BV/AABB.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 HPP_FCL_AABB_H
#define HPP_FCL_AABB_H

#include <hpp/fcl/data_types.h>

namespace hpp {
namespace fcl {

struct CollisionRequest;


class HPP_FCL_DLLAPI AABB {
 public:
  Vec3f min_;
  Vec3f max_;

  AABB();

  AABB(const Vec3f& v) : min_(v), max_(v) {}

  AABB(const Vec3f& a, const Vec3f& b)
      : min_(a.cwiseMin(b)), max_(a.cwiseMax(b)) {}

  AABB(const AABB& core, const Vec3f& delta)
      : min_(core.min_ - delta), max_(core.max_ + delta) {}

  AABB(const Vec3f& a, const Vec3f& b, const Vec3f& c)
      : min_(a.cwiseMin(b).cwiseMin(c)), max_(a.cwiseMax(b).cwiseMax(c)) {}

  AABB(const AABB& other) = default;

  AABB& operator=(const AABB& other) = default;

  AABB& update(const Vec3f& a, const Vec3f& b) {
    min_ = a.cwiseMin(b);
    max_ = a.cwiseMax(b);
    return *this;
  }

  bool operator==(const AABB& other) const {
    return min_ == other.min_ && max_ == other.max_;
  }

  bool operator!=(const AABB& other) const { return !(*this == other); }


  inline bool contain(const Vec3f& p) const {
    if (p[0] < min_[0] || p[0] > max_[0]) return false;
    if (p[1] < min_[1] || p[1] > max_[1]) return false;
    if (p[2] < min_[2] || p[2] > max_[2]) return false;

    return true;
  }

  inline bool overlap(const AABB& other) const {
    if (min_[0] > other.max_[0]) return false;
    if (min_[1] > other.max_[1]) return false;
    if (min_[2] > other.max_[2]) return false;

    if (max_[0] < other.min_[0]) return false;
    if (max_[1] < other.min_[1]) return false;
    if (max_[2] < other.min_[2]) return false;

    return true;
  }

  bool overlap(const AABB& other, const CollisionRequest& request,
               FCL_REAL& sqrDistLowerBound) const;

  FCL_REAL distance(const AABB& other) const;

  FCL_REAL distance(const AABB& other, Vec3f* P, Vec3f* Q) const;

  inline AABB& operator+=(const Vec3f& p) {
    min_ = min_.cwiseMin(p);
    max_ = max_.cwiseMax(p);
    return *this;
  }

  inline AABB& operator+=(const AABB& other) {
    min_ = min_.cwiseMin(other.min_);
    max_ = max_.cwiseMax(other.max_);
    return *this;
  }

  inline AABB operator+(const AABB& other) const {
    AABB res(*this);
    return res += other;
  }

  inline FCL_REAL size() const { return (max_ - min_).squaredNorm(); }

  inline Vec3f center() const { return (min_ + max_) * 0.5; }

  inline FCL_REAL width() const { return max_[0] - min_[0]; }

  inline FCL_REAL height() const { return max_[1] - min_[1]; }

  inline FCL_REAL depth() const { return max_[2] - min_[2]; }

  inline FCL_REAL volume() const { return width() * height() * depth(); }


  inline bool contain(const AABB& other) const {
    return (other.min_[0] >= min_[0]) && (other.max_[0] <= max_[0]) &&
           (other.min_[1] >= min_[1]) && (other.max_[1] <= max_[1]) &&
           (other.min_[2] >= min_[2]) && (other.max_[2] <= max_[2]);
  }

  inline bool overlap(const AABB& other, AABB& overlap_part) const {
    if (!overlap(other)) {
      return false;
    }

    overlap_part.min_ = min_.cwiseMax(other.min_);
    overlap_part.max_ = max_.cwiseMin(other.max_);
    return true;
  }

  inline bool axisOverlap(const AABB& other, int axis_id) const {
    if (min_[axis_id] > other.max_[axis_id]) return false;
    if (max_[axis_id] < other.min_[axis_id]) return false;

    return true;
  }

  inline AABB& expand(const Vec3f& delta) {
    min_ -= delta;
    max_ += delta;
    return *this;
  }

  inline AABB& expand(const FCL_REAL delta) {
    min_.array() -= delta;
    max_.array() += delta;
    return *this;
  }

  inline AABB& expand(const AABB& core, FCL_REAL ratio) {
    min_ = min_ * ratio - core.min_;
    max_ = max_ * ratio - core.max_;
    return *this;
  }

  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

static inline AABB translate(const AABB& aabb, const Vec3f& t) {
  AABB res(aabb);
  res.min_ += t;
  res.max_ += t;
  return res;
}

static inline AABB rotate(const AABB& aabb, const Matrix3f& R) {
  AABB res(R * aabb.min_);
  Vec3f corner(aabb.min_);
  const Eigen::DenseIndex bit[3] = {1, 2, 4};
  for (Eigen::DenseIndex ic = 1; ic < 8;
       ++ic) {  // ic = 0 corresponds to aabb.min_. Skip it.
    for (Eigen::DenseIndex i = 0; i < 3; ++i) {
      corner[i] = (ic & bit[i]) ? aabb.max_[i] : aabb.min_[i];
    }
    res += R * corner;
  }
  return res;
}

HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0, const AABB& b1,
                            const AABB& b2);

HPP_FCL_DLLAPI bool overlap(const Matrix3f& R0, const Vec3f& T0, const AABB& b1,
                            const AABB& b2, const CollisionRequest& request,
                            FCL_REAL& sqrDistLowerBound);
}  // namespace fcl

}  // namespace hpp

#endif