coal/BV/kIOS.h

Go to the documentation of this file.

/*
 * 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 COAL_KIOS_H
#define COAL_KIOS_H
 
#include "coal/BV/OBB.h"
 
namespace coal {
 
struct CollisionRequest;
 
 
class COAL_DLLAPI kIOS {
  struct COAL_DLLAPI kIOS_Sphere {
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    Vec3s o;
    CoalScalar 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) {
    Vec3s d = s1.o - s0.o;
    CoalScalar dist2 = d.squaredNorm();
    CoalScalar 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:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  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); }
 
  static constexpr size_t max_num_spheres = 5;
 
  kIOS_Sphere spheres[max_num_spheres];
 
  unsigned int num_spheres;
 
  OBB obb;
 
  bool contain(const Vec3s& p) const;
 
  bool overlap(const kIOS& other) const;
 
  bool overlap(const kIOS& other, const CollisionRequest&,
               CoalScalar& sqrDistLowerBound) const;
 
  CoalScalar distance(const kIOS& other, Vec3s* P = NULL,
                      Vec3s* Q = NULL) const;
 
  kIOS& operator+=(const Vec3s& p);
 
  kIOS& operator+=(const kIOS& other) {
    *this = *this + other;
    return *this;
  }
 
  kIOS operator+(const kIOS& other) const;
 
  CoalScalar size() const;
 
  const Vec3s& center() const { return spheres[0].o; }
 
  CoalScalar width() const;
 
  CoalScalar height() const;
 
  CoalScalar depth() const;
 
  CoalScalar volume() const;
};
 
COAL_DLLAPI kIOS translate(const kIOS& bv, const Vec3s& t);
 
COAL_DLLAPI bool overlap(const Matrix3s& R0, const Vec3s& T0, const kIOS& b1,
                         const kIOS& b2);
 
COAL_DLLAPI bool overlap(const Matrix3s& R0, const Vec3s& T0, const kIOS& b1,
                         const kIOS& b2, const CollisionRequest& request,
                         CoalScalar& sqrDistLowerBound);
 
COAL_DLLAPI CoalScalar distance(const Matrix3s& R0, const Vec3s& T0,
                                const kIOS& b1, const kIOS& b2, Vec3s* P = NULL,
                                Vec3s* Q = NULL);
 
}  // namespace coal
 
#endif