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  • gsaurel/hpp-fcl
  • coal-library/coal
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doc/images/coal-vs-the-rest-of-the-world.png 0 → 100644
View file @ 8d47200c
doc/images/coal-vs-the-rest-of-the-world.png

95.9 KiB

doc/mesh-mesh-collision-call.dot
View file @ 8d47200c
......@@ -4,35 +4,35 @@ digraph CD {
compound=true
size = 11.7
"std::size_t BVHCollide(const CollisionGeometry* o1,\nconst Transform3f& tf1, const CollisionGeometry* o2,\nconst Transform3f& tf2, const CollisionRequest& request,\nCollisionResult& result)" [shape = box]
"bool OBB::overlap(const OBB& other,\nconst CollisionRequest& request,\nFCL_REAL& sqrDistLowerBound) const" [shape = box]
"bool OBBRSS::overlap(const OBBRSS& other,\nconst CollisionRequest& request,\nFCL_REAL& sqrDistLowerBound) const" [shape = box]
"bool overlap(const Matrix3f& R0, const Vec3f& T0,\n const OBB& b1, const OBB& b2,\n const CollisionRequest& request, FCL_REAL& sqrDistLowerBound)" [shape = box]
"bool overlap(const Matrix3f& R0, const Vec3f& T0,\n const OBBRSS& b1, const OBBRSS& b2,\nconst CollisionRequest& request, FCL_REAL& sqrDistLowerBound)" [shape = box]
"bool BVNode::overlap(const BVNode& other,\nconst CollisionRequest& request,\nFCL_REAL& sqrDistLowerBound) const" [shape = box]
"bool BVHCollisionTraversalNode::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n -request\n - result" [shape = box]
"bool MeshCollisionTraversalNode<T_BVH>::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n -request\n - result" [shape = box]
"std::size_t BVHCollide(const CollisionGeometry* o1,\nconst Transform3s& tf1, const CollisionGeometry* o2,\nconst Transform3s& tf2, const CollisionRequest& request,\nCollisionResult& result)" [shape = box]
"bool OBB::overlap(const OBB& other,\nconst CollisionRequest& request,\nCoalScalar& sqrDistLowerBound) const" [shape = box]
"bool OBBRSS::overlap(const OBBRSS& other,\nconst CollisionRequest& request,\nCoalScalar& sqrDistLowerBound) const" [shape = box]
"bool overlap(const Matrix3s& R0, const Vec3s& T0,\n const OBB& b1, const OBB& b2,\n const CollisionRequest& request, CoalScalar& sqrDistLowerBound)" [shape = box]
"bool overlap(const Matrix3s& R0, const Vec3s& T0,\n const OBBRSS& b1, const OBBRSS& b2,\nconst CollisionRequest& request, CoalScalar& sqrDistLowerBound)" [shape = box]
"bool BVNode::overlap(const BVNode& other,\nconst CollisionRequest& request,\nCoalScalar& sqrDistLowerBound) const" [shape = box]
"bool BVHCollisionTraversalNode::BVTesting\n(int b1, int b2, CoalScalar& sqrDistLowerBound) const\n -request\n - result" [shape = box]
"bool MeshCollisionTraversalNode<T_BVH>::BVTesting\n(int b1, int b2, CoalScalar& sqrDistLowerBound) const\n -request\n - result" [shape = box]
"void collide(MeshCollisionTraversalNode<T_BVH>* node,\n const CollisionRequest& request, CollisionResult& result,\nBVHFrontList* front_list)" [shape = box]
"void collisionRecurse(MeshCollisionTraversalNode<T_BVH>* node,\n int b1, int b2, BVHFrontList* front_list, FCL_REAL& sqrDistLowerBound)" [shape = box]
"void collisionRecurse(MeshCollisionTraversalNode<T_BVH>* node,\n int b1, int b2, BVHFrontList* front_list, CoalScalar& sqrDistLowerBound)" [shape = box]
"void propagateBVHFrontListCollisionRecurse(MeshCollisionTraversalNode<T_BVH>* node\n, BVHFrontList* front_list, const CollisionRequest& request, CollisionResult& result)" [shape = box]
"bool MeshCollisionTraversalNodeOBBRSS::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n -request\n - result" [shape = box]
"MeshCollisionTraversalNode<T_BVH>::leafTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n -request\n - result" [shape = box]
"bool obbDisjointAndLowerBoundDistance\n(const Matrix3f& B, const Vec3f& T, const Vec3f& a, const Vec3f& b,\n FCL_REAL& squaredLowerBoundDistance)" [shape = box]
"bool MeshCollisionTraversalNodeOBBRSS::BVTesting\n(int b1, int b2, CoalScalar& sqrDistLowerBound) const\n -request\n - result" [shape = box]
"MeshCollisionTraversalNode<T_BVH>::leafTesting\n(int b1, int b2, CoalScalar& sqrDistLowerBound) const\n -request\n - result" [shape = box]
"bool obbDisjointAndLowerBoundDistance\n(const Matrix3s& B, const Vec3s& T, const Vec3s& a, const Vec3s& b,\n CoalScalar& squaredLowerBoundDistance)" [shape = box]
"std::size_t BVHCollide(const CollisionGeometry* o1,\nconst Transform3f& tf1, const CollisionGeometry* o2,\nconst Transform3f& tf2, const CollisionRequest& request,\nCollisionResult& result)" -> "void collide(MeshCollisionTraversalNode<T_BVH>* node,\n const CollisionRequest& request, CollisionResult& result,\nBVHFrontList* front_list)"
"bool OBB::overlap(const OBB& other,\nconst CollisionRequest& request,\nFCL_REAL& sqrDistLowerBound) const" -> "bool obbDisjointAndLowerBoundDistance\n(const Matrix3f& B, const Vec3f& T, const Vec3f& a, const Vec3f& b,\n FCL_REAL& squaredLowerBoundDistance)"
"bool overlap(const Matrix3f& R0, const Vec3f& T0,\n const OBB& b1, const OBB& b2,\n const CollisionRequest& request, FCL_REAL& sqrDistLowerBound)" -> "bool obbDisjointAndLowerBoundDistance\n(const Matrix3f& B, const Vec3f& T, const Vec3f& a, const Vec3f& b,\n FCL_REAL& squaredLowerBoundDistance)"
"bool overlap(const Matrix3f& R0, const Vec3f& T0,\n const OBBRSS& b1, const OBBRSS& b2,\nconst CollisionRequest& request, FCL_REAL& sqrDistLowerBound)" -> "bool overlap(const Matrix3f& R0, const Vec3f& T0,\n const OBB& b1, const OBB& b2,\n const CollisionRequest& request, FCL_REAL& sqrDistLowerBound)"
"std::size_t BVHCollide(const CollisionGeometry* o1,\nconst Transform3s& tf1, const CollisionGeometry* o2,\nconst Transform3s& tf2, const CollisionRequest& request,\nCollisionResult& result)" -> "void collide(MeshCollisionTraversalNode<T_BVH>* node,\n const CollisionRequest& request, CollisionResult& result,\nBVHFrontList* front_list)"
"bool OBB::overlap(const OBB& other,\nconst CollisionRequest& request,\nCoalScalar& sqrDistLowerBound) const" -> "bool obbDisjointAndLowerBoundDistance\n(const Matrix3s& B, const Vec3s& T, const Vec3s& a, const Vec3s& b,\n CoalScalar& squaredLowerBoundDistance)"
"bool overlap(const Matrix3s& R0, const Vec3s& T0,\n const OBB& b1, const OBB& b2,\n const CollisionRequest& request, CoalScalar& sqrDistLowerBound)" -> "bool obbDisjointAndLowerBoundDistance\n(const Matrix3s& B, const Vec3s& T, const Vec3s& a, const Vec3s& b,\n CoalScalar& squaredLowerBoundDistance)"
"bool overlap(const Matrix3s& R0, const Vec3s& T0,\n const OBBRSS& b1, const OBBRSS& b2,\nconst CollisionRequest& request, CoalScalar& sqrDistLowerBound)" -> "bool overlap(const Matrix3s& R0, const Vec3s& T0,\n const OBB& b1, const OBB& b2,\n const CollisionRequest& request, CoalScalar& sqrDistLowerBound)"
"void collide(MeshCollisionTraversalNode<T_BVH>* node,\n const CollisionRequest& request, CollisionResult& result,\nBVHFrontList* front_list)"-> "void propagateBVHFrontListCollisionRecurse(MeshCollisionTraversalNode<T_BVH>* node\n, BVHFrontList* front_list, const CollisionRequest& request, CollisionResult& result)"
"void collide(MeshCollisionTraversalNode<T_BVH>* node,\n const CollisionRequest& request, CollisionResult& result,\nBVHFrontList* front_list)" -> "void collisionRecurse(MeshCollisionTraversalNode<T_BVH>* node,\n int b1, int b2, BVHFrontList* front_list, FCL_REAL& sqrDistLowerBound)"
"void collisionRecurse(MeshCollisionTraversalNode<T_BVH>* node,\n int b1, int b2, BVHFrontList* front_list, FCL_REAL& sqrDistLowerBound)" -> "bool MeshCollisionTraversalNode<T_BVH>::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n -request\n - result"
"void collisionRecurse(MeshCollisionTraversalNode<T_BVH>* node,\n int b1, int b2, BVHFrontList* front_list, FCL_REAL& sqrDistLowerBound)" -> "MeshCollisionTraversalNode<T_BVH>::leafTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n -request\n - result"
"void propagateBVHFrontListCollisionRecurse(MeshCollisionTraversalNode<T_BVH>* node\n, BVHFrontList* front_list, const CollisionRequest& request, CollisionResult& result)" -> "void collisionRecurse(MeshCollisionTraversalNode<T_BVH>* node,\n int b1, int b2, BVHFrontList* front_list, FCL_REAL& sqrDistLowerBound)"
"void propagateBVHFrontListCollisionRecurse(MeshCollisionTraversalNode<T_BVH>* node\n, BVHFrontList* front_list, const CollisionRequest& request, CollisionResult& result)" -> "bool MeshCollisionTraversalNode<T_BVH>::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n -request\n - result"
"bool MeshCollisionTraversalNodeOBBRSS::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n -request\n - result" -> "bool overlap(const Matrix3f& R0, const Vec3f& T0,\n const OBBRSS& b1, const OBBRSS& b2,\nconst CollisionRequest& request, FCL_REAL& sqrDistLowerBound)"
"bool MeshCollisionTraversalNode<T_BVH>::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n -request\n - result" -> "bool MeshCollisionTraversalNodeOBBRSS::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n -request\n - result" [color=red]
"bool MeshCollisionTraversalNode<T_BVH>::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n -request\n - result" -> "bool BVHCollisionTraversalNode::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n -request\n - result" [color = red]
"bool OBBRSS::overlap(const OBBRSS& other,\nconst CollisionRequest& request,\nFCL_REAL& sqrDistLowerBound) const" -> "bool OBB::overlap(const OBB& other,\nconst CollisionRequest& request,\nFCL_REAL& sqrDistLowerBound) const"
"bool BVNode::overlap(const BVNode& other,\nconst CollisionRequest& request,\nFCL_REAL& sqrDistLowerBound) const" -> "bool OBB::overlap(const OBB& other,\nconst CollisionRequest& request,\nFCL_REAL& sqrDistLowerBound) const"
"bool BVHCollisionTraversalNode::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\n -request\n - result" -> "bool BVNode::overlap(const BVNode& other,\nconst CollisionRequest& request,\nFCL_REAL& sqrDistLowerBound) const"
"void collide(MeshCollisionTraversalNode<T_BVH>* node,\n const CollisionRequest& request, CollisionResult& result,\nBVHFrontList* front_list)" -> "void collisionRecurse(MeshCollisionTraversalNode<T_BVH>* node,\n int b1, int b2, BVHFrontList* front_list, CoalScalar& sqrDistLowerBound)"
"void collisionRecurse(MeshCollisionTraversalNode<T_BVH>* node,\n int b1, int b2, BVHFrontList* front_list, CoalScalar& sqrDistLowerBound)" -> "bool MeshCollisionTraversalNode<T_BVH>::BVTesting\n(int b1, int b2, CoalScalar& sqrDistLowerBound) const\n -request\n - result"
"void collisionRecurse(MeshCollisionTraversalNode<T_BVH>* node,\n int b1, int b2, BVHFrontList* front_list, CoalScalar& sqrDistLowerBound)" -> "MeshCollisionTraversalNode<T_BVH>::leafTesting\n(int b1, int b2, CoalScalar& sqrDistLowerBound) const\n -request\n - result"
"void propagateBVHFrontListCollisionRecurse(MeshCollisionTraversalNode<T_BVH>* node\n, BVHFrontList* front_list, const CollisionRequest& request, CollisionResult& result)" -> "void collisionRecurse(MeshCollisionTraversalNode<T_BVH>* node,\n int b1, int b2, BVHFrontList* front_list, CoalScalar& sqrDistLowerBound)"
"void propagateBVHFrontListCollisionRecurse(MeshCollisionTraversalNode<T_BVH>* node\n, BVHFrontList* front_list, const CollisionRequest& request, CollisionResult& result)" -> "bool MeshCollisionTraversalNode<T_BVH>::BVTesting\n(int b1, int b2, CoalScalar& sqrDistLowerBound) const\n -request\n - result"
"bool MeshCollisionTraversalNodeOBBRSS::BVTesting\n(int b1, int b2, CoalScalar& sqrDistLowerBound) const\n -request\n - result" -> "bool overlap(const Matrix3s& R0, const Vec3s& T0,\n const OBBRSS& b1, const OBBRSS& b2,\nconst CollisionRequest& request, CoalScalar& sqrDistLowerBound)"
"bool MeshCollisionTraversalNode<T_BVH>::BVTesting\n(int b1, int b2, CoalScalar& sqrDistLowerBound) const\n -request\n - result" -> "bool MeshCollisionTraversalNodeOBBRSS::BVTesting\n(int b1, int b2, CoalScalar& sqrDistLowerBound) const\n -request\n - result" [color=red]
"bool MeshCollisionTraversalNode<T_BVH>::BVTesting\n(int b1, int b2, CoalScalar& sqrDistLowerBound) const\n -request\n - result" -> "bool BVHCollisionTraversalNode::BVTesting\n(int b1, int b2, CoalScalar& sqrDistLowerBound) const\n -request\n - result" [color = red]
"bool OBBRSS::overlap(const OBBRSS& other,\nconst CollisionRequest& request,\nCoalScalar& sqrDistLowerBound) const" -> "bool OBB::overlap(const OBB& other,\nconst CollisionRequest& request,\nCoalScalar& sqrDistLowerBound) const"
"bool BVNode::overlap(const BVNode& other,\nconst CollisionRequest& request,\nCoalScalar& sqrDistLowerBound) const" -> "bool OBB::overlap(const OBB& other,\nconst CollisionRequest& request,\nCoalScalar& sqrDistLowerBound) const"
"bool BVHCollisionTraversalNode::BVTesting\n(int b1, int b2, CoalScalar& sqrDistLowerBound) const\n -request\n - result" -> "bool BVNode::overlap(const BVNode& other,\nconst CollisionRequest& request,\nCoalScalar& sqrDistLowerBound) const"
}
\ No newline at end of file
doc/python/doxygen-boost.hh 0 → 100644
View file @ 8d47200c
#ifndef DOXYGEN_BOOST_DOC_HH
#define DOXYGEN_BOOST_DOC_HH
#ifndef DOXYGEN_DOC_HH
#error "You should have included doxygen.hh first."
#endif // DOXYGEN_DOC_HH
#include <boost/python.hpp>
namespace doxygen {
namespace visitor {
template <typename function_type,
typename policy_type = boost::python::default_call_policies>
struct member_func_impl : boost::python::def_visitor<
member_func_impl<function_type, policy_type> > {
member_func_impl(const char* n, const function_type& f)
: name(n), function(f) {}
member_func_impl(const char* n, const function_type& f, policy_type p)
: name(n), function(f), policy(p) {}
template <class classT>
inline void visit(classT& c) const {
// Either a boost::python::keyword<N> object or a void_ object
call(c, member_func_args(function));
}
template <class classT, std::size_t nkeywords>
inline void call(
classT& c, const boost::python::detail::keywords<nkeywords>& args) const {
c.def(name, function, member_func_doc(function), args, policy);
}
template <class classT>
inline void call(classT& c, const void_&) const {
c.def(name, function, member_func_doc(function), policy);
}
const char* name;
const function_type& function;
policy_type policy;
};
// TODO surprisingly, this does not work when defined here but it works when
// defined after the generated files are included.
template <typename function_type>
inline member_func_impl<function_type> member_func(
const char* name, const function_type& function) {
return member_func_impl<function_type>(name, function);
}
template <typename function_type, typename policy_type>
inline member_func_impl<function_type, policy_type> member_func(
const char* name, const function_type& function,
const policy_type& policy) {
return member_func_impl<function_type, policy_type>(name, function, policy);
}
#define DOXYGEN_DOC_DECLARE_INIT_VISITOR(z, nargs, unused) \
template <typename Class BOOST_PP_COMMA_IF(nargs) \
BOOST_PP_ENUM_PARAMS(nargs, class Arg)> \
struct init_##nargs##_impl \
: boost::python::def_visitor< \
init_##nargs##_impl<Class BOOST_PP_COMMA_IF(nargs) \
BOOST_PP_ENUM_PARAMS(nargs, Arg)> > { \
typedef constructor_##nargs##_impl<Class BOOST_PP_COMMA_IF(nargs) \
BOOST_PP_ENUM_PARAMS(nargs, Arg)> \
constructor; \
typedef boost::python::init<BOOST_PP_ENUM_PARAMS(nargs, Arg)> init_base; \
\
template <class classT> \
inline void visit(classT& c) const { \
call(c, constructor::args()); \
} \
\
template <class classT> \
void call(classT& c, \
const boost::python::detail::keywords<nargs + 1>& args) const { \
c.def(init_base(constructor::doc(), args)); \
} \
\
template <class classT> \
void call(classT& c, const void_&) const { \
c.def(init_base(constructor::doc())); \
} \
}; \
\
template <typename Class BOOST_PP_COMMA_IF(nargs) \
BOOST_PP_ENUM_PARAMS(nargs, class Arg)> \
inline init_##nargs##_impl<Class BOOST_PP_COMMA_IF(nargs) \
BOOST_PP_ENUM_PARAMS(nargs, Arg)> \
init() { \
return init_##nargs##_impl<Class BOOST_PP_COMMA_IF(nargs) \
BOOST_PP_ENUM_PARAMS(nargs, Arg)>(); \
}
BOOST_PP_REPEAT(DOXYGEN_DOC_MAX_NUMBER_OF_ARGUMENTS_IN_CONSTRUCTOR,
DOXYGEN_DOC_DECLARE_INIT_VISITOR, ~)
#undef DOXYGEN_DOC_DECLARE_INIT_VISITOR
} // namespace visitor
template <typename Func>
void def(const char* name, Func func) {
boost::python::def(name, func, member_func_doc(func));
}
} // namespace doxygen
#endif // DOXYGEN_BOOST_DOC_HH
doc/python/doxygen.hh 0 → 100644
View file @ 8d47200c
#ifndef DOXYGEN_DOC_HH
#define DOXYGEN_DOC_HH
#include <boost/preprocessor/repetition.hpp>
#include <boost/preprocessor/punctuation/comma_if.hpp>
#include <boost/mpl/void.hpp>
#ifndef DOXYGEN_DOC_MAX_NUMBER_OF_ARGUMENTS_IN_CONSTRUCTOR
#define DOXYGEN_DOC_MAX_NUMBER_OF_ARGUMENTS_IN_CONSTRUCTOR 10
#endif
namespace doxygen {
typedef boost::mpl::void_ void_;
template <typename _class>
struct class_doc_impl {
static inline const char* run() { return ""; }
static inline const char* attribute(const char*) { return ""; }
};
template <typename _class>
inline const char* class_doc() {
return class_doc_impl<_class>::run();
}
template <typename _class>
inline const char* class_attrib_doc(const char* name) {
return class_doc_impl<_class>::attribute(name);
}
template <typename FuncPtr>
inline const char* member_func_doc(FuncPtr) {
return "";
}
template <typename FuncPtr>
inline void_ member_func_args(FuncPtr) {
return void_();
}
#define DOXYGEN_DOC_DECLARE_CONSTRUCTOR(z, nargs, unused) \
template <typename Class BOOST_PP_COMMA_IF(nargs) \
BOOST_PP_ENUM_PARAMS(nargs, class Arg)> \
struct constructor_##nargs##_impl { \
static inline const char* doc() { return ""; } \
static inline void_ args() { return void_(); } \
}; \
\
template <typename Class BOOST_PP_COMMA_IF(nargs) \
BOOST_PP_ENUM_PARAMS(nargs, class Arg)> \
inline const char* constructor_doc() { \
return constructor_##nargs##_impl<Class BOOST_PP_COMMA_IF( \
nargs) BOOST_PP_ENUM_PARAMS(nargs, Arg)>::doc(); \
}
BOOST_PP_REPEAT(DOXYGEN_DOC_MAX_NUMBER_OF_ARGUMENTS_IN_CONSTRUCTOR,
DOXYGEN_DOC_DECLARE_CONSTRUCTOR, ~)
#undef DOXYGEN_DOC_DECLARE_CONSTRUCTOR
/*
template <typename Class>
inline const char* constructor_doc ()
{
return "";
}
*/
template <typename Class>
struct destructor_doc_impl {
static inline const char* run() { return ""; }
};
template <typename Class>
inline const char* destructor_doc() {
return destructor_doc_impl<Class>::run();
}
/* TODO class attribute can be handled by
template <typename Class, typename AttributeType>
const char* attribute_doc (AttributeType Class::* ptr)
{
// Body looks like
// if (ptr == &Class::attributeName)
// return "attrib documentation";
return "undocumented";
}
*/
} // namespace doxygen
#endif // DOXYGEN_DOC_HH
doc/python/doxygen_xml_parser.py 0 → 100755
View file @ 8d47200c
This diff is collapsed.
doc/python/xml_docstring.py 0 → 100644
View file @ 8d47200c
class XmlDocString(object):
def __init__(self, index):
self.index = index
self.tags = {
"para": self.para,
"ref": self.ref,
"briefdescription": self.otherTags,
"detaileddescription": self.otherTags,
"parameterlist": self.parameterlist,
"parameterdescription": self.otherTags,
"emphasis": self.emphasis,
"simplesect": self.simplesect,
"formula": self.formula,
"itemizedlist": self.itemizedlist,
"listitem": self.listitem,
}
self.unkwownTags = set()
self.unkwownReferences = dict()
self._linesep = '\\n"\n"'
try:
from pylatexenc.latex2text import LatexNodes2Text
self.latex = LatexNodes2Text()
except ImportError:
self.latex = None
def clear(self):
self.lines = []
self.unkwownTags.clear()
self.unkwownReferences.clear()
def writeErrors(self, output):
ret = False
for t in self.unkwownTags:
output.warn("Unknown tag: ", t)
ret = True
for ref, node in self.unkwownReferences.items():
output.warn("Unknown reference: ", ref, node.text)
ret = True
return ret
def _write(self, str):
nlines = str.split("\n")
if len(self.lines) == 0:
self.lines += nlines
else:
self.lines[-1] += nlines[0]
self.lines += nlines[1:]
# self.lines += nlines[1:]
def _newline(self, n=1):
self.lines.extend(
[
"",
]
* n
)
def _clean(self):
s = 0
for line in self.lines:
if len(line.strip()) == 0:
s += 1
else:
break
e = len(self.lines)
for line in reversed(self.lines):
if len(line.strip()) == 0:
e -= 1
else:
break
self.lines = self.lines[s:e]
def getDocString(self, brief, detailled, output):
self.clear()
if brief is not None:
self.visit(brief)
if detailled is not None and len(detailled.getchildren()) > 0:
if brief is not None:
self._newline()
self.visit(detailled)
from sys import version_info
self.writeErrors(output)
self._clean()
if version_info[0] == 2:
return self._linesep.join(self.lines).encode("utf-8")
else:
return self._linesep.join(self.lines)
def visit(self, node):
assert isinstance(node.tag, str)
tag = node.tag
if tag not in self.tags:
self.unknownTag(node)
else:
self.tags[tag](node)
def unknownTag(self, node):
self.unkwownTags.add(node.tag)
self.otherTags(node)
def otherTags(self, node):
if node.text:
self._write(node.text.strip().replace('"', r"\""))
for c in node.iterchildren():
self.visit(c)
if c.tail:
self._write(c.tail.strip().replace('"', r"\""))
def emphasis(self, node):
self._write("*")
self.otherTags(node)
self._write("*")
def simplesect(self, node):
self._write(node.attrib["kind"].title() + ": ")
self.otherTags(node)
def para(self, node):
if node.text:
self._write(node.text.replace('"', r"\""))
for c in node.iterchildren():
self.visit(c)
if c.tail:
self._write(c.tail.replace('"', r"\""))
self._newline()
def ref(self, node):
refid = node.attrib["refid"]
if self.index.hasref(refid):
self._write(self.index.getref(refid).name)
else:
self.unkwownReferences[refid] = node
self._write(node.text)
assert len(node.getchildren()) == 0
def parameterlist(self, node):
self._newline()
self._write(node.attrib["kind"].title())
self._newline()
for item in node.iterchildren("parameteritem"):
self.parameteritem(item)
def parameteritem(self, node):
indent = " "
self._write(indent + "- ")
# should contain two children
assert len(node.getchildren()) == 2
namelist = node.find("parameternamelist")
desc = node.find("parameterdescription")
sep = ""
for name in namelist.iterchildren("parametername"):
self._write(sep + name.text)
sep = ", "
self._write(" ")
self.visit(desc)
def itemizedlist(self, node):
self._newline()
self.otherTags(node)
def listitem(self, node):
self._write("- ")
self.otherTags(node)
def formula(self, node):
if node.text:
if self.latex is None:
self._write(node.text.strip())
else:
self._write(self.latex.latex_to_text(node.text))
doc/shape-mesh-collision-call.dot
View file @ 8d47200c
......@@ -4,33 +4,33 @@ digraph CD {
compound=true
size = 11.7
"BVHShapeCollider<OBBRSS, Shape, NarrowPhaseSolver>::collide\n(const CollisionGeometry* o1, const Transform3f& tf1,\nconst CollisionGeometry* o2, const Transform3f& tf2,\nconst NarrowPhaseSolver* nsolver,\nconst CollisionRequest& request, CollisionResult& result)\ncollision_func_matrix.cpp" [shape = box]
"details::orientedBVHShapeCollide<MeshShapeCollisionTraversalNodeOBBRSS\n<T_SH, NarrowPhaseSolver>, OBBRSS, T_SH, NarrowPhaseSolver>\n(const CollisionGeometry* o1, const Transform3f& tf1,\nconst CollisionGeometry* o2, const Transform3f&tf2,\nNarrowPhaseSolver* nsolver, const CollisionRequest& request,\nCollisionResult& result)\ncollision_func_matrix.cpp" [shape = box]
"BVHShapeCollider<OBBRSS, Shape, NarrowPhaseSolver>::collide\n(const CollisionGeometry* o1, const Transform3s& tf1,\nconst CollisionGeometry* o2, const Transform3s& tf2,\nconst NarrowPhaseSolver* nsolver,\nconst CollisionRequest& request, CollisionResult& result)\ncollision_func_matrix.cpp" [shape = box]
"details::orientedBVHShapeCollide<MeshShapeCollisionTraversalNodeOBBRSS\n<T_SH, NarrowPhaseSolver>, OBBRSS, T_SH, NarrowPhaseSolver>\n(const CollisionGeometry* o1, const Transform3s& tf1,\nconst CollisionGeometry* o2, const Transform3s&tf2,\nNarrowPhaseSolver* nsolver, const CollisionRequest& request,\nCollisionResult& result)\ncollision_func_matrix.cpp" [shape = box]
"void collide(CollisionTraversalNodeBase* node,\nconst CollisionRequest& request, CollisionResult& result,\nBVHFrontList* front_list)\ncollision_node.cpp" [shape = box]
"void propagateBVHFrontListCollisionRecurse\n(CollisionTraversalNodeBase* node, const CollisionRequest& request,\nCollisionResult& result, BVHFrontList* front_list)\ntraversal/traversal_recurse.cpp" [shape = box]
"void collisionRecurse(CollisionTraversalNodeBase* node,\nint b1, int b2, BVHFrontList* front_list,\nFCL_REAL& sqrDistLowerBound)\ntraversal/traversal_recurse.cpp" [shape = box]
"virtual bool CollisionTraversalNodeBase::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const = 0\ntraversal/traversal_node_base.h" [shape = box]
"virtual void CollisionTraversalNodeBase::leafTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\ntraversal/traversal_node_base.h" [shape = box]
"bool MeshShapeCollisionTraversalNodeOBBRSS::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\ntraversal/traversal_node_bvh_shape.h" [shape = box]
"bool MeshShapeCollisionTraversalNodeOBBRSS::leafTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\ntraversal/traversal_node_bvh_shape.h" [shape = box]
"bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1,\nconst OBBRSS& b2, const CollisionRequest& request,\nFCL_REAL& sqrDistLowerBound)\nBV/OBBRSS.cpp" [shape = box]
"bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBB& b1, const OBB& b2,\nconst CollisionRequest& request, FCL_REAL& sqrDistLowerBound)\nBV/OBB.cpp" [shape = box]
"bool obbDisjointAndLowerBoundDistance (const Matrix3f& B, const Vec3f& T,\nconst Vec3f& a, const Vec3f& b,\nconst CollisionRequest& request,\nFCL_REAL& squaredLowerBoundDistance)\nBV/OBB.cpp" [shape = box]
"void details::meshShapeCollisionOrientedNodeLeafTesting <OBBRSS, Shape, NarrowPhaseSolver>\n(int b1, int b2, const BVHModel<BV>* model1, const S& model2,\nVec3f* vertices, Triangle* tri_indices, const Transform3f& tf1,\nconst Transform3f& tf2, const NarrowPhaseSolver* nsolver,\nbool enable_statistics, int& num_leaf_tests,\nconst CollisionRequest& request, CollisionResult& result,\nFCL_REAL& sqrDistLowerBound)\ntraversal/traversal_node_bvh_shape.h:293" [shape = box]
"bool GJKSolver_indep::shapeTriangleIntersect<Shape>\n(const S& s, const Transform3f& tf,\nconst Vec3f& P1, const Vec3f& P2, const Vec3f& P3,\nFCL_REAL* distance, Vec3f* p1, Vec3f* p2) const\nnarrowphase/narrowphase.h:156" [shape = box]
"void collisionRecurse(CollisionTraversalNodeBase* node,\nint b1, int b2, BVHFrontList* front_list,\nCoalScalar& sqrDistLowerBound)\ntraversal/traversal_recurse.cpp" [shape = box]
"virtual bool CollisionTraversalNodeBase::BVTesting\n(int b1, int b2, CoalScalar& sqrDistLowerBound) const = 0\ntraversal/traversal_node_base.h" [shape = box]
"virtual void CollisionTraversalNodeBase::leafTesting\n(int b1, int b2, CoalScalar& sqrDistLowerBound) const\ntraversal/traversal_node_base.h" [shape = box]
"bool MeshShapeCollisionTraversalNodeOBBRSS::BVTesting\n(int b1, int b2, CoalScalar& sqrDistLowerBound) const\ntraversal/traversal_node_bvh_shape.h" [shape = box]
"bool MeshShapeCollisionTraversalNodeOBBRSS::leafTesting\n(int b1, int b2, CoalScalar& sqrDistLowerBound) const\ntraversal/traversal_node_bvh_shape.h" [shape = box]
"bool overlap(const Matrix3s& R0, const Vec3s& T0, const OBBRSS& b1,\nconst OBBRSS& b2, const CollisionRequest& request,\nCoalScalar& sqrDistLowerBound)\nBV/OBBRSS.cpp" [shape = box]
"bool overlap(const Matrix3s& R0, const Vec3s& T0, const OBB& b1, const OBB& b2,\nconst CollisionRequest& request, CoalScalar& sqrDistLowerBound)\nBV/OBB.cpp" [shape = box]
"bool obbDisjointAndLowerBoundDistance (const Matrix3s& B, const Vec3s& T,\nconst Vec3s& a, const Vec3s& b,\nconst CollisionRequest& request,\nCoalScalar& squaredLowerBoundDistance)\nBV/OBB.cpp" [shape = box]
"void details::meshShapeCollisionOrientedNodeLeafTesting <OBBRSS, Shape, NarrowPhaseSolver>\n(int b1, int b2, const BVHModel<BV>* model1, const S& model2,\nVec3s* vertices, Triangle* tri_indices, const Transform3s& tf1,\nconst Transform3s& tf2, const NarrowPhaseSolver* nsolver,\nbool enable_statistics, int& num_leaf_tests,\nconst CollisionRequest& request, CollisionResult& result,\nCoalScalar& sqrDistLowerBound)\ntraversal/traversal_node_bvh_shape.h:293" [shape = box]
"bool GJKSolver_indep::shapeTriangleIntersect<Shape>\n(const S& s, const Transform3s& tf,\nconst Vec3s& P1, const Vec3s& P2, const Vec3s& P3,\nCoalScalar* distance, Vec3s* p1, Vec3s* p2) const\nnarrowphase/narrowphase.h:156" [shape = box]
"BVHShapeCollider<OBBRSS, Shape, NarrowPhaseSolver>::collide\n(const CollisionGeometry* o1, const Transform3f& tf1,\nconst CollisionGeometry* o2, const Transform3f& tf2,\nconst NarrowPhaseSolver* nsolver,\nconst CollisionRequest& request, CollisionResult& result)\ncollision_func_matrix.cpp" -> "details::orientedBVHShapeCollide<MeshShapeCollisionTraversalNodeOBBRSS\n<T_SH, NarrowPhaseSolver>, OBBRSS, T_SH, NarrowPhaseSolver>\n(const CollisionGeometry* o1, const Transform3f& tf1,\nconst CollisionGeometry* o2, const Transform3f&tf2,\nNarrowPhaseSolver* nsolver, const CollisionRequest& request,\nCollisionResult& result)\ncollision_func_matrix.cpp"
"details::orientedBVHShapeCollide<MeshShapeCollisionTraversalNodeOBBRSS\n<T_SH, NarrowPhaseSolver>, OBBRSS, T_SH, NarrowPhaseSolver>\n(const CollisionGeometry* o1, const Transform3f& tf1,\nconst CollisionGeometry* o2, const Transform3f&tf2,\nNarrowPhaseSolver* nsolver, const CollisionRequest& request,\nCollisionResult& result)\ncollision_func_matrix.cpp" -> "void collide(CollisionTraversalNodeBase* node,\nconst CollisionRequest& request, CollisionResult& result,\nBVHFrontList* front_list)\ncollision_node.cpp"
"BVHShapeCollider<OBBRSS, Shape, NarrowPhaseSolver>::collide\n(const CollisionGeometry* o1, const Transform3s& tf1,\nconst CollisionGeometry* o2, const Transform3s& tf2,\nconst NarrowPhaseSolver* nsolver,\nconst CollisionRequest& request, CollisionResult& result)\ncollision_func_matrix.cpp" -> "details::orientedBVHShapeCollide<MeshShapeCollisionTraversalNodeOBBRSS\n<T_SH, NarrowPhaseSolver>, OBBRSS, T_SH, NarrowPhaseSolver>\n(const CollisionGeometry* o1, const Transform3s& tf1,\nconst CollisionGeometry* o2, const Transform3s&tf2,\nNarrowPhaseSolver* nsolver, const CollisionRequest& request,\nCollisionResult& result)\ncollision_func_matrix.cpp"
"details::orientedBVHShapeCollide<MeshShapeCollisionTraversalNodeOBBRSS\n<T_SH, NarrowPhaseSolver>, OBBRSS, T_SH, NarrowPhaseSolver>\n(const CollisionGeometry* o1, const Transform3s& tf1,\nconst CollisionGeometry* o2, const Transform3s&tf2,\nNarrowPhaseSolver* nsolver, const CollisionRequest& request,\nCollisionResult& result)\ncollision_func_matrix.cpp" -> "void collide(CollisionTraversalNodeBase* node,\nconst CollisionRequest& request, CollisionResult& result,\nBVHFrontList* front_list)\ncollision_node.cpp"
"void collide(CollisionTraversalNodeBase* node,\nconst CollisionRequest& request, CollisionResult& result,\nBVHFrontList* front_list)\ncollision_node.cpp" -> "void propagateBVHFrontListCollisionRecurse\n(CollisionTraversalNodeBase* node, const CollisionRequest& request,\nCollisionResult& result, BVHFrontList* front_list)\ntraversal/traversal_recurse.cpp"
"void collide(CollisionTraversalNodeBase* node,\nconst CollisionRequest& request, CollisionResult& result,\nBVHFrontList* front_list)\ncollision_node.cpp" -> "void collisionRecurse(CollisionTraversalNodeBase* node,\nint b1, int b2, BVHFrontList* front_list,\nFCL_REAL& sqrDistLowerBound)\ntraversal/traversal_recurse.cpp"
"void propagateBVHFrontListCollisionRecurse\n(CollisionTraversalNodeBase* node, const CollisionRequest& request,\nCollisionResult& result, BVHFrontList* front_list)\ntraversal/traversal_recurse.cpp" -> "void collisionRecurse(CollisionTraversalNodeBase* node,\nint b1, int b2, BVHFrontList* front_list,\nFCL_REAL& sqrDistLowerBound)\ntraversal/traversal_recurse.cpp"
"void collisionRecurse(CollisionTraversalNodeBase* node,\nint b1, int b2, BVHFrontList* front_list,\nFCL_REAL& sqrDistLowerBound)\ntraversal/traversal_recurse.cpp" -> "virtual bool CollisionTraversalNodeBase::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const = 0\ntraversal/traversal_node_base.h"
"void collisionRecurse(CollisionTraversalNodeBase* node,\nint b1, int b2, BVHFrontList* front_list,\nFCL_REAL& sqrDistLowerBound)\ntraversal/traversal_recurse.cpp" -> "virtual void CollisionTraversalNodeBase::leafTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\ntraversal/traversal_node_base.h"
"virtual bool CollisionTraversalNodeBase::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const = 0\ntraversal/traversal_node_base.h" -> "bool MeshShapeCollisionTraversalNodeOBBRSS::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\ntraversal/traversal_node_bvh_shape.h" [color=red]
"virtual void CollisionTraversalNodeBase::leafTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\ntraversal/traversal_node_base.h" -> "bool MeshShapeCollisionTraversalNodeOBBRSS::leafTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\ntraversal/traversal_node_bvh_shape.h" [color = red]
"bool MeshShapeCollisionTraversalNodeOBBRSS::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\ntraversal/traversal_node_bvh_shape.h" -> "bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1,\nconst OBBRSS& b2, const CollisionRequest& request,\nFCL_REAL& sqrDistLowerBound)\nBV/OBBRSS.cpp"
"bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1,\nconst OBBRSS& b2, const CollisionRequest& request,\nFCL_REAL& sqrDistLowerBound)\nBV/OBBRSS.cpp" -> "bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBB& b1, const OBB& b2,\nconst CollisionRequest& request, FCL_REAL& sqrDistLowerBound)\nBV/OBB.cpp"
"bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBB& b1, const OBB& b2,\nconst CollisionRequest& request, FCL_REAL& sqrDistLowerBound)\nBV/OBB.cpp" -> "bool obbDisjointAndLowerBoundDistance (const Matrix3f& B, const Vec3f& T,\nconst Vec3f& a, const Vec3f& b,\nconst CollisionRequest& request,\nFCL_REAL& squaredLowerBoundDistance)\nBV/OBB.cpp"
"bool MeshShapeCollisionTraversalNodeOBBRSS::leafTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\ntraversal/traversal_node_bvh_shape.h" -> "void details::meshShapeCollisionOrientedNodeLeafTesting <OBBRSS, Shape, NarrowPhaseSolver>\n(int b1, int b2, const BVHModel<BV>* model1, const S& model2,\nVec3f* vertices, Triangle* tri_indices, const Transform3f& tf1,\nconst Transform3f& tf2, const NarrowPhaseSolver* nsolver,\nbool enable_statistics, int& num_leaf_tests,\nconst CollisionRequest& request, CollisionResult& result,\nFCL_REAL& sqrDistLowerBound)\ntraversal/traversal_node_bvh_shape.h:293"
"void details::meshShapeCollisionOrientedNodeLeafTesting <OBBRSS, Shape, NarrowPhaseSolver>\n(int b1, int b2, const BVHModel<BV>* model1, const S& model2,\nVec3f* vertices, Triangle* tri_indices, const Transform3f& tf1,\nconst Transform3f& tf2, const NarrowPhaseSolver* nsolver,\nbool enable_statistics, int& num_leaf_tests,\nconst CollisionRequest& request, CollisionResult& result,\nFCL_REAL& sqrDistLowerBound)\ntraversal/traversal_node_bvh_shape.h:293" -> "bool GJKSolver_indep::shapeTriangleIntersect<Shape>\n(const S& s, const Transform3f& tf,\nconst Vec3f& P1, const Vec3f& P2, const Vec3f& P3,\nFCL_REAL* distance, Vec3f* p1, Vec3f* p2) const\nnarrowphase/narrowphase.h:156"
"void collide(CollisionTraversalNodeBase* node,\nconst CollisionRequest& request, CollisionResult& result,\nBVHFrontList* front_list)\ncollision_node.cpp" -> "void collisionRecurse(CollisionTraversalNodeBase* node,\nint b1, int b2, BVHFrontList* front_list,\nCoalScalar& sqrDistLowerBound)\ntraversal/traversal_recurse.cpp"
"void propagateBVHFrontListCollisionRecurse\n(CollisionTraversalNodeBase* node, const CollisionRequest& request,\nCollisionResult& result, BVHFrontList* front_list)\ntraversal/traversal_recurse.cpp" -> "void collisionRecurse(CollisionTraversalNodeBase* node,\nint b1, int b2, BVHFrontList* front_list,\nCoalScalar& sqrDistLowerBound)\ntraversal/traversal_recurse.cpp"
"void collisionRecurse(CollisionTraversalNodeBase* node,\nint b1, int b2, BVHFrontList* front_list,\nCoalScalar& sqrDistLowerBound)\ntraversal/traversal_recurse.cpp" -> "virtual bool CollisionTraversalNodeBase::BVTesting\n(int b1, int b2, CoalScalar& sqrDistLowerBound) const = 0\ntraversal/traversal_node_base.h"
"void collisionRecurse(CollisionTraversalNodeBase* node,\nint b1, int b2, BVHFrontList* front_list,\nCoalScalar& sqrDistLowerBound)\ntraversal/traversal_recurse.cpp" -> "virtual void CollisionTraversalNodeBase::leafTesting\n(int b1, int b2, CoalScalar& sqrDistLowerBound) const\ntraversal/traversal_node_base.h"
"virtual bool CollisionTraversalNodeBase::BVTesting\n(int b1, int b2, CoalScalar& sqrDistLowerBound) const = 0\ntraversal/traversal_node_base.h" -> "bool MeshShapeCollisionTraversalNodeOBBRSS::BVTesting\n(int b1, int b2, CoalScalar& sqrDistLowerBound) const\ntraversal/traversal_node_bvh_shape.h" [color=red]
"virtual void CollisionTraversalNodeBase::leafTesting\n(int b1, int b2, CoalScalar& sqrDistLowerBound) const\ntraversal/traversal_node_base.h" -> "bool MeshShapeCollisionTraversalNodeOBBRSS::leafTesting\n(int b1, int b2, CoalScalar& sqrDistLowerBound) const\ntraversal/traversal_node_bvh_shape.h" [color = red]
"bool MeshShapeCollisionTraversalNodeOBBRSS::BVTesting\n(int b1, int b2, CoalScalar& sqrDistLowerBound) const\ntraversal/traversal_node_bvh_shape.h" -> "bool overlap(const Matrix3s& R0, const Vec3s& T0, const OBBRSS& b1,\nconst OBBRSS& b2, const CollisionRequest& request,\nCoalScalar& sqrDistLowerBound)\nBV/OBBRSS.cpp"
"bool overlap(const Matrix3s& R0, const Vec3s& T0, const OBBRSS& b1,\nconst OBBRSS& b2, const CollisionRequest& request,\nCoalScalar& sqrDistLowerBound)\nBV/OBBRSS.cpp" -> "bool overlap(const Matrix3s& R0, const Vec3s& T0, const OBB& b1, const OBB& b2,\nconst CollisionRequest& request, CoalScalar& sqrDistLowerBound)\nBV/OBB.cpp"
"bool overlap(const Matrix3s& R0, const Vec3s& T0, const OBB& b1, const OBB& b2,\nconst CollisionRequest& request, CoalScalar& sqrDistLowerBound)\nBV/OBB.cpp" -> "bool obbDisjointAndLowerBoundDistance (const Matrix3s& B, const Vec3s& T,\nconst Vec3s& a, const Vec3s& b,\nconst CollisionRequest& request,\nCoalScalar& squaredLowerBoundDistance)\nBV/OBB.cpp"
"bool MeshShapeCollisionTraversalNodeOBBRSS::leafTesting\n(int b1, int b2, CoalScalar& sqrDistLowerBound) const\ntraversal/traversal_node_bvh_shape.h" -> "void details::meshShapeCollisionOrientedNodeLeafTesting <OBBRSS, Shape, NarrowPhaseSolver>\n(int b1, int b2, const BVHModel<BV>* model1, const S& model2,\nVec3s* vertices, Triangle* tri_indices, const Transform3s& tf1,\nconst Transform3s& tf2, const NarrowPhaseSolver* nsolver,\nbool enable_statistics, int& num_leaf_tests,\nconst CollisionRequest& request, CollisionResult& result,\nCoalScalar& sqrDistLowerBound)\ntraversal/traversal_node_bvh_shape.h:293"
"void details::meshShapeCollisionOrientedNodeLeafTesting <OBBRSS, Shape, NarrowPhaseSolver>\n(int b1, int b2, const BVHModel<BV>* model1, const S& model2,\nVec3s* vertices, Triangle* tri_indices, const Transform3s& tf1,\nconst Transform3s& tf2, const NarrowPhaseSolver* nsolver,\nbool enable_statistics, int& num_leaf_tests,\nconst CollisionRequest& request, CollisionResult& result,\nCoalScalar& sqrDistLowerBound)\ntraversal/traversal_node_bvh_shape.h:293" -> "bool GJKSolver_indep::shapeTriangleIntersect<Shape>\n(const S& s, const Transform3s& tf,\nconst Vec3s& P1, const Vec3s& P2, const Vec3s& P3,\nCoalScalar* distance, Vec3s* p1, Vec3s* p2) const\nnarrowphase/narrowphase.h:156"
}
doc/shape-shape-collision-call.dot
View file @ 8d47200c
......@@ -4,16 +4,16 @@ digraph CD {
compound=true
size = 11.7
"template<typename T_SH1, typename T_SH2, typename NarrowPhaseSolver>\nstd::size_t ShapeShapeCollide(const CollisionGeometry* o1, const Transform3f& tf1,\nconst CollisionGeometry* o2, const Transform3f& tf2,\nconst NarrowPhaseSolver* nsolver,const CollisionRequest& request,\nCollisionResult& result)" [shape = box]
"template<typename T_SH1, typename T_SH2, typename NarrowPhaseSolver>\nFCL_REAL ShapeShapeDistance(const CollisionGeometry* o1, const Transform3f& tf1,\nconst CollisionGeometry* o2, const Transform3f& tf2,\nconst NarrowPhaseSolver* nsolver, const DistanceRequest& request,\nDistanceResult& result)" [shape = box]
"template<typename T_SH1, typename T_SH2, typename NarrowPhaseSolver>\nstd::size_t ShapeShapeCollide(const CollisionGeometry* o1, const Transform3s& tf1,\nconst CollisionGeometry* o2, const Transform3s& tf2,\nconst NarrowPhaseSolver* nsolver,const CollisionRequest& request,\nCollisionResult& result)" [shape = box]
"template<typename T_SH1, typename T_SH2, typename NarrowPhaseSolver>\nCoalScalar ShapeShapeDistance(const CollisionGeometry* o1, const Transform3s& tf1,\nconst CollisionGeometry* o2, const Transform3s& tf2,\nconst NarrowPhaseSolver* nsolver, const DistanceRequest& request,\nDistanceResult& result)" [shape = box]
"void distance(DistanceTraversalNodeBase* node,\nBVHFrontList* front_list, int qsize)" [shape = box]
"void distanceRecurse(DistanceTraversalNodeBase* node,\nint b1, int b2, BVHFrontList* front_list)" [shape = box]
"void ShapeDistanceTraversalNode::leafTesting(int, int) const\ntraversal/traversal_node_shapes.h" [shape = box]
"template<typename S1, typename S2> bool GJKSolver_indep::shapeDistance\n(const S1& s1, const Transform3f& tf1, const S2& s2, const Transform3f& tf2,\nFCL_REAL* distance, Vec3f* p1, Vec3f* p2) const\nnarrowphase/narrowphase.h" [shape = box]
"template<typename S1, typename S2> bool GJKSolver_indep::shapeDistance\n(const S1& s1, const Transform3s& tf1, const S2& s2, const Transform3s& tf2,\nCoalScalar* distance, Vec3s* p1, Vec3s* p2) const\nnarrowphase/narrowphase.h" [shape = box]
"template<typename T_SH1, typename T_SH2, typename NarrowPhaseSolver>\nstd::size_t ShapeShapeCollide(const CollisionGeometry* o1, const Transform3f& tf1,\nconst CollisionGeometry* o2, const Transform3f& tf2,\nconst NarrowPhaseSolver* nsolver,const CollisionRequest& request,\nCollisionResult& result)" -> "template<typename T_SH1, typename T_SH2, typename NarrowPhaseSolver>\nFCL_REAL ShapeShapeDistance(const CollisionGeometry* o1, const Transform3f& tf1,\nconst CollisionGeometry* o2, const Transform3f& tf2,\nconst NarrowPhaseSolver* nsolver, const DistanceRequest& request,\nDistanceResult& result)"
"template<typename T_SH1, typename T_SH2, typename NarrowPhaseSolver>\nFCL_REAL ShapeShapeDistance(const CollisionGeometry* o1, const Transform3f& tf1,\nconst CollisionGeometry* o2, const Transform3f& tf2,\nconst NarrowPhaseSolver* nsolver, const DistanceRequest& request,\nDistanceResult& result)" -> "void distance(DistanceTraversalNodeBase* node,\nBVHFrontList* front_list, int qsize)"
"template<typename T_SH1, typename T_SH2, typename NarrowPhaseSolver>\nstd::size_t ShapeShapeCollide(const CollisionGeometry* o1, const Transform3s& tf1,\nconst CollisionGeometry* o2, const Transform3s& tf2,\nconst NarrowPhaseSolver* nsolver,const CollisionRequest& request,\nCollisionResult& result)" -> "template<typename T_SH1, typename T_SH2, typename NarrowPhaseSolver>\nCoalScalar ShapeShapeDistance(const CollisionGeometry* o1, const Transform3s& tf1,\nconst CollisionGeometry* o2, const Transform3s& tf2,\nconst NarrowPhaseSolver* nsolver, const DistanceRequest& request,\nDistanceResult& result)"
"template<typename T_SH1, typename T_SH2, typename NarrowPhaseSolver>\nCoalScalar ShapeShapeDistance(const CollisionGeometry* o1, const Transform3s& tf1,\nconst CollisionGeometry* o2, const Transform3s& tf2,\nconst NarrowPhaseSolver* nsolver, const DistanceRequest& request,\nDistanceResult& result)" -> "void distance(DistanceTraversalNodeBase* node,\nBVHFrontList* front_list, int qsize)"
"void distance(DistanceTraversalNodeBase* node,\nBVHFrontList* front_list, int qsize)" -> "void distanceRecurse(DistanceTraversalNodeBase* node,\nint b1, int b2, BVHFrontList* front_list)"
"void distanceRecurse(DistanceTraversalNodeBase* node,\nint b1, int b2, BVHFrontList* front_list)" -> "void ShapeDistanceTraversalNode::leafTesting(int, int) const\ntraversal/traversal_node_shapes.h"
"void ShapeDistanceTraversalNode::leafTesting(int, int) const\ntraversal/traversal_node_shapes.h" -> "template<typename S1, typename S2> bool GJKSolver_indep::shapeDistance\n(const S1& s1, const Transform3f& tf1, const S2& s2, const Transform3f& tf2,\nFCL_REAL* distance, Vec3f* p1, Vec3f* p2) const\nnarrowphase/narrowphase.h"
"void ShapeDistanceTraversalNode::leafTesting(int, int) const\ntraversal/traversal_node_shapes.h" -> "template<typename S1, typename S2> bool GJKSolver_indep::shapeDistance\n(const S1& s1, const Transform3s& tf1, const S2& s2, const Transform3s& tf2,\nCoalScalar* distance, Vec3s* p1, Vec3s* p2) const\nnarrowphase/narrowphase.h"
}
flake.lock 0 → 100644
View file @ 8d47200c
{
"nodes": {
"flake-parts": {
"inputs": {
"nixpkgs-lib": "nixpkgs-lib"
},
"locked": {
"lastModified": 1738453229,
"narHash": "sha256-7H9XgNiGLKN1G1CgRh0vUL4AheZSYzPm+zmZ7vxbJdo=",
"owner": "hercules-ci",
"repo": "flake-parts",
"rev": "32ea77a06711b758da0ad9bd6a844c5740a87abd",
"type": "github"
},
"original": {
"owner": "hercules-ci",
"repo": "flake-parts",
"type": "github"
}
},
"nixpkgs": {
"locked": {
"lastModified": 1734122394,
"narHash": "sha256-TmVqB5V9ZIn66jlyPcp4yzsC6uF46YQLH00MSBio42c=",
"owner": "NixOS",
"repo": "nixpkgs",
"rev": "eb1b38d147a53360c11f0d033196f94d844bd86c",
"type": "github"
},
"original": {
"owner": "NixOS",
"ref": "refs/pull/357705/head",
"repo": "nixpkgs",
"type": "github"
}
},
"nixpkgs-lib": {
"locked": {
"lastModified": 1738452942,
"narHash": "sha256-vJzFZGaCpnmo7I6i416HaBLpC+hvcURh/BQwROcGIp8=",
"type": "tarball",
"url": "https://github.com/NixOS/nixpkgs/archive/072a6db25e947df2f31aab9eccd0ab75d5b2da11.tar.gz"
},
"original": {
"type": "tarball",
"url": "https://github.com/NixOS/nixpkgs/archive/072a6db25e947df2f31aab9eccd0ab75d5b2da11.tar.gz"
}
},
"root": {
"inputs": {
"flake-parts": "flake-parts",
"nixpkgs": "nixpkgs"
}
}
},
"root": "root",
"version": 7
}
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{
description = "An extension of the Flexible Collision Library";
inputs = {
flake-parts.url = "github:hercules-ci/flake-parts";
# TODO: switch back to nixos-unstable after
# https://github.com/NixOS/nixpkgs/pull/357705
nixpkgs.url = "github:NixOS/nixpkgs/refs/pull/357705/head";
};
outputs =
inputs:
inputs.flake-parts.lib.mkFlake { inherit inputs; } {
systems = inputs.nixpkgs.lib.systems.flakeExposed;
perSystem =
{ pkgs, self', ... }:
{
apps.default = {
type = "app";
program = pkgs.python3.withPackages (_: [ self'.packages.default ]);
};
devShells.default = pkgs.mkShell { inputsFrom = [ self'.packages.default ]; };
packages = {
default = self'.packages.coal;
coal = pkgs.python3Packages.coal.overrideAttrs (_: {
src = pkgs.lib.fileset.toSource {
root = ./.;
fileset = pkgs.lib.fileset.unions [
./CMakeLists.txt
./doc
./hpp-fclConfig.cmake
./include
./package.xml
./python
./src
./test
];
};
});
};
};
};
}
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# This file provide bacward compatiblity for `find_package(hpp-fcl)`.
message(WARNING "Please update your CMake from 'hpp-fcl' to 'coal'")
find_package(coal REQUIRED)
if(NOT TARGET hpp-fcl::hpp-fcl)
add_library(hpp-fcl::hpp-fcl INTERFACE IMPORTED)
# Compute the installation prefix relative to this file.
# This code is taken from generated cmake xxxTargets.cmake.
get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
if(_IMPORT_PREFIX STREQUAL "/")
set(_IMPORT_PREFIX "")
endif()
set_target_properties(
hpp-fcl::hpp-fcl
PROPERTIES INTERFACE_COMPILE_DEFINITIONS
"COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL"
INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include"
INTERFACE_LINK_LIBRARIES "coal::coal")
endif()
include/coal/BV/AABB.h 0 → 100644
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/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2011-2014, Willow Garage, Inc.
* Copyright (c) 2014-2015, Open Source Robotics Foundation
* 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.
*/
/** \author Jia Pan */
#ifndef COAL_AABB_H
#define COAL_AABB_H
#include "coal/data_types.h"
namespace coal {
struct CollisionRequest;
class Plane;
class Halfspace;
/// @defgroup Bounding_Volume Bounding volumes
/// Classes of different types of bounding volume.
/// @{
/// @brief A class describing the AABB collision structure, which is a box in 3D
/// space determined by two diagonal points
class COAL_DLLAPI AABB {
public:
/// @brief The min point in the AABB
Vec3s min_;
/// @brief The max point in the AABB
Vec3s max_;
/// @brief Creating an AABB with zero size (low bound +inf, upper bound -inf)
AABB();
/// @brief Creating an AABB at position v with zero size
AABB(const Vec3s& v) : min_(v), max_(v) {}
/// @brief Creating an AABB with two endpoints a and b
AABB(const Vec3s& a, const Vec3s& b)
: min_(a.cwiseMin(b)), max_(a.cwiseMax(b)) {}
/// @brief Creating an AABB centered as core and is of half-dimension delta
AABB(const AABB& core, const Vec3s& delta)
: min_(core.min_ - delta), max_(core.max_ + delta) {}
/// @brief Creating an AABB contains three points
AABB(const Vec3s& a, const Vec3s& b, const Vec3s& c)
: min_(a.cwiseMin(b).cwiseMin(c)), max_(a.cwiseMax(b).cwiseMax(c)) {}
AABB(const AABB& other) = default;
AABB& operator=(const AABB& other) = default;
AABB& update(const Vec3s& a, const Vec3s& b) {
min_ = a.cwiseMin(b);
max_ = a.cwiseMax(b);
return *this;
}
/// @brief Comparison operator
bool operator==(const AABB& other) const {
return min_ == other.min_ && max_ == other.max_;
}
bool operator!=(const AABB& other) const { return !(*this == other); }
/// @name Bounding volume API
/// Common API to BVs.
/// @{
/// @brief Check whether the AABB contains a point
inline bool contain(const Vec3s& p) const {
if (p[0] < min_[0] || p[0] > max_[0]) return false;
if (p[1] < min_[1] || p[1] > max_[1]) return false;
if (p[2] < min_[2] || p[2] > max_[2]) return false;
return true;
}
/// @brief Check whether two AABB are overlap
inline bool overlap(const AABB& other) const {
if (min_[0] > other.max_[0]) return false;
if (min_[1] > other.max_[1]) return false;
if (min_[2] > other.max_[2]) return false;
if (max_[0] < other.min_[0]) return false;
if (max_[1] < other.min_[1]) return false;
if (max_[2] < other.min_[2]) return false;
return true;
}
/// @brief Check whether AABB overlaps a plane
bool overlap(const Plane& p) const;
/// @brief Check whether AABB overlaps a halfspace
bool overlap(const Halfspace& hs) const;
/// @brief Check whether two AABB are overlap
bool overlap(const AABB& other, const CollisionRequest& request,
CoalScalar& sqrDistLowerBound) const;
/// @brief Distance between two AABBs
CoalScalar distance(const AABB& other) const;
/// @brief Distance between two AABBs; P and Q, should not be NULL, return the
/// nearest points
CoalScalar distance(const AABB& other, Vec3s* P, Vec3s* Q) const;
/// @brief Merge the AABB and a point
inline AABB& operator+=(const Vec3s& p) {
min_ = min_.cwiseMin(p);
max_ = max_.cwiseMax(p);
return *this;
}
/// @brief Merge the AABB and another AABB
inline AABB& operator+=(const AABB& other) {
min_ = min_.cwiseMin(other.min_);
max_ = max_.cwiseMax(other.max_);
return *this;
}
/// @brief Return the merged AABB of current AABB and the other one
inline AABB operator+(const AABB& other) const {
AABB res(*this);
return res += other;
}
/// @brief Size of the AABB (used in BV_Splitter to order two AABBs)
inline CoalScalar size() const { return (max_ - min_).squaredNorm(); }
/// @brief Center of the AABB
inline Vec3s center() const { return (min_ + max_) * 0.5; }
/// @brief Width of the AABB
inline CoalScalar width() const { return max_[0] - min_[0]; }
/// @brief Height of the AABB
inline CoalScalar height() const { return max_[1] - min_[1]; }
/// @brief Depth of the AABB
inline CoalScalar depth() const { return max_[2] - min_[2]; }
/// @brief Volume of the AABB
inline CoalScalar volume() const { return width() * height() * depth(); }
/// @}
/// @brief Check whether the AABB contains another AABB
inline bool contain(const AABB& other) const {
return (other.min_[0] >= min_[0]) && (other.max_[0] <= max_[0]) &&
(other.min_[1] >= min_[1]) && (other.max_[1] <= max_[1]) &&
(other.min_[2] >= min_[2]) && (other.max_[2] <= max_[2]);
}
/// @brief Check whether two AABB are overlap and return the overlap part
inline bool overlap(const AABB& other, AABB& overlap_part) const {
if (!overlap(other)) {
return false;
}
overlap_part.min_ = min_.cwiseMax(other.min_);
overlap_part.max_ = max_.cwiseMin(other.max_);
return true;
}
/// @brief Check whether two AABB are overlapped along specific axis
inline bool axisOverlap(const AABB& other, int axis_id) const {
if (min_[axis_id] > other.max_[axis_id]) return false;
if (max_[axis_id] < other.min_[axis_id]) return false;
return true;
}
/// @brief expand the half size of the AABB by delta, and keep the center
/// unchanged.
inline AABB& expand(const Vec3s& delta) {
min_ -= delta;
max_ += delta;
return *this;
}
/// @brief expand the half size of the AABB by a scalar delta, and keep the
/// center unchanged.
inline AABB& expand(const CoalScalar delta) {
min_.array() -= delta;
max_.array() += delta;
return *this;
}
/// @brief expand the aabb by increase the thickness of the plate by a ratio
inline AABB& expand(const AABB& core, CoalScalar ratio) {
min_ = min_ * ratio - core.min_;
max_ = max_ * ratio - core.max_;
return *this;
}
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
/// @brief translate the center of AABB by t
static inline AABB translate(const AABB& aabb, const Vec3s& t) {
AABB res(aabb);
res.min_ += t;
res.max_ += t;
return res;
}
static inline AABB rotate(const AABB& aabb, const Matrix3s& R) {
AABB res(R * aabb.min_);
Vec3s corner(aabb.min_);
const Eigen::DenseIndex bit[3] = {1, 2, 4};
for (Eigen::DenseIndex ic = 1; ic < 8;
++ic) { // ic = 0 corresponds to aabb.min_. Skip it.
for (Eigen::DenseIndex i = 0; i < 3; ++i) {
corner[i] = (ic & bit[i]) ? aabb.max_[i] : aabb.min_[i];
}
res += R * corner;
}
return res;
}
/// @brief Check collision between two aabbs, b1 is in configuration (R0, T0)
/// and b2 is in identity.
COAL_DLLAPI bool overlap(const Matrix3s& R0, const Vec3s& T0, const AABB& b1,
const AABB& b2);
/// @brief Check collision between two aabbs, b1 is in configuration (R0, T0)
/// and b2 is in identity.
COAL_DLLAPI bool overlap(const Matrix3s& R0, const Vec3s& T0, const AABB& b1,
const AABB& b2, const CollisionRequest& request,
CoalScalar& sqrDistLowerBound);
} // namespace coal
#endif
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include/coal/BVH/BVH_front.h 0 → 100644
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/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2011-2014, Willow Garage, Inc.
* Copyright (c) 2014-2015, Open Source Robotics Foundation
* 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.
*/
/** \author Jia Pan */
#ifndef COAL_BVH_FRONT_H
#define COAL_BVH_FRONT_H
#include <list>
#include "coal/config.hh"
namespace coal {
/// @brief Front list acceleration for collision
/// Front list is a set of internal and leaf nodes in the BVTT hierarchy, where
/// the traversal terminates while performing a query during a given time
/// instance. The front list reflects the subset of a BVTT that is traversed for
/// that particular proximity query.
struct COAL_DLLAPI BVHFrontNode {
/// @brief The nodes to start in the future, i.e. the wave front of the
/// traversal tree.
unsigned int left, right;
/// @brief The front node is not valid when collision is detected on the front
/// node.
bool valid;
BVHFrontNode(unsigned int left_, unsigned int right_)
: left(left_), right(right_), valid(true) {}
};
/// @brief BVH front list is a list of front nodes.
typedef std::list<BVHFrontNode> BVHFrontList;
/// @brief Add new front node into the front list
inline void updateFrontList(BVHFrontList* front_list, unsigned int b1,
unsigned int b2) {
if (front_list) front_list->push_back(BVHFrontNode(b1, b2));
}
} // namespace coal
#endif