AABB.cpp

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.
 */
 
#include <hpp/fcl/BV/AABB.h>
 
#include <limits>
#include <hpp/fcl/collision_data.h>
 
namespace hpp {
namespace fcl {
 
AABB::AABB()
    : min_(Vec3f::Constant((std::numeric_limits<FCL_REAL>::max)())),
      max_(Vec3f::Constant(-(std::numeric_limits<FCL_REAL>::max)())) {}
 
bool AABB::overlap(const AABB& other, const CollisionRequest& request,
                   FCL_REAL& sqrDistLowerBound) const {
  const FCL_REAL break_distance_squared =
      request.break_distance * request.break_distance;
 
  sqrDistLowerBound =
      (min_ - other.max_ - Vec3f::Constant(request.security_margin))
          .array()
          .max(FCL_REAL(0))
          .matrix()
          .squaredNorm();
  if (sqrDistLowerBound > break_distance_squared) return false;
 
  sqrDistLowerBound =
      (other.min_ - max_ - Vec3f::Constant(request.security_margin))
          .array()
          .max(FCL_REAL(0))
          .matrix()
          .squaredNorm();
  if (sqrDistLowerBound > break_distance_squared) return false;
 
  return true;
}
 
FCL_REAL AABB::distance(const AABB& other, Vec3f* P, Vec3f* Q) const {
  FCL_REAL result = 0;
  for (Eigen::DenseIndex i = 0; i < 3; ++i) {
    const FCL_REAL& amin = min_[i];
    const FCL_REAL& amax = max_[i];
    const FCL_REAL& bmin = other.min_[i];
    const FCL_REAL& bmax = other.max_[i];
 
    if (amin > bmax) {
      FCL_REAL delta = bmax - amin;
      result += delta * delta;
      if (P && Q) {
        (*P)[i] = amin;
        (*Q)[i] = bmax;
      }
    } else if (bmin > amax) {
      FCL_REAL delta = amax - bmin;
      result += delta * delta;
      if (P && Q) {
        (*P)[i] = amax;
        (*Q)[i] = bmin;
      }
    } else {
      if (P && Q) {
        if (bmin >= amin) {
          FCL_REAL t = 0.5 * (amax + bmin);
          (*P)[i] = t;
          (*Q)[i] = t;
        } else {
          FCL_REAL t = 0.5 * (amin + bmax);
          (*P)[i] = t;
          (*Q)[i] = t;
        }
      }
    }
  }
 
  return std::sqrt(result);
}
 
FCL_REAL AABB::distance(const AABB& other) const {
  FCL_REAL result = 0;
  for (Eigen::DenseIndex i = 0; i < 3; ++i) {
    const FCL_REAL& amin = min_[i];
    const FCL_REAL& amax = max_[i];
    const FCL_REAL& bmin = other.min_[i];
    const FCL_REAL& bmax = other.max_[i];
 
    if (amin > bmax) {
      FCL_REAL delta = bmax - amin;
      result += delta * delta;
    } else if (bmin > amax) {
      FCL_REAL delta = amax - bmin;
      result += delta * delta;
    }
  }
 
  return std::sqrt(result);
}
 
bool overlap(const Matrix3f& R0, const Vec3f& T0, const AABB& b1,
             const AABB& b2) {
  AABB bb1(translate(rotate(b1, R0), T0));
  return bb1.overlap(b2);
}
 
bool overlap(const Matrix3f& R0, const Vec3f& T0, const AABB& b1,
             const AABB& b2, const CollisionRequest& request,
             FCL_REAL& sqrDistLowerBound) {
  AABB bb1(translate(rotate(b1, R0), T0));
  return bb1.overlap(b2, request, sqrDistLowerBound);
}
 
}  // namespace fcl
 
}  // namespace hpp