capsule_halfspace.cpp

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#include <cmath>
#include <limits>
#include <hpp/fcl/math/transform.h>
#include <hpp/fcl/shape/geometric_shapes.h>

#include <hpp/fcl/internal/shape_shape_func.h>
#include "../narrowphase/details.h"

namespace hpp {
namespace fcl {
struct GJKSolver;

template <>
FCL_REAL ShapeShapeDistance<Capsule, Halfspace>(
    const CollisionGeometry* o1, const Transform3f& tf1,
    const CollisionGeometry* o2, const Transform3f& tf2, const GJKSolver*,
    const DistanceRequest&, DistanceResult& result) {
  const Capsule& s1 = static_cast<const Capsule&>(*o1);
  const Halfspace& s2 = static_cast<const Halfspace&>(*o2);
  details::capsuleHalfspaceIntersect(s1, tf1, s2, tf2, result.min_distance,
                                     result.nearest_points[0],
                                     result.nearest_points[1], result.normal);
  result.o1 = o1;
  result.o2 = o2;
  result.b1 = -1;
  result.b2 = -1;
  return result.min_distance;
}

template <>
FCL_REAL ShapeShapeDistance<Halfspace, Capsule>(
    const CollisionGeometry* o1, const Transform3f& tf1,
    const CollisionGeometry* o2, const Transform3f& tf2, const GJKSolver*,
    const DistanceRequest&, DistanceResult& result) {
  const Halfspace& s1 = static_cast<const Halfspace&>(*o1);
  const Capsule& s2 = static_cast<const Capsule&>(*o2);
  details::capsuleHalfspaceIntersect(s2, tf2, s1, tf1, result.min_distance,
                                     result.nearest_points[1],
                                     result.nearest_points[0], result.normal);
  result.o1 = o1;
  result.o2 = o2;
  result.b1 = -1;
  result.b2 = -1;
  result.normal = -result.normal;
  return result.min_distance;
}
}  // namespace fcl

}  // namespace hpp