patch_matrix[BV_RSS][GEOM_HALFSPACE] = &BVHShapeComputeContactPatch<RSS, Halfspace>::run;
283  contact_patch_matrix[BV_RSS][GEOM_ELLIPSOID] = &BVHShapeComputeContactPatch<RSS, Ellipsoid>::run;
284 
285  contact_patch_matrix[BV_KDOP16][GEOM_BOX] = &BVHShapeComputeContactPatch<KDOP<16>, Box>::run;
286  contact_patch_matrix[BV_KDOP16][GEOM_SPHERE] = &BVHShapeComputeContactPatch<KDOP<16>, Sphere>::run;
287  contact_patch_matrix[BV_KDOP16][GEOM_CAPSULE] = &BVHShapeComputeContactPatch<KDOP<16>, Capsule>::run;
288  contact_patch_matrix[BV_KDOP16][GEOM_CONE] = &BVHShapeComputeContactPatch<KDOP<16>, Cone>::run;
289  contact_patch_matrix[BV_KDOP16][GEOM_CYLINDER] = &BVHShapeComputeContactPatch<KDOP<16>, Cylinder>::run;
290  contact_patch_matrix[BV_KDOP16][GEOM_CONVEX] = &BVHShapeComputeContactPatch<KDOP<16>, ConvexBase>::run;
291  contact_patch_matrix[BV_KDOP16][GEOM_PLANE] = &BVHShapeComputeContactPatch<KDOP<16>, Plane>::run;
292  contact_patch_matrix[BV_KDOP16][GEOM_HALFSPACE] = &BVHShapeComputeContactPatch<KDOP<16>, Halfspace>::run;
293  contact_patch_matrix[BV_KDOP16][GEOM_ELLIPSOID] = &BVHShapeComputeContactPatch<KDOP<16>, Ellipsoid>::run;
294 
295  contact_patch_matrix[BV_KDOP18][GEOM_BOX] = &BVHShapeComputeContactPatch<KDOP<18>, Box>::run;
296  contact_patch_matrix[BV_KDOP18][GEOM_SPHERE] = &BVHShapeComputeContactPatch<KDOP<18>, Sphere>::run;
297  contact_patch_matrix[BV_KDOP18][GEOM_CAPSULE] = &BVHShapeComputeContactPatch<KDOP<18>, Capsule>::run;
298  contact_patch_matrix[BV_KDOP18][GEOM_CONE] = &BVHShapeComputeContactPatch<KDOP<18>, Cone>::run;
299  contact_patch_matrix[BV_KDOP18][GEOM_CYLINDER] = &BVHShapeComputeContactPatch<KDOP<18>, Cylinder>::run;
300  contact_patch_matrix[BV_KDOP18][GEOM_CONVEX] = &BVHShapeComputeContactPatch<KDOP<18>, ConvexBase>::run;
301  contact_patch_matrix[BV_KDOP18][GEOM_PLANE] = &BVHShapeComputeContactPatch<KDOP<18>, Plane>::run;
302  contact_patch_matrix[BV_KDOP18][GEOM_HALFSPACE] = &BVHShapeComputeContactPatch<KDOP<18>, Halfspace>::run;
303  contact_patch_matrix[BV_KDOP18][GEOM_ELLIPSOID] = &BVHShapeComputeContactPatch<KDOP<18>, Ellipsoid>::run;
304 
305  contact_patch_matrix[BV_KDOP24][GEOM_BOX] = &BVHShapeComputeContactPatch<KDOP<24>, Box>::run;
306  contact_patch_matrix[BV_KDOP24][GEOM_SPHERE] = &BVHShapeComputeContactPatch<KDOP<24>, Sphere>::run;
307  contact_patch_matrix[BV_KDOP24][GEOM_CAPSULE] = &BVHShapeComputeContactPatch<KDOP<24>, Capsule>::run;
308  contact_patch_matrix[BV_KDOP24][GEOM_CONE] = &BVHShapeComputeContactPatch<KDOP<24>, Cone>::run;
309  contact_patch_matrix[BV_KDOP24][GEOM_CYLINDER] = &BVHShapeComputeContactPatch<KDOP<24>, Cylinder>::run;
310  contact_patch_matrix[BV_KDOP24][GEOM_CONVEX] = &BVHShapeComputeContactPatch<KDOP<24>, ConvexBase>::run;
311  contact_patch_matrix[BV_KDOP24][GEOM_PLANE] = &BVHShapeComputeContactPatch<KDOP<24>, Plane>::run;
312  contact_patch_matrix[BV_KDOP24][GEOM_HALFSPACE] = &BVHShapeComputeContactPatch<KDOP<24>, Halfspace>::run;
313  contact_patch_matrix[BV_KDOP24][GEOM_ELLIPSOID] = &BVHShapeComputeContactPatch<KDOP<24>, Ellipsoid>::run;
314 
315  contact_patch_matrix[BV_kIOS][GEOM_BOX] = &BVHShapeComputeContactPatch<kIOS, Box>::run;
316  contact_patch_matrix[BV_kIOS][GEOM_SPHERE] = &BVHShapeComputeContactPatch<kIOS, Sphere>::run;
317  contact_patch_matrix[BV_kIOS][GEOM_CAPSULE] = &BVHShapeComputeContactPatch<kIOS, Capsule>::run;
318  contact_patch_matrix[BV_kIOS][GEOM_CONE] = &BVHShapeComputeContactPatch<kIOS, Cone>::run;
319  contact_patch_matrix[BV_kIOS][GEOM_CYLINDER] = &BVHShapeComputeContactPatch<kIOS, Cylinder>::run;
320  contact_patch_matrix[BV_kIOS][GEOM_CONVEX] = &BVHShapeComputeContactPatch<kIOS, ConvexBase>::run;
321  contact_patch_matrix[BV_kIOS][GEOM_PLANE] = &BVHShapeComputeContactPatch<kIOS, Plane>::run;
322  contact_patch_matrix[BV_kIOS][GEOM_HALFSPACE] = &BVHShapeComputeContactPatch<kIOS, Halfspace>::run;
323  contact_patch_matrix[BV_kIOS][GEOM_ELLIPSOID] = &BVHShapeComputeContactPatch<kIOS, Ellipsoid>::run;
324 
325  contact_patch_matrix[BV_OBBRSS][GEOM_BOX] = &BVHShapeComputeContactPatch<OBBRSS, Box>::run;
326  contact_patch_matrix[BV_OBBRSS][GEOM_SPHERE] = &BVHShapeComputeContactPatch<OBBRSS, Sphere>::run;
327  contact_patch_matrix[BV_OBBRSS][GEOM_CAPSULE] = &BVHShapeComputeContactPatch<OBBRSS, Capsule>::run;
328  contact_patch_matrix[BV_OBBRSS][GEOM_CONE] = &BVHShapeComputeContactPatch<OBBRSS, Cone>::run;
329  contact_patch_matrix[BV_OBBRSS][GEOM_CYLINDER] = &BVHShapeComputeContactPatch<OBBRSS, Cylinder>::run;
330  contact_patch_matrix[BV_OBBRSS][GEOM_CONVEX] = &BVHShapeComputeContactPatch<OBBRSS, ConvexBase>::run;
331  contact_patch_matrix[BV_OBBRSS][GEOM_PLANE] = &BVHShapeComputeContactPatch<OBBRSS, Plane>::run;
332  contact_patch_matrix[BV_OBBRSS][GEOM_HALFSPACE] = &BVHShapeComputeContactPatch<OBBRSS, Halfspace>::run;
333  contact_patch_matrix[BV_OBBRSS][GEOM_ELLIPSOID] = &BVHShapeComputeContactPatch<OBBRSS, Ellipsoid>::run;
334 
335  contact_patch_matrix[HF_AABB][GEOM_BOX] = &HeightFieldShapeComputeContactPatch<AABB, Box>::run;
336  contact_patch_matrix[HF_AABB][GEOM_SPHERE] = &HeightFieldShapeComputeContactPatch<AABB, Sphere>::run;
337  contact_patch_matrix[HF_AABB][GEOM_CAPSULE] = &HeightFieldShapeComputeContactPatch<AABB, Capsule>::run;
338  contact_patch_matrix[HF_AABB][GEOM_CONE] = &HeightFieldShapeComputeContactPatch<AABB, Cone>::run;
339  contact_patch_matrix[HF_AABB][GEOM_CYLINDER] = &HeightFieldShapeComputeContactPatch<AABB, Cylinder>::run;
340  contact_patch_matrix[HF_AABB][GEOM_CONVEX] = &HeightFieldShapeComputeContactPatch<AABB, ConvexBase>::run;
341  contact_patch_matrix[HF_AABB][GEOM_PLANE] = &HeightFieldShapeComputeContactPatch<AABB, Plane>::run;
342  contact_patch_matrix[HF_AABB][GEOM_HALFSPACE] = &HeightFieldShapeComputeContactPatch<AABB, Halfspace>::run;
343  contact_patch_matrix[HF_AABB][GEOM_ELLIPSOID] = &HeightFieldShapeComputeContactPatch<AABB, Ellipsoid>::run;
344 
345  contact_patch_matrix[HF_OBBRSS][GEOM_BOX] = &HeightFieldShapeComputeContactPatch<OBBRSS, Box>::run;
346  contact_patch_matrix[HF_OBBRSS][GEOM_SPHERE] = &HeightFieldShapeComputeContactPatch<OBBRSS, Sphere>::run;
347  contact_patch_matrix[HF_OBBRSS][GEOM_CAPSULE] = &HeightFieldShapeComputeContactPatch<OBBRSS, Capsule>::run;
348  contact_patch_matrix[HF_OBBRSS][GEOM_CONE] = &HeightFieldShapeComputeContactPatch<OBBRSS, Cone>::run;
349  contact_patch_matrix[HF_OBBRSS][GEOM_CYLINDER] = &HeightFieldShapeComputeContactPatch<OBBRSS, Cylinder>::run;
350  contact_patch_matrix[HF_OBBRSS][GEOM_CONVEX] = &HeightFieldShapeComputeContactPatch<OBBRSS, ConvexBase>::run;
351  contact_patch_matrix[HF_OBBRSS][GEOM_PLANE] = &HeightFieldShapeComputeContactPatch<OBBRSS, Plane>::run;
352  contact_patch_matrix[HF_OBBRSS][GEOM_HALFSPACE] = &HeightFieldShapeComputeContactPatch<OBBRSS, Halfspace>::run;
353  contact_patch_matrix[HF_OBBRSS][GEOM_ELLIPSOID] = &HeightFieldShapeComputeContactPatch<OBBRSS, Ellipsoid>::run;
354 
355  contact_patch_matrix[BV_AABB][BV_AABB] = &BVHComputeContactPatch<AABB>::run;
356  contact_patch_matrix[BV_OBB][BV_OBB] = &BVHComputeContactPatch<OBB>::run;
357  contact_patch_matrix[BV_RSS][BV_RSS] = &BVHComputeContactPatch<RSS>::run;
358  contact_patch_matrix[BV_KDOP16][BV_KDOP16] = &BVHComputeContactPatch<KDOP<16>>::run;
359  contact_patch_matrix[BV_KDOP18][BV_KDOP18] = &BVHComputeContactPatch<KDOP<18>>::run;
360  contact_patch_matrix[BV_KDOP24][BV_KDOP24] = &BVHComputeContactPatch<KDOP<24>>::run;
361  contact_patch_matrix[BV_kIOS][BV_kIOS] = &BVHComputeContactPatch<kIOS>::run;
362  contact_patch_matrix[BV_OBBRSS][BV_OBBRSS] = &BVHComputeContactPatch<OBBRSS>::run;
363 
364  // TODO(louis): octrees
365 #ifdef COAL_HAS_OCTOMAP
366  contact_patch_matrix[GEOM_OCTREE][GEOM_OCTREE] = &contact_patch_function_not_implemented;
367  contact_patch_matrix[GEOM_OCTREE][GEOM_BOX] = &contact_patch_function_not_implemented;
368  contact_patch_matrix[GEOM_OCTREE][GEOM_SPHERE] = &contact_patch_function_not_implemented;
369  contact_patch_matrix[GEOM_OCTREE][GEOM_CAPSULE] = &contact_patch_function_not_implemented;
370  contact_patch_matrix[GEOM_OCTREE][GEOM_CONE] = &contact_patch_function_not_implemented;
371  contact_patch_matrix[GEOM_OCTREE][GEOM_CYLINDER] = &contact_patch_function_not_implemented;
372  contact_patch_matrix[GEOM_OCTREE][GEOM_CONVEX] = &contact_patch_function_not_implemented;
373  contact_patch_matrix[GEOM_OCTREE][GEOM_PLANE] = &contact_patch_function_not_implemented;
374  contact_patch_matrix[GEOM_OCTREE][GEOM_HALFSPACE] = &contact_patch_function_not_implemented;
375  contact_patch_matrix[GEOM_OCTREE][GEOM_ELLIPSOID] = &contact_patch_function_not_implemented;
376  contact_patch_matrix[GEOM_OCTREE][GEOM_TRIANGLE] = &contact_patch_function_not_implemented;
377  contact_patch_matrix[GEOM_OCTREE][BV_AABB] = &contact_patch_function_not_implemented;
378  contact_patch_matrix[GEOM_OCTREE][BV_OBB] = &contact_patch_function_not_implemented;
379  contact_patch_matrix[GEOM_OCTREE][BV_RSS] = &contact_patch_function_not_implemented;
380  contact_patch_matrix[GEOM_OCTREE][BV_OBBRSS] = &contact_patch_function_not_implemented;
381  contact_patch_matrix[GEOM_OCTREE][BV_kIOS] = &contact_patch_function_not_implemented;
382  contact_patch_matrix[GEOM_OCTREE][BV_KDOP16] = &contact_patch_function_not_implemented;
383  contact_patch_matrix[GEOM_OCTREE][BV_KDOP18] = &contact_patch_function_not_implemented;
384  contact_patch_matrix[GEOM_OCTREE][BV_KDOP24] = &contact_patch_function_not_implemented;
385  contact_patch_matrix[GEOM_OCTREE][HF_AABB] = &contact_patch_function_not_implemented;
386  contact_patch_matrix[GEOM_OCTREE][HF_OBBRSS] = &contact_patch_function_not_implemented;
387 
388  contact_patch_matrix[GEOM_BOX][GEOM_OCTREE] = &contact_patch_function_not_implemented;
389  contact_patch_matrix[GEOM_SPHERE][GEOM_OCTREE] = &contact_patch_function_not_implemented;
390  contact_patch_matrix[GEOM_CAPSULE][GEOM_OCTREE] = &contact_patch_function_not_implemented;
391  contact_patch_matrix[GEOM_CONE][GEOM_OCTREE] = &contact_patch_function_not_implemented;
392  contact_patch_matrix[GEOM_CYLINDER][GEOM_OCTREE] = &contact_patch_function_not_implemented;
393  contact_patch_matrix[GEOM_CONVEX][GEOM_OCTREE] = &contact_patch_function_not_implemented;
394  contact_patch_matrix[GEOM_PLANE][GEOM_OCTREE] = &contact_patch_function_not_implemented;
395  contact_patch_matrix[GEOM_HALFSPACE][GEOM_OCTREE] = &contact_patch_function_not_implemented;
396  contact_patch_matrix[GEOM_ELLIPSOID][GEOM_OCTREE] = &contact_patch_function_not_implemented;
397  contact_patch_matrix[GEOM_TRIANGLE][GEOM_OCTREE] = &contact_patch_function_not_implemented;
398  contact_patch_matrix[BV_AABB][GEOM_OCTREE] = &contact_patch_function_not_implemented;
399  contact_patch_matrix[BV_OBB][GEOM_OCTREE] = &contact_patch_function_not_implemented;
400  contact_patch_matrix[BV_RSS][GEOM_OCTREE] = &contact_patch_function_not_implemented;
401  contact_patch_matrix[BV_OBBRSS][GEOM_OCTREE] = &contact_patch_function_not_implemented;
402  contact_patch_matrix[BV_kIOS][GEOM_OCTREE] = &contact_patch_function_not_implemented;
403  contact_patch_matrix[BV_KDOP16][GEOM_OCTREE] = &contact_patch_function_not_implemented;
404  contact_patch_matrix[BV_KDOP18][GEOM_OCTREE] = &contact_patch_function_not_implemented;
405  contact_patch_matrix[BV_KDOP24][GEOM_OCTREE] = &contact_patch_function_not_implemented;
406  contact_patch_matrix[HF_AABB][GEOM_OCTREE] = &contact_patch_function_not_implemented;
407  contact_patch_matrix[HF_OBBRSS][GEOM_OCTREE] = &contact_patch_function_not_implemented;
408 #endif
409  // clang-format on
410 }
411 
412 } // namespace coal
coal::Contact::pos
Vec3s pos
contact position, in world space
Definition: coal/collision_data.h:102
coal::BVHShapeComputeContactPatch
Definition: contact_patch_func_matrix.cpp:45
coal::CollisionGeometry::getNodeType
virtual NODE_TYPE getNodeType() const
get the node type
Definition: coal/collision_object.h:130
shape_shape_contact_patch_func.h
coal::BV_AABB
@ BV_AABB
Definition: coal/collision_object.h:66
coal::BV_KDOP24
@ BV_KDOP24
Definition: coal/collision_object.h:73
coal::NODE_COUNT
@ NODE_COUNT
Definition: coal/collision_object.h:87
coal::ContactPatchResult::getUnusedContactPatch
ContactPatchRef getUnusedContactPatch()
Returns a new unused contact patch from the internal data vector.
Definition: coal/collision_data.h:862
coal::HeightFieldShapeComputeContactPatch
Definition: contact_patch_func_matrix.cpp:70
coal::BV_kIOS
@ BV_kIOS
Definition: coal/collision_object.h:69
coal::BV_OBBRSS
@ BV_OBBRSS
Definition: coal/collision_object.h:70
coal::GEOM_CONE
@ GEOM_CONE
Definition: coal/collision_object.h:77
coal::Halfspace
Half Space: this is equivalent to the Plane in ODE. A Half space has a priviledged direction: the dir...
Definition: coal/shape/geometric_shapes.h:892
coal::GEOM_CONVEX
@ GEOM_CONVEX
Definition: coal/collision_object.h:79
contact_patch_func_matrix.h
gjk.tf1
tuple tf1
Definition: test/scripts/gjk.py:27
coal::NODE_TYPE
NODE_TYPE
traversal node type: bounding volume (AABB, OBB, RSS, kIOS, OBBRSS, KDOP16, KDOP18,...
Definition: coal/collision_object.h:64
coal::Capsule
Capsule It is where is the distance between the point x and the capsule segment AB,...
Definition: coal/shape/geometric_shapes.h:383
coal::BV_RSS
@ BV_RSS
Definition: coal/collision_object.h:68
coal::ContactPatchRequest::max_num_patch
size_t max_num_patch
Maximum number of contact patches that will be computed.
Definition: coal/collision_data.h:726
coal
Main namespace.
Definition: coal/broadphase/broadphase_bruteforce.h:44
coal::GEOM_CAPSULE
@ GEOM_CAPSULE
Definition: coal/collision_object.h:76
coal::BV_KDOP18
@ BV_KDOP18
Definition: coal/collision_object.h:72
coal::Ellipsoid
Ellipsoid centered at point zero.
Definition: coal/shape/geometric_shapes.h:305
coal::GEOM_SPHERE
@ GEOM_SPHERE
Definition: coal/collision_object.h:75
coal::HeightFieldShapeComputeContactPatch::run
static void run(const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const CollisionResult &collision_result, const ContactPatchSolver *csolver, const ContactPatchRequest &request, ContactPatchResult &result)
Definition: contact_patch_func_matrix.cpp:71
coal::ContactPatch
This structure allows to encode contact patches. A contact patch is defined by a set of points belong...
Definition: coal/collision_data.h:512
BV.h
coal::CollisionGeometry
The geometry for the object for collision or distance computation.
Definition: coal/collision_object.h:94
coal::Plane
Infinite plane. A plane can be viewed as two half spaces; it has no priviledged direction....
Definition: coal/shape/geometric_shapes.h:983
coal::Box
Center at zero point, axis aligned box.
Definition: coal/shape/geometric_shapes.h:166
coal::Sphere
Center at zero point sphere.
Definition: coal/shape/geometric_shapes.h:240
coal::Transform3s
Simple transform class used locally by InterpMotion.
Definition: coal/math/transform.h:55
coal::HF_AABB
@ HF_AABB
Definition: coal/collision_object.h:85
coal::constructContactPatchFrameFromContact
void constructContactPatchFrameFromContact(const Contact &contact, ContactPatch &contact_patch)
Construct a frame from a Contact's position and normal. Because both Contact's position and normal ar...
Definition: coal/collision_data.h:704
COAL_UNUSED_VARIABLE
#define COAL_UNUSED_VARIABLE(var)
Definition: include/coal/fwd.hh:56
coal::GEOM_PLANE
@ GEOM_PLANE
Definition: coal/collision_object.h:80
coal::GEOM_ELLIPSOID
@ GEOM_ELLIPSOID
Definition: coal/collision_object.h:84
coal::GEOM_HALFSPACE
@ GEOM_HALFSPACE
Definition: coal/collision_object.h:81
COAL_THROW_PRETTY
#define COAL_THROW_PRETTY(message, exception)
Definition: include/coal/fwd.hh:64
coal::CollisionResult
collision result
Definition: coal/collision_data.h:390
coal::GEOM_TRIANGLE
@ GEOM_TRIANGLE
Definition: coal/collision_object.h:82
coal::contact_patch_function_not_implemented
COAL_LOCAL void contact_patch_function_not_implemented(const CollisionGeometry *o1, const Transform3s &, const CollisionGeometry *o2, const Transform3s &, const CollisionResult &, const ContactPatchSolver *, const ContactPatchRequest &, ContactPatchResult &)
Definition: contact_patch_func_matrix.cpp:119
coal::ContactPatchFunctionMatrix::contact_patch_matrix
ContactPatchFunc contact_patch_matrix[NODE_COUNT][NODE_COUNT]
Each item in the contact patch matrix is a function to handle contact patch computation between objec...
Definition: coal/contact_patch_func_matrix.h:78
gjk.tf2
tuple tf2
Definition: test/scripts/gjk.py:36
coal::BVHComputeContactPatch
Definition: contact_patch_func_matrix.cpp:95
coal::Cylinder
Cylinder along Z axis. The cylinder is defined at its centroid.
Definition: coal/shape/geometric_shapes.h:560
coal::ContactPatchResult
Result for a contact patch computation.
Definition: coal/collision_data.h:822
coal::Contact
Contact information returned by collision.
Definition: coal/collision_data.h:58
omniidl_be_python_with_docstring.run
def run(tree, args)
Definition: omniidl_be_python_with_docstring.py:140
coal::ContactPatchRequest
Request for a contact patch computation.
Definition: coal/collision_data.h:724
coal::GEOM_CYLINDER
@ GEOM_CYLINDER
Definition: coal/collision_object.h:78
coal::get_node_type_name
const char * get_node_type_name(NODE_TYPE node_type)
Returns the name associated to a NODE_TYPE.
Definition: coal/collision_utility.h:32
coal::Cone
Cone The base of the cone is at and the top is at .
Definition: coal/shape/geometric_shapes.h:467
coal::GEOM_OCTREE
@ GEOM_OCTREE
Definition: coal/collision_object.h:83
geometric_shapes.h
coal::CollisionResult::getContact
const Contact & getContact(size_t i) const
get the i-th contact calculated
Definition: coal/collision_data.h:449
coal::BVHComputeContactPatch::run
static void run(const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const CollisionResult &collision_result, const ContactPatchSolver *csolver, const ContactPatchRequest &request, ContactPatchResult &result)
Definition: contact_patch_func_matrix.cpp:96
coal::ContactPatchSolver
Solver to compute contact patches, i.e. the intersection between two contact surfaces projected onto ...
Definition: coal/contact_patch/contact_patch_solver.h:59
coal::BV_OBB
@ BV_OBB
Definition: coal/collision_object.h:67
coal::GEOM_BOX
@ GEOM_BOX
Definition: coal/collision_object.h:74
coal::HF_OBBRSS
@ HF_OBBRSS
Definition: coal/collision_object.h:86
coal::BVHShapeComputeContactPatch::run
static void run(const CollisionGeometry *o1, const Transform3s &tf1, const CollisionGeometry *o2, const Transform3s &tf2, const CollisionResult &collision_result, const ContactPatchSolver *csolver, const ContactPatchRequest &request, ContactPatchResult &result)
Definition: contact_patch_func_matrix.cpp:46
coal::ContactPatchFunctionMatrix::ContactPatchFunctionMatrix
ContactPatchFunctionMatrix()
Definition: contact_patch_func_matrix.cpp:136
coal::ContactPatch::addPoint
void addPoint(const Vec3s &point_3d)
Add a 3D point to the set, expressed in the world frame.
Definition: coal/collision_data.h:584
coal::BV_KDOP16
@ BV_KDOP16
Definition: coal/collision_object.h:71
coal::ConvexBase
Base for convex polytope.
Definition: coal/shape/geometric_shapes.h:645
coal::CollisionResult::numContacts
size_t numContacts() const
number of contacts found
Definition: coal/collision_data.h:446

hpp-fcl
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autogenerated on Sat Nov 23 2024 03:44:57