gjk_solver_libccd.h

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#ifndef FCL_NARROWPHASE_GJKSOLVERLIBCCD_H
#define FCL_NARROWPHASE_GJKSOLVERLIBCCD_H
 
#include <iostream>
 
#include "fcl/common/types.h"
#include "fcl/narrowphase/contact_point.h"
 
namespace fcl
{
 
namespace detail
{
 
template <typename S_>
struct FCL_EXPORT GJKSolver_libccd
{
  using S = S_;
 
  template<typename Shape1, typename Shape2>
  FCL_DEPRECATED
  bool shapeIntersect(
      const Shape1& s1,
      const Transform3<S>& tf1,
      const Shape2& s2,
      const Transform3<S>& tf2,
      Vector3<S>* contact_points,
      S* penetration_depth,
      Vector3<S>* normal) const;
 
  template<typename Shape1, typename Shape2>
  bool shapeIntersect(
      const Shape1& s1,
      const Transform3<S>& tf1,
      const Shape2& s2,
      const Transform3<S>& tf2,
      std::vector<ContactPoint<S>>* contacts = nullptr) const;
 
  template<typename Shape>
  bool shapeTriangleIntersect(
      const Shape& s,
      const Transform3<S>& tf,
      const Vector3<S>& P1,
      const Vector3<S>& P2,
      const Vector3<S>& P3,
      Vector3<S>* contact_points = nullptr,
      S* penetration_depth = nullptr,
      Vector3<S>* normal = nullptr) const;
 
  template<typename Shape>
  bool shapeTriangleIntersect(
      const Shape& s,
      const Transform3<S>& tf1,
      const Vector3<S>& P1,
      const Vector3<S>& P2,
      const Vector3<S>& P3,
      const Transform3<S>& tf2,
      Vector3<S>* contact_points = nullptr,
      S* penetration_depth = nullptr,
      Vector3<S>* normal = nullptr) const;
 
  template<typename Shape1, typename Shape2>
  bool shapeDistance(
      const Shape1& s1,
      const Transform3<S>& tf1,
      const Shape2& s2,
      const Transform3<S>& tf2,
      S* dist = nullptr,
      Vector3<S>* p1 = nullptr,
      Vector3<S>* p2 = nullptr) const;
 
 
  template<typename Shape1, typename Shape2>
  bool shapeSignedDistance(
      const Shape1& s1,
      const Transform3<S>& tf1,
      const Shape2& s2,
      const Transform3<S>& tf2,
      S* dist = nullptr,
      Vector3<S>* p1 = nullptr,
      Vector3<S>* p2 = nullptr) const;
 
  template<typename Shape>
  bool shapeTriangleDistance(
      const Shape& s,
      const Transform3<S>& tf,
      const Vector3<S>& P1,
      const Vector3<S>& P2,
      const Vector3<S>& P3,
      S* dist = nullptr,
      Vector3<S>* p1 = nullptr,
      Vector3<S>* p2 = nullptr) const;
 
  template<typename Shape>
  bool shapeTriangleDistance(
      const Shape& s,
      const Transform3<S>& tf1,
      const Vector3<S>& P1,
      const Vector3<S>& P2,
      const Vector3<S>& P3,
      const Transform3<S>& tf2,
      S* dist = nullptr,
      Vector3<S>* p1 = nullptr,
      Vector3<S>* p2 = nullptr) const;
 
  GJKSolver_libccd();
 
  void enableCachedGuess(bool if_enable) const;
 
  void setCachedGuess(const Vector3<S>& guess) const;
 
  Vector3<S> getCachedGuess() const;
 
  unsigned int max_collision_iterations;
 
  unsigned int max_distance_iterations;
 
  S collision_tolerance;
 
  S distance_tolerance;
 
  friend
  std::ostream& operator<<(std::ostream& out, const GJKSolver_libccd& solver) {
    out << "GjkSolver_libccd"
        << "\n    collision_tolerance:      " << solver.collision_tolerance
        << "\n    max collision iterations: " << solver.max_collision_iterations
        << "\n    distance tolerance:       " << solver.distance_tolerance
        << "\n    max distance iterations:  " << solver.max_distance_iterations;
    // NOTE: Cached guesses are not supported.
    return out;
  }
 
};
 
using GJKSolver_libccdf = GJKSolver_libccd<float>;
using GJKSolver_libccdd = GJKSolver_libccd<double>;
 
} // namespace detail
} // namespace fcl
 
#include "fcl/narrowphase/detail/gjk_solver_libccd-inl.h"
 
#endif