Program Listing for File support_functions.h
↰ Return to documentation for file (include/coal/narrowphase/support_functions.h)
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2011-2014, Willow Garage, Inc.
* Copyright (c) 2014-2015, Open Source Robotics Foundation
* Copyright (c) 2021-2024, INRIA
* 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 COAL_SUPPORT_FUNCTIONS_H
#define COAL_SUPPORT_FUNCTIONS_H
#include "coal/shape/geometric_shapes.h"
#include "coal/math/transform.h"
#include "coal/collision_data.h"
namespace coal {
namespace details {
enum SupportOptions {
NoSweptSphere = 0,
WithSweptSphere = 0x1,
};
// ============================================================================
// ============================ SUPPORT FUNCTIONS =============================
// ============================================================================
template <int _SupportOptions = SupportOptions::NoSweptSphere>
Vec3s getSupport(const ShapeBase* shape, const Vec3s& dir, int& hint);
struct COAL_DLLAPI ShapeSupportData {
// @brief Tracks which points have been visited in a ConvexBase.
std::vector<int8_t> visited;
// @brief Tracks the last support direction used on this shape; used to
// warm-start the ConvexBase support function.
Vec3s last_dir = Vec3s::Zero();
// @brief Temporary set used to compute the convex-hull of a support set.
// Only used for ConvexBase and Box.
SupportSet::Polygon polygon;
};
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupport(const TriangleP* triangle, const Vec3s& dir,
Vec3s& support, int& /*unused*/,
ShapeSupportData& /*unused*/);
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupport(const Box* box, const Vec3s& dir, Vec3s& support,
int& /*unused*/, ShapeSupportData& /*unused*/);
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupport(const Sphere* sphere, const Vec3s& dir, Vec3s& support,
int& /*unused*/, ShapeSupportData& /*unused*/);
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupport(const Ellipsoid* ellipsoid, const Vec3s& dir,
Vec3s& support, int& /*unused*/,
ShapeSupportData& /*unused*/);
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupport(const Capsule* capsule, const Vec3s& dir, Vec3s& support,
int& /*unused*/, ShapeSupportData& /*unused*/);
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupport(const Cone* cone, const Vec3s& dir, Vec3s& support,
int& /*unused*/, ShapeSupportData& /*unused*/);
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupport(const Cylinder* cylinder, const Vec3s& dir, Vec3s& support,
int& /*unused*/, ShapeSupportData& /*unused*/);
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupport(const ConvexBase* convex, const Vec3s& dir, Vec3s& support,
int& hint, ShapeSupportData& /*unused*/);
struct LargeConvex : ShapeBase {};
struct SmallConvex : ShapeBase {};
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupport(const SmallConvex* convex, const Vec3s& dir,
Vec3s& support, int& hint, ShapeSupportData& data);
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupport(const LargeConvex* convex, const Vec3s& dir,
Vec3s& support, int& hint, ShapeSupportData& support_data);
// ============================================================================
// ========================== SUPPORT SET FUNCTIONS ===========================
// ============================================================================
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getSupportSet(const ShapeBase* shape, SupportSet& support_set, int& hint,
size_t num_sampled_supports = 6, Scalar tol = Scalar(1e-3));
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getSupportSet(const ShapeBase* shape, const Vec3s& dir,
SupportSet& support_set, int& hint,
size_t num_sampled_supports = 6, Scalar tol = Scalar(1e-3)) {
support_set.tf.rotation() = constructOrthonormalBasisFromVector(dir);
const Vec3s& support_dir = support_set.getNormal();
const Vec3s support = getSupport<_SupportOptions>(shape, support_dir, hint);
getSupportSet<_SupportOptions>(shape, support_set, hint, num_sampled_supports,
tol);
}
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupportSet(const TriangleP* triangle, SupportSet& support_set,
int& /*unused*/, ShapeSupportData& /*unused*/,
size_t /*unused*/ num_sampled_supports = 6,
Scalar tol = Scalar(1e-3));
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupportSet(const Box* box, SupportSet& support_set,
int& /*unused*/, ShapeSupportData& support_data,
size_t /*unused*/ num_sampled_supports = 6,
Scalar tol = Scalar(1e-3));
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupportSet(const Sphere* sphere, SupportSet& support_set,
int& /*unused*/, ShapeSupportData& /*unused*/,
size_t /*unused*/ num_sampled_supports = 6,
Scalar /*unused*/ tol = Scalar(1e-3));
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupportSet(const Ellipsoid* ellipsoid, SupportSet& support_set,
int& /*unused*/, ShapeSupportData& /*unused*/,
size_t /*unused*/ num_sampled_supports = 6,
Scalar /*unused*/ tol = Scalar(1e-3));
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupportSet(const Capsule* capsule, SupportSet& support_set,
int& /*unused*/, ShapeSupportData& /*unused*/,
size_t /*unused*/ num_sampled_supports = 6,
Scalar tol = Scalar(1e-3));
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupportSet(const Cone* cone, SupportSet& support_set,
int& /*unused*/, ShapeSupportData& /*unused*/,
size_t num_sampled_supports = 6,
Scalar tol = Scalar(1e-3));
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupportSet(const Cylinder* cylinder, SupportSet& support_set,
int& /*unused*/, ShapeSupportData& /*unused*/,
size_t num_sampled_supports = 6,
Scalar tol = Scalar(1e-3));
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupportSet(const ConvexBase* convex, SupportSet& support_set,
int& hint, ShapeSupportData& support_data,
size_t /*unused*/ num_sampled_supports = 6,
Scalar tol = Scalar(1e-3));
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupportSet(const SmallConvex* convex, SupportSet& support_set,
int& /*unused*/, ShapeSupportData& /*unused*/,
size_t /*unused*/ num_sampled_supports = 6,
Scalar tol = Scalar(1e-3));
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupportSet(const LargeConvex* convex, SupportSet& support_set,
int& hint, ShapeSupportData& support_data,
size_t /*unused*/ num_sampled_supports = 6,
Scalar tol = Scalar(1e-3));
COAL_DLLAPI void computeSupportSetConvexHull(SupportSet::Polygon& cloud,
SupportSet::Polygon& cvx_hull);
} // namespace details
} // namespace coal
#endif // COAL_SUPPORT_FUNCTIONS_H