AABB.cpp

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#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(0)
          .matrix()
          .squaredNorm();
  if (sqrDistLowerBound > break_distance_squared) return false;

  sqrDistLowerBound =
      (other.min_ - max_ - Vec3f::Constant(request.security_margin))
          .array()
          .max(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