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* Software License Agreement (BSD License)
*
* Copyright (c) 2011-2014, Willow Garage, Inc.
* Copyright (c) 2014-2016, Open Source Robotics Foundation
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/** \author Jia Pan */
#ifndef FCL_NARROWPHASE_H
#define FCL_NARROWPHASE_H
#include <algorithm>
#include "fcl/collision_data.h"
#include "fcl/narrowphase/gjk.h"
#include "fcl/narrowphase/gjk_libccd.h"
namespace fcl
{
/// @brief collision and distance solver based on libccd library.
struct GJKSolver_libccd
{
/// @brief intersection checking between two shapes
/// @deprecated use shapeIntersect(const S1&, const Transform3f&, const S2&, const Transform3f&, std::vector<ContactPoint>*) const
template<typename S1, typename S2>
FCL_DEPRECATED
bool shapeIntersect(const S1& s1, const Transform3f& tf1,
const S2& s2, const Transform3f& tf2,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
/// @brief intersection checking between two shapes
template<typename S1, typename S2>
bool shapeIntersect(const S1& s1, const Transform3f& tf1,
const S2& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts = NULL) const
{
void* o1 = details::GJKInitializer<S1>::createGJKObject(s1, tf1);
void* o2 = details::GJKInitializer<S2>::createGJKObject(s2, tf2);
bool res;
if(contacts)
{
Vec3f normal;
Vec3f point;
FCL_REAL depth;
res = details::GJKCollide(o1, details::GJKInitializer<S1>::getSupportFunction(), details::GJKInitializer<S1>::getCenterFunction(),
o2, details::GJKInitializer<S2>::getSupportFunction(), details::GJKInitializer<S2>::getCenterFunction(),
max_collision_iterations, collision_tolerance,
&point, &depth, &normal);
contacts->push_back(ContactPoint(normal, point, depth));
}
else
{
res = details::GJKCollide(o1, details::GJKInitializer<S1>::getSupportFunction(), details::GJKInitializer<S1>::getCenterFunction(),
o2, details::GJKInitializer<S2>::getSupportFunction(), details::GJKInitializer<S2>::getCenterFunction(),
max_collision_iterations, collision_tolerance,
NULL, NULL, NULL);
}
details::GJKInitializer<S1>::deleteGJKObject(o1);
details::GJKInitializer<S2>::deleteGJKObject(o2);
return res;
}
/// @brief intersection checking between one shape and a triangle
template<typename S>
bool shapeTriangleIntersect(const S& s, const Transform3f& tf,
const Vec3f& P1, const Vec3f& P2, const Vec3f& P3, Vec3f* contact_points = NULL, FCL_REAL* penetration_depth = NULL, Vec3f* normal = NULL) const
{
void* o1 = details::GJKInitializer<S>::createGJKObject(s, tf);
void* o2 = details::triCreateGJKObject(P1, P2, P3);
bool res = details::GJKCollide(o1, details::GJKInitializer<S>::getSupportFunction(), details::GJKInitializer<S>::getCenterFunction(),
o2, details::triGetSupportFunction(), details::triGetCenterFunction(),
max_collision_iterations, collision_tolerance,
contact_points, penetration_depth, normal);
details::GJKInitializer<S>::deleteGJKObject(o1);
details::triDeleteGJKObject(o2);
return res;
}
//// @brief intersection checking between one shape and a triangle with transformation
template<typename S>
bool shapeTriangleIntersect(const S& s, const Transform3f& tf1,
const Vec3f& P1, const Vec3f& P2, const Vec3f& P3, const Transform3f& tf2,
Vec3f* contact_points = NULL, FCL_REAL* penetration_depth = NULL, Vec3f* normal = NULL) const
{
void* o1 = details::GJKInitializer<S>::createGJKObject(s, tf1);
void* o2 = details::triCreateGJKObject(P1, P2, P3, tf2);
bool res = details::GJKCollide(o1, details::GJKInitializer<S>::getSupportFunction(), details::GJKInitializer<S>::getCenterFunction(),
o2, details::triGetSupportFunction(), details::triGetCenterFunction(),
max_collision_iterations, collision_tolerance,
contact_points, penetration_depth, normal);
details::GJKInitializer<S>::deleteGJKObject(o1);
details::triDeleteGJKObject(o2);
return res;
}
/// @brief distance computation between two shapes
template<typename S1, typename S2>
bool shapeDistance(const S1& s1, const Transform3f& tf1,
const S2& s2, const Transform3f& tf2,
FCL_REAL* dist = NULL, Vec3f* p1 = NULL, Vec3f* p2 = NULL) const
{
void* o1 = details::GJKInitializer<S1>::createGJKObject(s1, tf1);
void* o2 = details::GJKInitializer<S2>::createGJKObject(s2, tf2);
bool res = details::GJKDistance(o1, details::GJKInitializer<S1>::getSupportFunction(),
o2, details::GJKInitializer<S2>::getSupportFunction(),
max_distance_iterations, distance_tolerance,
dist, p1, p2);
if(p1) *p1 = inverse(tf1).transform(*p1);
if(p2) *p2 = inverse(tf2).transform(*p2);
details::GJKInitializer<S1>::deleteGJKObject(o1);
details::GJKInitializer<S2>::deleteGJKObject(o2);
return res;
}
/// @brief distance computation between one shape and a triangle
template<typename S>
bool shapeTriangleDistance(const S& s, const Transform3f& tf,
const Vec3f& P1, const Vec3f& P2, const Vec3f& P3,
FCL_REAL* dist = NULL, Vec3f* p1 = NULL, Vec3f* p2 = NULL) const
{
void* o1 = details::GJKInitializer<S>::createGJKObject(s, tf);
void* o2 = details::triCreateGJKObject(P1, P2, P3);
bool res = details::GJKDistance(o1, details::GJKInitializer<S>::getSupportFunction(),
o2, details::triGetSupportFunction(),
max_distance_iterations, distance_tolerance,
dist, p1, p2);
if(p1) *p1 = inverse(tf).transform(*p1);
details::GJKInitializer<S>::deleteGJKObject(o1);
details::triDeleteGJKObject(o2);
return res;
}
/// @brief distance computation between one shape and a triangle with transformation
template<typename S>
bool shapeTriangleDistance(const S& s, const Transform3f& tf1,
const Vec3f& P1, const Vec3f& P2, const Vec3f& P3, const Transform3f& tf2,
FCL_REAL* dist = NULL, Vec3f* p1 = NULL, Vec3f* p2 = NULL) const
{
void* o1 = details::GJKInitializer<S>::createGJKObject(s, tf1);
void* o2 = details::triCreateGJKObject(P1, P2, P3, tf2);
bool res = details::GJKDistance(o1, details::GJKInitializer<S>::getSupportFunction(),
o2, details::triGetSupportFunction(),
max_distance_iterations, distance_tolerance,
dist, p1, p2);
if(p1) *p1 = inverse(tf1).transform(*p1);
if(p2) *p2 = inverse(tf2).transform(*p2);
details::GJKInitializer<S>::deleteGJKObject(o1);
details::triDeleteGJKObject(o2);
return res;
}
/// @brief default setting for GJK algorithm
GJKSolver_libccd()
{
max_collision_iterations = 500;
max_distance_iterations = 1000;
collision_tolerance = 1e-6;
distance_tolerance = 1e-6;
}
void enableCachedGuess(bool if_enable) const
{
// TODO: need change libccd to exploit spatial coherence
}
void setCachedGuess(const Vec3f& guess) const
{
// TODO: need change libccd to exploit spatial coherence
}
Vec3f getCachedGuess() const
{
return Vec3f(-1, 0, 0);
}
/// @brief maximum number of iterations used in GJK algorithm for collision
unsigned int max_collision_iterations;
/// @brief maximum number of iterations used in GJK algorithm for distance
unsigned int max_distance_iterations;
/// @brief the threshold used in GJK algorithm to stop collision iteration
FCL_REAL collision_tolerance;
/// @brief the threshold used in GJK algorithm to stop distance iteration
FCL_REAL distance_tolerance;
};
template<typename S1, typename S2>
bool GJKSolver_libccd::shapeIntersect(const S1& s1, const Transform3f& tf1,
const S2& s2, const Transform3f& tf2,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const
{
bool res;
if (contact_points || penetration_depth || normal)
{
std::vector<ContactPoint> contacts;
res = shapeIntersect(s1, tf1, s2, tf2, &contacts);
if (!contacts.empty())
{
// Get the deepest contact point
const ContactPoint& maxDepthContact = *std::max_element(contacts.begin(), contacts.end(), comparePenDepth);
if (contact_points)
*contact_points = maxDepthContact.pos;
if (penetration_depth)
*penetration_depth = maxDepthContact.penetration_depth;
if (normal)
*normal = maxDepthContact.normal;
}
}
else
{
res = shapeIntersect(s1, tf1, s2, tf2, NULL);
}
return res;
}
/// @brief Fast implementation for sphere-capsule collision
template<>
bool GJKSolver_libccd::shapeIntersect<Sphere, Capsule>(const Sphere& s1, const Transform3f& tf1,
const Capsule& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_libccd::shapeIntersect<Capsule, Sphere>(const Capsule &s1, const Transform3f& tf1,
const Sphere &s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
/// @brief Fast implementation for sphere-sphere collision
template<>
bool GJKSolver_libccd::shapeIntersect<Sphere, Sphere>(const Sphere& s1, const Transform3f& tf1,
const Sphere& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
/// @brief Fast implementation for box-box collision
template<>
bool GJKSolver_libccd::shapeIntersect<Box, Box>(const Box& s1, const Transform3f& tf1,
const Box& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_libccd::shapeIntersect<Sphere, Halfspace>(const Sphere& s1, const Transform3f& tf1,
const Halfspace& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_libccd::shapeIntersect<Halfspace, Sphere>(const Halfspace& s1, const Transform3f& tf1,
const Sphere& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_libccd::shapeIntersect<Ellipsoid, Halfspace>(const Ellipsoid& s1, const Transform3f& tf1,
const Halfspace& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_libccd::shapeIntersect<Halfspace, Ellipsoid>(const Halfspace& s1, const Transform3f& tf1,
const Ellipsoid& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_libccd::shapeIntersect<Box, Halfspace>(const Box& s1, const Transform3f& tf1,
const Halfspace& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_libccd::shapeIntersect<Halfspace, Box>(const Halfspace& s1, const Transform3f& tf1,
const Box& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_libccd::shapeIntersect<Capsule, Halfspace>(const Capsule& s1, const Transform3f& tf1,
const Halfspace& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_libccd::shapeIntersect<Halfspace, Capsule>(const Halfspace& s1, const Transform3f& tf1,
const Capsule& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_libccd::shapeIntersect<Cylinder, Halfspace>(const Cylinder& s1, const Transform3f& tf1,
const Halfspace& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_libccd::shapeIntersect<Halfspace, Cylinder>(const Halfspace& s1, const Transform3f& tf1,
const Cylinder& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_libccd::shapeIntersect<Cone, Halfspace>(const Cone& s1, const Transform3f& tf1,
const Halfspace& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_libccd::shapeIntersect<Halfspace, Cone>(const Halfspace& s1, const Transform3f& tf1,
const Cone& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_libccd::shapeIntersect<Halfspace, Halfspace>(const Halfspace& s1, const Transform3f& tf1,
const Halfspace& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_libccd::shapeIntersect<Plane, Halfspace>(const Plane& s1, const Transform3f& tf1,
const Halfspace& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_libccd::shapeIntersect<Halfspace, Plane>(const Halfspace& s1, const Transform3f& tf1,
const Plane& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_libccd::shapeIntersect<Sphere, Plane>(const Sphere& s1, const Transform3f& tf1,
const Plane& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_libccd::shapeIntersect<Plane, Sphere>(const Plane& s1, const Transform3f& tf1,
const Sphere& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_libccd::shapeIntersect<Ellipsoid, Plane>(const Ellipsoid& s1, const Transform3f& tf1,
const Plane& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_libccd::shapeIntersect<Plane, Ellipsoid>(const Plane& s1, const Transform3f& tf1,
const Ellipsoid& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_libccd::shapeIntersect<Box, Plane>(const Box& s1, const Transform3f& tf1,
const Plane& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_libccd::shapeIntersect<Plane, Box>(const Plane& s1, const Transform3f& tf1,
const Box& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_libccd::shapeIntersect<Capsule, Plane>(const Capsule& s1, const Transform3f& tf1,
const Plane& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_libccd::shapeIntersect<Plane, Capsule>(const Plane& s1, const Transform3f& tf1,
const Capsule& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_libccd::shapeIntersect<Cylinder, Plane>(const Cylinder& s1, const Transform3f& tf1,
const Plane& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_libccd::shapeIntersect<Plane, Cylinder>(const Plane& s1, const Transform3f& tf1,
const Cylinder& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_libccd::shapeIntersect<Cone, Plane>(const Cone& s1, const Transform3f& tf1,
const Plane& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_libccd::shapeIntersect<Plane, Cone>(const Plane& s1, const Transform3f& tf1,
const Cone& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_libccd::shapeIntersect<Plane, Plane>(const Plane& s1, const Transform3f& tf1,
const Plane& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
/// @brief Fast implementation for sphere-triangle collision
template<>
bool GJKSolver_libccd::shapeTriangleIntersect(const Sphere& s, const Transform3f& tf,
const Vec3f& P1, const Vec3f& P2, const Vec3f& P3, Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
/// @brief Fast implementation for sphere-triangle collision
template<>
bool GJKSolver_libccd::shapeTriangleIntersect(const Sphere& s, const Transform3f& tf1,
const Vec3f& P1, const Vec3f& P2, const Vec3f& P3, const Transform3f& tf2, Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
template<>
bool GJKSolver_libccd::shapeTriangleIntersect(const Halfspace& s, const Transform3f& tf1,
const Vec3f& P1, const Vec3f& P2, const Vec3f& P3, const Transform3f& tf2, Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
template<>
bool GJKSolver_libccd::shapeTriangleIntersect(const Plane& s, const Transform3f& tf1,
const Vec3f& P1, const Vec3f& P2, const Vec3f& P3, const Transform3f& tf2, Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
/// @brief Fast implementation for sphere-capsule distance
template<>
bool GJKSolver_libccd::shapeDistance<Sphere, Capsule>(const Sphere& s1, const Transform3f& tf1,
const Capsule& s2, const Transform3f& tf2,
FCL_REAL* dist, Vec3f* p1, Vec3f* p2) const;
template<>
bool GJKSolver_libccd::shapeDistance<Capsule, Sphere>(const Capsule& s1, const Transform3f& tf1,
const Sphere& s2, const Transform3f& tf2,
FCL_REAL* dist, Vec3f* p1, Vec3f* p2) const;
/// @brief Fast implementation for sphere-sphere distance
template<>
bool GJKSolver_libccd::shapeDistance<Sphere, Sphere>(const Sphere& s1, const Transform3f& tf1,
const Sphere& s2, const Transform3f& tf2,
FCL_REAL* dist, Vec3f* p1, Vec3f* p2) const;
// @brief Computation of the distance result for capsule capsule. Closest points are based on two line-segments.
template<>
bool GJKSolver_libccd::shapeDistance<Capsule, Capsule>(const Capsule& s1, const Transform3f& tf1,
const Capsule& s2, const Transform3f& tf2,
FCL_REAL* dist, Vec3f* p1, Vec3f* p2) const;
/// @brief Fast implementation for sphere-triangle distance
template<>
bool GJKSolver_libccd::shapeTriangleDistance<Sphere>(const Sphere& s, const Transform3f& tf,
const Vec3f& P1, const Vec3f& P2, const Vec3f& P3,
FCL_REAL* dist, Vec3f* p1, Vec3f* p2) const;
/// @brief Fast implementation for sphere-triangle distance
template<>
bool GJKSolver_libccd::shapeTriangleDistance<Sphere>(const Sphere& s, const Transform3f& tf1,
const Vec3f& P1, const Vec3f& P2, const Vec3f& P3, const Transform3f& tf2,
FCL_REAL* dist, Vec3f* p1, Vec3f* p2) const;
/// @brief collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the GJK in bullet)
struct GJKSolver_indep
{
/// @brief intersection checking between two shapes
/// @deprecated use shapeIntersect(const S1&, const Transform3f&, const S2&, const Transform3f&, std::vector<ContactPoint>*) const
template<typename S1, typename S2>
FCL_DEPRECATED
bool shapeIntersect(const S1& s1, const Transform3f& tf1,
const S2& s2, const Transform3f& tf2,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
/// @brief intersection checking between two shapes
template<typename S1, typename S2>
bool shapeIntersect(const S1& s1, const Transform3f& tf1,
const S2& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts = NULL) const
{
Vec3f guess(1, 0, 0);
if(enable_cached_guess) guess = cached_guess;
details::MinkowskiDiff shape;
shape.shapes[0] = &s1;
shape.shapes[1] = &s2;
shape.toshape1 = tf2.getRotation().transposeTimes(tf1.getRotation());
shape.toshape0 = tf1.inverseTimes(tf2);
details::GJK gjk(gjk_max_iterations, gjk_tolerance);
details::GJK::Status gjk_status = gjk.evaluate(shape, -guess);
if(enable_cached_guess) cached_guess = gjk.getGuessFromSimplex();
switch(gjk_status)
{
case details::GJK::Inside:
{
details::EPA epa(epa_max_face_num, epa_max_vertex_num, epa_max_iterations, epa_tolerance);
details::EPA::Status epa_status = epa.evaluate(gjk, -guess);
if(epa_status != details::EPA::Failed)
{
Vec3f w0;
for(size_t i = 0; i < epa.result.rank; ++i)
{
w0 += shape.support(epa.result.c[i]->d, 0) * epa.result.p[i];
}
if(contacts)
{
Vec3f normal = epa.normal;
Vec3f point = tf1.transform(w0 - epa.normal*(epa.depth *0.5));
FCL_REAL depth = -epa.depth;
contacts->push_back(ContactPoint(normal, point, depth));
}
return true;
}
else return false;
}
break;
default:
;
}
return false;
}
/// @brief intersection checking between one shape and a triangle
template<typename S>
bool shapeTriangleIntersect(const S& s, const Transform3f& tf,
const Vec3f& P1, const Vec3f& P2, const Vec3f& P3,
Vec3f* contact_points = NULL, FCL_REAL* penetration_depth = NULL, Vec3f* normal = NULL) const
{
TriangleP tri(P1, P2, P3);
Vec3f guess(1, 0, 0);
if(enable_cached_guess) guess = cached_guess;
details::MinkowskiDiff shape;
shape.shapes[0] = &s;
shape.shapes[1] = &tri;
shape.toshape1 = tf.getRotation();
shape.toshape0 = inverse(tf);
details::GJK gjk(gjk_max_iterations, gjk_tolerance);
details::GJK::Status gjk_status = gjk.evaluate(shape, -guess);
if(enable_cached_guess) cached_guess = gjk.getGuessFromSimplex();
switch(gjk_status)
{
case details::GJK::Inside:
{
details::EPA epa(epa_max_face_num, epa_max_vertex_num, epa_max_iterations, epa_tolerance);
details::EPA::Status epa_status = epa.evaluate(gjk, -guess);
if(epa_status != details::EPA::Failed)
{
Vec3f w0;
for(size_t i = 0; i < epa.result.rank; ++i)
{
w0 += shape.support(epa.result.c[i]->d, 0) * epa.result.p[i];
}
if(penetration_depth) *penetration_depth = -epa.depth;
if(normal) *normal = -epa.normal;
if(contact_points) *contact_points = tf.transform(w0 - epa.normal*(epa.depth *0.5));
return true;
}
else return false;
}
break;
default:
;
}
return false;
}
//// @brief intersection checking between one shape and a triangle with transformation
template<typename S>
bool shapeTriangleIntersect(const S& s, const Transform3f& tf1,
const Vec3f& P1, const Vec3f& P2, const Vec3f& P3, const Transform3f& tf2,
Vec3f* contact_points = NULL, FCL_REAL* penetration_depth = NULL, Vec3f* normal = NULL) const
{
TriangleP tri(P1, P2, P3);
Vec3f guess(1, 0, 0);
if(enable_cached_guess) guess = cached_guess;
details::MinkowskiDiff shape;
shape.shapes[0] = &s;
shape.shapes[1] = &tri;
shape.toshape1 = tf2.getRotation().transposeTimes(tf1.getRotation());
shape.toshape0 = tf1.inverseTimes(tf2);
details::GJK gjk(gjk_max_iterations, gjk_tolerance);
details::GJK::Status gjk_status = gjk.evaluate(shape, -guess);
if(enable_cached_guess) cached_guess = gjk.getGuessFromSimplex();
switch(gjk_status)
{
case details::GJK::Inside:
{
details::EPA epa(epa_max_face_num, epa_max_vertex_num, epa_max_iterations, epa_tolerance);
details::EPA::Status epa_status = epa.evaluate(gjk, -guess);
if(epa_status != details::EPA::Failed)
{
Vec3f w0;
for(size_t i = 0; i < epa.result.rank; ++i)
{
w0 += shape.support(epa.result.c[i]->d, 0) * epa.result.p[i];
}
if(penetration_depth) *penetration_depth = -epa.depth;
if(normal) *normal = -epa.normal;
if(contact_points) *contact_points = tf1.transform(w0 - epa.normal*(epa.depth *0.5));
return true;
}
else return false;
}
break;
default:
;
}
return false;
}
/// @brief distance computation between two shapes
template<typename S1, typename S2>
bool shapeDistance(const S1& s1, const Transform3f& tf1,
const S2& s2, const Transform3f& tf2,
FCL_REAL* distance = NULL, Vec3f* p1 = NULL, Vec3f* p2 = NULL) const
{
Vec3f guess(1, 0, 0);
if(enable_cached_guess) guess = cached_guess;
details::MinkowskiDiff shape;
shape.shapes[0] = &s1;
shape.shapes[1] = &s2;
shape.toshape1 = tf2.getRotation().transposeTimes(tf1.getRotation());
shape.toshape0 = tf1.inverseTimes(tf2);
details::GJK gjk(gjk_max_iterations, gjk_tolerance);
details::GJK::Status gjk_status = gjk.evaluate(shape, -guess);
if(enable_cached_guess) cached_guess = gjk.getGuessFromSimplex();
if(gjk_status == details::GJK::Valid)
{
Vec3f w0, w1;
for(size_t i = 0; i < gjk.getSimplex()->rank; ++i)
{
FCL_REAL p = gjk.getSimplex()->p[i];
w0 += shape.support(gjk.getSimplex()->c[i]->d, 0) * p;
w1 += shape.support(-gjk.getSimplex()->c[i]->d, 1) * p;
}
if(distance) *distance = (w0 - w1).length();
if(p1) *p1 = w0;
if(p2) *p2 = shape.toshape0.transform(w1);
return true;
}
else
{
if(distance) *distance = -1;
return false;
}
}
/// @brief distance computation between one shape and a triangle
template<typename S>
bool shapeTriangleDistance(const S& s, const Transform3f& tf,
const Vec3f& P1, const Vec3f& P2, const Vec3f& P3,
FCL_REAL* distance = NULL, Vec3f* p1 = NULL, Vec3f* p2 = NULL) const
{
TriangleP tri(P1, P2, P3);
Vec3f guess(1, 0, 0);
if(enable_cached_guess) guess = cached_guess;
details::MinkowskiDiff shape;
shape.shapes[0] = &s;
shape.shapes[1] = &tri;
shape.toshape1 = tf.getRotation();
shape.toshape0 = inverse(tf);
details::GJK gjk(gjk_max_iterations, gjk_tolerance);
details::GJK::Status gjk_status = gjk.evaluate(shape, -guess);
if(enable_cached_guess) cached_guess = gjk.getGuessFromSimplex();
if(gjk_status == details::GJK::Valid)
{
Vec3f w0, w1;
for(size_t i = 0; i < gjk.getSimplex()->rank; ++i)
{
FCL_REAL p = gjk.getSimplex()->p[i];
w0 += shape.support(gjk.getSimplex()->c[i]->d, 0) * p;
w1 += shape.support(-gjk.getSimplex()->c[i]->d, 1) * p;
}
if(distance) *distance = (w0 - w1).length();
if(p1) *p1 = w0;
if(p2) *p2 = shape.toshape0.transform(w1);
return true;
}
else
{
if(distance) *distance = -1;
return false;
}
}
/// @brief distance computation between one shape and a triangle with transformation
template<typename S>
bool shapeTriangleDistance(const S& s, const Transform3f& tf1,
const Vec3f& P1, const Vec3f& P2, const Vec3f& P3, const Transform3f& tf2,
FCL_REAL* distance = NULL, Vec3f* p1 = NULL, Vec3f* p2 = NULL) const
{
TriangleP tri(P1, P2, P3);
Vec3f guess(1, 0, 0);
if(enable_cached_guess) guess = cached_guess;
details::MinkowskiDiff shape;
shape.shapes[0] = &s;
shape.shapes[1] = &tri;
shape.toshape1 = tf2.getRotation().transposeTimes(tf1.getRotation());
shape.toshape0 = tf1.inverseTimes(tf2);
details::GJK gjk(gjk_max_iterations, gjk_tolerance);
details::GJK::Status gjk_status = gjk.evaluate(shape, -guess);
if(enable_cached_guess) cached_guess = gjk.getGuessFromSimplex();
if(gjk_status == details::GJK::Valid)
{
Vec3f w0, w1;
for(size_t i = 0; i < gjk.getSimplex()->rank; ++i)
{
FCL_REAL p = gjk.getSimplex()->p[i];
w0 += shape.support(gjk.getSimplex()->c[i]->d, 0) * p;
w1 += shape.support(-gjk.getSimplex()->c[i]->d, 1) * p;
}
if(distance) *distance = (w0 - w1).length();
if(p1) *p1 = w0;
if(p2) *p2 = shape.toshape0.transform(w1);
return true;
}
else
{
if(distance) *distance = -1;
return false;
}
}
/// @brief default setting for GJK algorithm
GJKSolver_indep()
{
gjk_max_iterations = 128;
gjk_tolerance = 1e-6;
epa_max_face_num = 128;
epa_max_vertex_num = 64;
epa_max_iterations = 255;
epa_tolerance = 1e-6;
enable_cached_guess = false;
cached_guess = Vec3f(1, 0, 0);
}
void enableCachedGuess(bool if_enable) const
{
enable_cached_guess = if_enable;
}
void setCachedGuess(const Vec3f& guess) const
{
cached_guess = guess;
}
Vec3f getCachedGuess() const
{
return cached_guess;
}
/// @brief maximum number of simplex face used in EPA algorithm
unsigned int epa_max_face_num;
/// @brief maximum number of simplex vertex used in EPA algorithm
unsigned int epa_max_vertex_num;
/// @brief maximum number of iterations used for EPA iterations
unsigned int epa_max_iterations;
/// @brief the threshold used in EPA to stop iteration
FCL_REAL epa_tolerance;
/// @brief the threshold used in GJK to stop iteration
FCL_REAL gjk_tolerance;
/// @brief maximum number of iterations used for GJK iterations
FCL_REAL gjk_max_iterations;
/// @brief Whether smart guess can be provided
mutable bool enable_cached_guess;
/// @brief smart guess
mutable Vec3f cached_guess;
};
template<typename S1, typename S2>
bool GJKSolver_indep::shapeIntersect(const S1& s1, const Transform3f& tf1,
const S2& s2, const Transform3f& tf2,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const
{
bool res;
if (contact_points || penetration_depth || normal)
{
std::vector<ContactPoint> contacts;
res = shapeIntersect(s1, tf1, s2, tf2, &contacts);
if (!contacts.empty())
{
// Get the deepest contact point
const ContactPoint& maxDepthContact = *std::max_element(contacts.begin(), contacts.end(), comparePenDepth);
if (contact_points)
*contact_points = maxDepthContact.pos;
if (penetration_depth)
*penetration_depth = maxDepthContact.penetration_depth;
if (normal)
*normal = maxDepthContact.normal;
}
}
else
{
res = shapeIntersect(s1, tf1, s2, tf2, NULL);
}
return res;
}
/// @brief Fast implementation for sphere-capsule collision
template<>
bool GJKSolver_indep::shapeIntersect<Sphere, Capsule>(const Sphere &s1, const Transform3f& tf1,
const Capsule &s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_indep::shapeIntersect<Capsule, Sphere>(const Capsule &s1, const Transform3f& tf1,
const Sphere &s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
/// @brief Fast implementation for sphere-sphere collision
template<>
bool GJKSolver_indep::shapeIntersect<Sphere, Sphere>(const Sphere& s1, const Transform3f& tf1,
const Sphere& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
/// @brief Fast implementation for box-box collision
template<>
bool GJKSolver_indep::shapeIntersect<Box, Box>(const Box& s1, const Transform3f& tf1,
const Box& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_indep::shapeIntersect<Sphere, Halfspace>(const Sphere& s1, const Transform3f& tf1,
const Halfspace& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_indep::shapeIntersect<Halfspace, Sphere>(const Halfspace& s1, const Transform3f& tf1,
const Sphere& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_indep::shapeIntersect<Ellipsoid, Halfspace>(const Ellipsoid& s1, const Transform3f& tf1,
const Halfspace& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_indep::shapeIntersect<Halfspace, Ellipsoid>(const Halfspace& s1, const Transform3f& tf1,
const Ellipsoid& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_indep::shapeIntersect<Box, Halfspace>(const Box& s1, const Transform3f& tf1,
const Halfspace& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_indep::shapeIntersect<Halfspace, Box>(const Halfspace& s1, const Transform3f& tf1,
const Box& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_indep::shapeIntersect<Capsule, Halfspace>(const Capsule& s1, const Transform3f& tf1,
const Halfspace& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_indep::shapeIntersect<Halfspace, Capsule>(const Halfspace& s1, const Transform3f& tf1,
const Capsule& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_indep::shapeIntersect<Cylinder, Halfspace>(const Cylinder& s1, const Transform3f& tf1,
const Halfspace& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_indep::shapeIntersect<Halfspace, Cylinder>(const Halfspace& s1, const Transform3f& tf1,
const Cylinder& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_indep::shapeIntersect<Cone, Halfspace>(const Cone& s1, const Transform3f& tf1,
const Halfspace& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_indep::shapeIntersect<Halfspace, Cone>(const Halfspace& s1, const Transform3f& tf1,
const Cone& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_indep::shapeIntersect<Halfspace, Halfspace>(const Halfspace& s1, const Transform3f& tf1,
const Halfspace& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_indep::shapeIntersect<Plane, Halfspace>(const Plane& s1, const Transform3f& tf1,
const Halfspace& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_indep::shapeIntersect<Halfspace, Plane>(const Halfspace& s1, const Transform3f& tf1,
const Plane& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_indep::shapeIntersect<Sphere, Plane>(const Sphere& s1, const Transform3f& tf1,
const Plane& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_indep::shapeIntersect<Plane, Sphere>(const Plane& s1, const Transform3f& tf1,
const Sphere& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_indep::shapeIntersect<Ellipsoid, Plane>(const Ellipsoid& s1, const Transform3f& tf1,
const Plane& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_indep::shapeIntersect<Plane, Ellipsoid>(const Plane& s1, const Transform3f& tf1,
const Ellipsoid& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_indep::shapeIntersect<Box, Plane>(const Box& s1, const Transform3f& tf1,
const Plane& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_indep::shapeIntersect<Plane, Box>(const Plane& s1, const Transform3f& tf1,
const Box& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_indep::shapeIntersect<Capsule, Plane>(const Capsule& s1, const Transform3f& tf1,
const Plane& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_indep::shapeIntersect<Plane, Capsule>(const Plane& s1, const Transform3f& tf1,
const Capsule& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_indep::shapeIntersect<Cylinder, Plane>(const Cylinder& s1, const Transform3f& tf1,
const Plane& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_indep::shapeIntersect<Plane, Cylinder>(const Plane& s1, const Transform3f& tf1,
const Cylinder& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_indep::shapeIntersect<Cone, Plane>(const Cone& s1, const Transform3f& tf1,
const Plane& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_indep::shapeIntersect<Plane, Cone>(const Plane& s1, const Transform3f& tf1,
const Cone& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
template<>
bool GJKSolver_indep::shapeIntersect<Plane, Plane>(const Plane& s1, const Transform3f& tf1,
const Plane& s2, const Transform3f& tf2,
std::vector<ContactPoint>* contacts) const;
/// @brief Fast implementation for sphere-triangle collision
template<>
bool GJKSolver_indep::shapeTriangleIntersect(const Sphere& s, const Transform3f& tf,
const Vec3f& P1, const Vec3f& P2, const Vec3f& P3, Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
/// @brief Fast implementation for sphere-triangle collision
template<>
bool GJKSolver_indep::shapeTriangleIntersect(const Sphere& s, const Transform3f& tf1,
const Vec3f& P1, const Vec3f& P2, const Vec3f& P3, const Transform3f& tf2, Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
template<>
bool GJKSolver_indep::shapeTriangleIntersect(const Halfspace& s, const Transform3f& tf1,
const Vec3f& P1, const Vec3f& P2, const Vec3f& P3, const Transform3f& tf2, Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
template<>
bool GJKSolver_indep::shapeTriangleIntersect(const Plane& s, const Transform3f& tf1,
const Vec3f& P1, const Vec3f& P2, const Vec3f& P3, const Transform3f& tf2, Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
/// @brief Fast implementation for sphere-capsule distance
template<>
bool GJKSolver_indep::shapeDistance<Sphere, Capsule>(const Sphere& s1, const Transform3f& tf1,
const Capsule& s2, const Transform3f& tf2,
FCL_REAL* dist, Vec3f* p1, Vec3f* p2) const;
template<>
bool GJKSolver_indep::shapeDistance<Capsule, Sphere>(const Capsule& s1, const Transform3f& tf1,
const Sphere& s2, const Transform3f& tf2,
FCL_REAL* dist, Vec3f* p1, Vec3f* p2) const;
/// @brief Fast implementation for sphere-sphere distance
template<>
bool GJKSolver_indep::shapeDistance<Sphere, Sphere>(const Sphere& s1, const Transform3f& tf1,
const Sphere& s2, const Transform3f& tf2,
FCL_REAL* dist, Vec3f* p1, Vec3f* p2) const;
// @brief Computation of the distance result for capsule capsule. Closest points are based on two line-segments.
template<>
bool GJKSolver_indep::shapeDistance<Capsule, Capsule>(const Capsule& s1, const Transform3f& tf1,
const Capsule& s2, const Transform3f& tf2,
FCL_REAL* dist, Vec3f* p1, Vec3f* p2) const;
/// @brief Fast implementation for sphere-triangle distance
template<>
bool GJKSolver_indep::shapeTriangleDistance<Sphere>(const Sphere& s, const Transform3f& tf,
const Vec3f& P1, const Vec3f& P2, const Vec3f& P3,
FCL_REAL* dist, Vec3f* p1, Vec3f* p2) const;
/// @brief Fast implementation for sphere-triangle distance
template<>
bool GJKSolver_indep::shapeTriangleDistance<Sphere>(const Sphere& s, const Transform3f& tf1,
const Vec3f& P1, const Vec3f& P2, const Vec3f& P3, const Transform3f& tf2,
FCL_REAL* dist, Vec3f* p1, Vec3f* p2) const;
}
#endif
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