Program Listing for File kIOS.h
↰ Return to documentation for file (/tmp/ws/src/hpp-fcl/include/hpp/fcl/BV/kIOS.h
)
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2011-2014, Willow Garage, Inc.
* Copyright (c) 2014-2015, 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.
*/
#ifndef HPP_FCL_KIOS_H
#define HPP_FCL_KIOS_H
#include <hpp/fcl/BV/OBB.h>
namespace hpp {
namespace fcl {
struct CollisionRequest;
class HPP_FCL_DLLAPI kIOS {
struct HPP_FCL_DLLAPI kIOS_Sphere {
Vec3f o;
FCL_REAL r;
bool operator==(const kIOS_Sphere& other) const {
return o == other.o && r == other.r;
}
bool operator!=(const kIOS_Sphere& other) const {
return !(*this == other);
}
};
static kIOS_Sphere encloseSphere(const kIOS_Sphere& s0,
const kIOS_Sphere& s1) {
Vec3f d = s1.o - s0.o;
FCL_REAL dist2 = d.squaredNorm();
FCL_REAL diff_r = s1.r - s0.r;
if (diff_r * diff_r >= dist2) {
if (s1.r > s0.r)
return s1;
else
return s0;
} else
{
float dist = (float)std::sqrt(dist2);
kIOS_Sphere s;
s.r = dist + s0.r + s1.r;
if (dist > 0)
s.o = s0.o + d * ((s.r - s0.r) / dist);
else
s.o = s0.o;
return s;
}
}
public:
bool operator==(const kIOS& other) const {
bool res = obb == other.obb && num_spheres == other.num_spheres;
if (!res) return false;
for (size_t k = 0; k < num_spheres; ++k) {
if (spheres[k] != other.spheres[k]) return false;
}
return true;
}
bool operator!=(const kIOS& other) const { return !(*this == other); }
kIOS_Sphere spheres[5];
unsigned int num_spheres;
OBB obb;
bool contain(const Vec3f& p) const;
bool overlap(const kIOS& other) const;
bool overlap(const kIOS& other, const CollisionRequest&,
FCL_REAL& sqrDistLowerBound) const;
FCL_REAL distance(const kIOS& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;
kIOS& operator+=(const Vec3f& p);
kIOS& operator+=(const kIOS& other) {
*this = *this + other;
return *this;
}
kIOS operator+(const kIOS& other) const;
FCL_REAL size() const;
const Vec3f& center() const { return spheres[0].o; }
FCL_REAL width() const;
FCL_REAL height() const;
FCL_REAL depth() const;
FCL_REAL volume() const;
};
HPP_FCL_DLLAPI kIOS translate(const kIOS& bv, const Vec3f& t);
HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0, const kIOS& b1,
const kIOS& b2);
HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0, const kIOS& b1,
const kIOS& b2, const CollisionRequest& request,
FCL_REAL& sqrDistLowerBound);
HPP_FCL_DLLAPI FCL_REAL distance(const Matrix3f& R0, const Vec3f& T0,
const kIOS& b1, const kIOS& b2,
Vec3f* P = NULL, Vec3f* Q = NULL);
} // namespace fcl
} // namespace hpp
#endif