intersect.h
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35 
38 #ifndef FCL_NARROWPHASE_DETAIL_INTERSECT_H
39 #define FCL_NARROWPHASE_DETAIL_INTERSECT_H
40 
41 #include <limits>
42 #include "fcl/common/types.h"
43 #include "fcl/math/geometry.h"
45 
46 namespace fcl
47 {
48 
49 namespace detail
50 {
51 
53 template <typename S>
54 class FCL_EXPORT Intersect
55 {
56 
57 public:
58 
63  static bool intersect_VF(const Vector3<S>& a0, const Vector3<S>& b0, const Vector3<S>& c0, const Vector3<S>& p0,
64  const Vector3<S>& a1, const Vector3<S>& b1, const Vector3<S>& c1, const Vector3<S>& p1,
65  S* collision_time, Vector3<S>* p_i, bool useNewton = true);
66 
71  static bool intersect_EE(const Vector3<S>& a0, const Vector3<S>& b0, const Vector3<S>& c0, const Vector3<S>& d0,
72  const Vector3<S>& a1, const Vector3<S>& b1, const Vector3<S>& c1, const Vector3<S>& d1,
73  S* collision_time, Vector3<S>* p_i, bool useNewton = true);
74 
76  static bool intersect_VF_filtered(const Vector3<S>& a0, const Vector3<S>& b0, const Vector3<S>& c0, const Vector3<S>& p0,
77  const Vector3<S>& a1, const Vector3<S>& b1, const Vector3<S>& c1, const Vector3<S>& p1,
78  S* collision_time, Vector3<S>* p_i, bool useNewton = true);
79 
81  static bool intersect_EE_filtered(const Vector3<S>& a0, const Vector3<S>& b0, const Vector3<S>& c0, const Vector3<S>& d0,
82  const Vector3<S>& a1, const Vector3<S>& b1, const Vector3<S>& c1, const Vector3<S>& d1,
83  S* collision_time, Vector3<S>* p_i, bool useNewton = true);
84 
86  static bool intersect_VE(const Vector3<S>& a0, const Vector3<S>& b0, const Vector3<S>& p0,
87  const Vector3<S>& a1, const Vector3<S>& b1, const Vector3<S>& p1,
88  const Vector3<S>& L);
89 
91  static bool intersect_Triangle(
92  const Vector3<S>& P1,
93  const Vector3<S>& P2,
94  const Vector3<S>& P3,
95  const Vector3<S>& Q1,
96  const Vector3<S>& Q2,
97  const Vector3<S>& Q3,
98  Vector3<S>* contact_points = nullptr,
99  unsigned int* num_contact_points = nullptr,
100  S* penetration_depth = nullptr,
101  Vector3<S>* normal = nullptr);
102 
104  static bool intersect_Triangle_ODE_style(
105  const Vector3<S>& P1,
106  const Vector3<S>& P2,
107  const Vector3<S>& P3,
108  const Vector3<S>& Q1,
109  const Vector3<S>& Q2,
110  const Vector3<S>& Q3,
111  Vector3<S>* contact_points = nullptr,
112  unsigned int* num_contact_points = nullptr,
113  S* penetration_depth = nullptr,
114  Vector3<S>* normal = nullptr);
115 
116  static bool intersect_Triangle(
117  const Vector3<S>& P1,
118  const Vector3<S>& P2,
119  const Vector3<S>& P3,
120  const Vector3<S>& Q1,
121  const Vector3<S>& Q2,
122  const Vector3<S>& Q3,
123  const Matrix3<S>& R,
124  const Vector3<S>& T,
125  Vector3<S>* contact_points = nullptr,
126  unsigned int* num_contact_points = nullptr,
127  S* penetration_depth = nullptr,
128  Vector3<S>* normal = nullptr);
129 
130  static bool intersect_Triangle(
131  const Vector3<S>& P1,
132  const Vector3<S>& P2,
133  const Vector3<S>& P3,
134  const Vector3<S>& Q1,
135  const Vector3<S>& Q2,
136  const Vector3<S>& Q3,
137  const Transform3<S>& tf,
138  Vector3<S>* contact_points = nullptr,
139  unsigned int* num_contact_points = nullptr,
140  S* penetration_depth = nullptr,
141  Vector3<S>* normal = nullptr);
142 
143 private:
144 
146  static int project6(const Vector3<S>& ax,
147  const Vector3<S>& p1, const Vector3<S>& p2, const Vector3<S>& p3,
148  const Vector3<S>& q1, const Vector3<S>& q2, const Vector3<S>& q3);
149 
151  static bool isZero(S v);
152 
154  static bool solveCubicWithIntervalNewton(const Vector3<S>& a0, const Vector3<S>& b0, const Vector3<S>& c0, const Vector3<S>& d0,
155  const Vector3<S>& va, const Vector3<S>& vb, const Vector3<S>& vc, const Vector3<S>& vd,
156  S& l, S& r, bool bVF, S coeffs[], Vector3<S>* data = nullptr);
157 
159  static bool insideTriangle(const Vector3<S>& a, const Vector3<S>& b, const Vector3<S>& c, const Vector3<S>&p);
160 
162  static bool insideLineSegment(const Vector3<S>& a, const Vector3<S>& b, const Vector3<S>& p);
163 
169  static bool linelineIntersect(const Vector3<S>& p1, const Vector3<S>& p2, const Vector3<S>& p3, const Vector3<S>& p4,
170  Vector3<S>* pa, Vector3<S>* pb, S* mua, S* mub);
171 
173  static bool checkRootValidity_VF(const Vector3<S>& a0, const Vector3<S>& b0, const Vector3<S>& c0, const Vector3<S>& p0,
174  const Vector3<S>& va, const Vector3<S>& vb, const Vector3<S>& vc, const Vector3<S>& vp,
175  S t);
176 
178  static bool checkRootValidity_EE(const Vector3<S>& a0, const Vector3<S>& b0, const Vector3<S>& c0, const Vector3<S>& d0,
179  const Vector3<S>& va, const Vector3<S>& vb, const Vector3<S>& vc, const Vector3<S>& vd,
180  S t, Vector3<S>* q_i = nullptr);
181 
183  static bool checkRootValidity_VE(const Vector3<S>& a0, const Vector3<S>& b0, const Vector3<S>& p0,
184  const Vector3<S>& va, const Vector3<S>& vb, const Vector3<S>& vp,
185  S t);
186 
188  static bool solveSquare(S a, S b, S c,
189  const Vector3<S>& a0, const Vector3<S>& b0, const Vector3<S>& c0, const Vector3<S>& d0,
190  const Vector3<S>& va, const Vector3<S>& vb, const Vector3<S>& vc, const Vector3<S>& vd,
191  bool bVF,
192  S* ret);
193 
195  static bool solveSquare(S a, S b, S c,
196  const Vector3<S>& a0, const Vector3<S>& b0, const Vector3<S>& p0,
197  const Vector3<S>& va, const Vector3<S>& vb, const Vector3<S>& vp);
198 
201 
202  static void computeCubicCoeff_VF(const Vector3<S>& a0, const Vector3<S>& b0, const Vector3<S>& c0, const Vector3<S>& p0,
203  const Vector3<S>& va, const Vector3<S>& vb, const Vector3<S>& vc, const Vector3<S>& vp,
204  S* a, S* b, S* c, S* d);
205 
207  static void computeCubicCoeff_EE(const Vector3<S>& a0, const Vector3<S>& b0, const Vector3<S>& c0, const Vector3<S>& d0,
208  const Vector3<S>& va, const Vector3<S>& vb, const Vector3<S>& vc, const Vector3<S>& vd,
209  S* a, S* b, S* c, S* d);
210 
212  static void computeCubicCoeff_VE(const Vector3<S>& a0, const Vector3<S>& b0, const Vector3<S>& p0,
213  const Vector3<S>& va, const Vector3<S>& vb, const Vector3<S>& vp,
214  const Vector3<S>& L,
215  S* a, S* b, S* c);
216 
218  static bool intersectPreFiltering(const Vector3<S>& a0, const Vector3<S>& b0, const Vector3<S>& c0, const Vector3<S>& d0,
219  const Vector3<S>& a1, const Vector3<S>& b1, const Vector3<S>& c1, const Vector3<S>& d1);
220 
222  static S distanceToPlane(const Vector3<S>& n, S t, const Vector3<S>& v);
223 
225  static bool sameSideOfPlane(const Vector3<S>& v1, const Vector3<S>& v2, const Vector3<S>& v3, const Vector3<S>& n, S t);
226 
228  static void clipTriangleByTriangleAndEdgePlanes(const Vector3<S>& v1, const Vector3<S>& v2, const Vector3<S>& v3,
229  const Vector3<S>& t1, const Vector3<S>& t2, const Vector3<S>& t3,
230  const Vector3<S>& tn, S to,
231  Vector3<S> clipped_points[], unsigned int* num_clipped_points, bool clip_triangle = false);
232 
234  static bool buildTrianglePlane(const Vector3<S>& v1, const Vector3<S>& v2, const Vector3<S>& v3, Vector3<S>* n, S* t);
235 
237  static bool buildEdgePlane(const Vector3<S>& v1, const Vector3<S>& v2, const Vector3<S>& tn, Vector3<S>* n, S* t);
238 
240  static void computeDeepestPoints(Vector3<S>* clipped_points, unsigned int num_clipped_points, const Vector3<S>& n, S t, S* penetration_depth, Vector3<S>* deepest_points, unsigned int* num_deepest_points);
241 
243  static void clipPolygonByPlane(Vector3<S>* polygon_points, unsigned int num_polygon_points, const Vector3<S>& n, S t, Vector3<S> clipped_points[], unsigned int* num_clipped_points);
244 
246  static void clipSegmentByPlane(const Vector3<S>& v1, const Vector3<S>& v2, const Vector3<S>& n, S t, Vector3<S>* clipped_point);
247 
249  static S gaussianCDF(S x);
250 
251  static constexpr S getEpsilon();
252  static constexpr S getNearZeroThreshold();
253  static constexpr S getCcdResolution();
254  static constexpr unsigned int getMaxTriangleClips();
255 };
256 
259 
260 } // namespace detail
261 } // namespace fcl
262 
264 
265 #endif
fcl::Transform3
Eigen::Transform< S, 3, Eigen::Isometry > Transform3
Definition: types.h:91
geometry.h
types.h
polysolver.h
fcl::detail::Intersect
CCD intersect kernel among primitives.
Definition: intersect.h:54
fcl::Vector3
Eigen::Matrix< S, 3, 1 > Vector3
Definition: types.h:70
fcl::Matrix3
Eigen::Matrix< S, 3, 3 > Matrix3
Definition: types.h:85
r
S r
Definition: test_sphere_box.cpp:171
fcl
Main namespace.
Definition: broadphase_bruteforce-inl.h:45
intersect-inl.h


fcl
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autogenerated on Fri Apr 2 2021 02:38:00