collision_data.h

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#ifndef FCL_COLLISION_DATA_H
#define FCL_COLLISION_DATA_H

#include "fcl/collision_object.h"
#include "fcl/math/vec_3f.h"
#include <vector>
#include <set>
#include <limits>


namespace fcl
{

struct Contact
{
  const CollisionGeometry* o1;

  const CollisionGeometry* o2;

  int b1;


  int b2;
 
  Vec3f normal;

  Vec3f pos;

  FCL_REAL penetration_depth;

 
  static const int NONE = -1;

  Contact() : o1(NULL),
              o2(NULL),
              b1(NONE),
              b2(NONE)
  {}

  Contact(const CollisionGeometry* o1_, const CollisionGeometry* o2_, int b1_, int b2_) : o1(o1_),
                                                                                          o2(o2_),
                                                                                          b1(b1_),
                                                                                          b2(b2_)
  {}

  Contact(const CollisionGeometry* o1_, const CollisionGeometry* o2_, int b1_, int b2_,
          const Vec3f& pos_, const Vec3f& normal_, FCL_REAL depth_) : o1(o1_),
                                                                      o2(o2_),
                                                                      b1(b1_),
                                                                      b2(b2_),
                                                                      normal(normal_),
                                                                      pos(pos_),
                                                                      penetration_depth(depth_)
  {}

  bool operator < (const Contact& other) const
  {
    if(b1 == other.b1)
      return b2 < other.b2;
    return b1 < other.b1;
  }
};

struct CostSource
{
  Vec3f aabb_min;

  Vec3f aabb_max;

  FCL_REAL cost_density;

  FCL_REAL total_cost;

  CostSource(const Vec3f& aabb_min_, const Vec3f& aabb_max_, FCL_REAL cost_density_) : aabb_min(aabb_min_),
                                                                                       aabb_max(aabb_max_),
                                                                                       cost_density(cost_density_)
  {
    total_cost = cost_density * (aabb_max[0] - aabb_min[0]) * (aabb_max[1] - aabb_min[1]) * (aabb_max[2] - aabb_min[2]);
  }

  CostSource(const AABB& aabb, FCL_REAL cost_density_) : aabb_min(aabb.min_),
                                                         aabb_max(aabb.max_),
                                                         cost_density(cost_density_)
  {
    total_cost = cost_density * (aabb_max[0] - aabb_min[0]) * (aabb_max[1] - aabb_min[1]) * (aabb_max[2] - aabb_min[2]);
  }

  CostSource() {}

  bool operator < (const CostSource& other) const
  {
    if(total_cost < other.total_cost) 
      return false;
    if(total_cost > other.total_cost)
      return true;
    
    if(cost_density < other.cost_density)
      return false;
    if(cost_density > other.cost_density)
      return true;
  
    for(size_t i = 0; i < 3; ++i)
      if(aabb_min[i] != other.aabb_min[i])
        return aabb_min[i] < other.aabb_min[i];
 
    return false;
  }
};

struct CollisionResult;

struct CollisionRequest
{
  size_t num_max_contacts;

  bool enable_contact;

  size_t num_max_cost_sources;

  bool enable_cost;

  bool use_approximate_cost;

  CollisionRequest(size_t num_max_contacts_ = 1,
                   bool enable_contact_ = false,
                   size_t num_max_cost_sources_ = 1,
                   bool enable_cost_ = false,
                   bool use_approximate_cost_ = true) : num_max_contacts(num_max_contacts_),
                                                        enable_contact(enable_contact_),
                                                        num_max_cost_sources(num_max_cost_sources_),
                                                        enable_cost(enable_cost_),
                                                        use_approximate_cost(use_approximate_cost_)
  {
  }

  bool isSatisfied(const CollisionResult& result) const;
};

struct CollisionResult
{
private:
  std::vector<Contact> contacts;

  std::set<CostSource> cost_sources;

public:
  CollisionResult()
  {
  }


  inline void addContact(const Contact& c) 
  {
    contacts.push_back(c);
  }

  inline void addCostSource(const CostSource& c, std::size_t num_max_cost_sources)
  {
    cost_sources.insert(c);
    while (cost_sources.size() > num_max_cost_sources)
      cost_sources.erase(--cost_sources.end());
  }

  bool isCollision() const
  {
    return contacts.size() > 0;
  }

  size_t numContacts() const
  {
    return contacts.size();
  }

  size_t numCostSources() const
  {
    return cost_sources.size();
  }

  const Contact& getContact(size_t i) const
  {
    if(i < contacts.size()) 
      return contacts[i];
    else
      return contacts.back();
  }

  void getContacts(std::vector<Contact>& contacts_)
  {
    contacts_.resize(contacts.size());
    std::copy(contacts.begin(), contacts.end(), contacts_.begin());
  }

  void getCostSources(std::vector<CostSource>& cost_sources_)
  {
    cost_sources_.resize(cost_sources.size());
    std::copy(cost_sources.begin(), cost_sources.end(), cost_sources_.begin());
  }

  void clear()
  {
    contacts.clear();
    cost_sources.clear();
  }
};

struct DistanceResult;

struct DistanceRequest
{
  bool enable_nearest_points;

  DistanceRequest(bool enable_nearest_points_ = false) : enable_nearest_points(enable_nearest_points_)
  {
  }

  bool isSatisfied(const DistanceResult& result) const;
};

struct DistanceResult
{

public:

  FCL_REAL min_distance;

  Vec3f nearest_points[2];

  const CollisionGeometry* o1;

  const CollisionGeometry* o2;

  int b1;

  int b2;

  static const int NONE = -1;
  
  DistanceResult(FCL_REAL min_distance_ = std::numeric_limits<FCL_REAL>::max()) : min_distance(min_distance_), 
                                                                                  o1(NULL),
                                                                                  o2(NULL),
                                                                                  b1(NONE),
                                                                                  b2(NONE)
  {
  }


  void update(FCL_REAL distance, const CollisionGeometry* o1_, const CollisionGeometry* o2_, int b1_, int b2_)
  {
    if(min_distance > distance)
    {
      min_distance = distance;
      o1 = o1_;
      o2 = o2_;
      b1 = b1_;
      b2 = b2_;
    }
  }

  void update(FCL_REAL distance, const CollisionGeometry* o1_, const CollisionGeometry* o2_, int b1_, int b2_, const Vec3f& p1, const Vec3f& p2)
  {
    if(min_distance > distance)
    {
      min_distance = distance;
      o1 = o1_;
      o2 = o2_;
      b1 = b1_;
      b2 = b2_;
      nearest_points[0] = p1;
      nearest_points[1] = p2;
    }
  }

  void update(const DistanceResult& other_result)
  {
    if(min_distance > other_result.min_distance)
    {
      min_distance = other_result.min_distance;
      o1 = other_result.o1;
      o2 = other_result.o2;
      b1 = other_result.b1;
      b2 = other_result.b2;
      nearest_points[0] = other_result.nearest_points[0];
      nearest_points[1] = other_result.nearest_points[1];
    }
  }

  void clear()
  {
    min_distance = std::numeric_limits<FCL_REAL>::max();
    o1 = NULL;
    o2 = NULL;
    b1 = NONE;
    b2 = NONE;
  }
};




}

#endif