coal/narrowphase/minkowski_difference.h

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#ifndef COAL_MINKOWSKI_DIFFERENCE_H
#define COAL_MINKOWSKI_DIFFERENCE_H
 
#include "coal/shape/geometric_shapes.h"
#include "coal/math/transform.h"
#include "coal/narrowphase/support_functions.h"
 
namespace coal {
 
namespace details {
 
struct COAL_DLLAPI MinkowskiDiff {
  typedef Eigen::Array<CoalScalar, 1, 2> Array2d;
 
  const ShapeBase* shapes[2];
 
  ShapeSupportData data[2];
 
  Matrix3s oR1;
 
  Vec3s ot1;
 
  Array2d swept_sphere_radius;
 
  bool normalize_support_direction;
 
  typedef void (*GetSupportFunction)(const MinkowskiDiff& minkowskiDiff,
                                     const Vec3s& dir, Vec3s& support0,
                                     Vec3s& support1,
                                     support_func_guess_t& hint,
                                     ShapeSupportData data[2]);
  GetSupportFunction getSupportFunc;
 
  MinkowskiDiff() : normalize_support_direction(false), getSupportFunc(NULL) {}
 
  template <int _SupportOptions = SupportOptions::NoSweptSphere>
  void set(const ShapeBase* shape0, const ShapeBase* shape1);
 
  template <int _SupportOptions = SupportOptions::NoSweptSphere>
  void set(const ShapeBase* shape0, const ShapeBase* shape1,
           const Transform3s& tf0, const Transform3s& tf1);
 
  template <int _SupportOptions = SupportOptions::NoSweptSphere>
  inline Vec3s support0(const Vec3s& dir, int& hint) const {
    return getSupport<_SupportOptions>(shapes[0], dir, hint);
  }
 
  template <int _SupportOptions = SupportOptions::NoSweptSphere>
  inline Vec3s support1(const Vec3s& dir, int& hint) const {
    // clang-format off
    return oR1 * getSupport<_SupportOptions>(shapes[1], oR1.transpose() * dir, hint) + ot1;
    // clang-format on
  }
 
  inline void support(const Vec3s& dir, Vec3s& supp0, Vec3s& supp1,
                      support_func_guess_t& hint) const {
    assert(getSupportFunc != NULL);
    getSupportFunc(*this, dir, supp0, supp1, hint,
                   const_cast<ShapeSupportData*>(data));
  }
};
 
}  // namespace details
 
}  // namespace coal
 
#endif  // COAL_MINKOWSKI_DIFFERENCE_H