kIOS.h 5.05 KB
Newer Older
1
2
3
/*
 * Software License Agreement (BSD License)
 *
4
5
 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2015, Open Source Robotics Foundation
6
7
8
9
10
11
12
13
14
15
16
17
 *  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.
18
 *   * Neither the name of Open Source Robotics Foundation nor the names of its
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
 *     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 */

Joseph Mirabel's avatar
Joseph Mirabel committed
38
39
#ifndef HPP_FCL_KIOS_H
#define HPP_FCL_KIOS_H
40

41
#include <hpp/fcl/BV/OBB.h>
42

43

44
45
namespace hpp
{
46
47
namespace fcl
{
48
49

struct CollisionRequest;
50
51
52
53

/// @addtogroup Bounding_Volume
/// @{

54
/// @brief A class describing the kIOS collision structure, which is a set of spheres.
55
56
class kIOS
{
57
  /// @brief One sphere in kIOS
58
59
60
  struct kIOS_Sphere
  {
    Vec3f o;
61
    FCL_REAL r;
62
63
  };

64
  /// @brief generate one sphere enclosing two spheres
65
66
67
  static kIOS_Sphere encloseSphere(const kIOS_Sphere& s0, const kIOS_Sphere& s1)
  {
    Vec3f d = s1.o - s0.o;
68
    FCL_REAL dist2 = d.squaredNorm();
69
    FCL_REAL diff_r = s1.r - s0.r;
70
71
72
73
74
75
76
77
78
      
    /** The sphere with the larger radius encloses the other */
    if(diff_r * diff_r >= dist2)
    {
      if(s1.r > s0.r) return s1;
      else return s0;
    }
    else /** spheres partially overlapping or disjoint */
    {
Joseph Mirabel's avatar
Joseph Mirabel committed
79
      float dist = (float)std::sqrt(dist2);
80
81
82
      kIOS_Sphere s;
      s.r = dist + s0.r + s1.r;
      if(dist > 0)
jpan's avatar
   
jpan committed
83
84
85
        s.o = s0.o + d * ((s.r - s0.r) / dist);
      else
        s.o = s0.o;
86
87
88
89
90
      return s;
    }
  }
public:
    
91
  /// @brief The (at most) five spheres for intersection
92
93
  kIOS_Sphere spheres[5];

94
95
  /// @brief The number of spheres, no larger than 5
  unsigned int num_spheres;
jpan's avatar
   
jpan committed
96

97
98
  /// @ OBB related with kIOS
  OBB obb;
99

100
101
102
  /// @brief Check whether the kIOS contains a point
  inline bool contain(const Vec3f& p) const;

103
  /// @brief Check collision between two kIOS
104
105
  bool overlap(const kIOS& other) const;

106
  /// @brief Check collision between two kIOS
107
108
  bool overlap(const kIOS& other, const CollisionRequest&,
               FCL_REAL& sqrDistLowerBound) const;
109

110
111
  /// @brief The distance between two kIOS
  FCL_REAL distance(const kIOS& other, Vec3f* P = NULL, Vec3f* Q = NULL) const;
112

113
  /// @brief A simple way to merge the kIOS and a point
114
115
  kIOS& operator += (const Vec3f& p);

116
  /// @brief Merge the kIOS and another kIOS
117
118
119
120
121
122
  kIOS& operator += (const kIOS& other)
  {
    *this = *this + other;
    return *this;
  }

123
  /// @brief Return the merged kIOS of current kIOS and the other one
124
125
  kIOS operator + (const kIOS& other) const;

126
127
128
  /// @brief size of the kIOS (used in BV_Splitter to order two kIOSs)
  FCL_REAL size() const;

129
  /// @brief Center of the kIOS
130
131
132
133
134
  const Vec3f& center() const
  {
    return spheres[0].o;
  }

135
  /// @brief Width of the kIOS
136
  FCL_REAL width() const;
137

138
  /// @brief Height of the kIOS
139
  FCL_REAL height() const;
140

141
  /// @brief Depth of the kIOS
142
  FCL_REAL depth() const;
143

144
  /// @brief Volume of the kIOS
145
  FCL_REAL volume() const;
146
147
};

jpan's avatar
jpan committed
148
149
150
151

/// @brief Translate the kIOS BV
kIOS translate(const kIOS& bv, const Vec3f& t);

152
153
/// @brief Check collision between two kIOSs, b1 is in configuration (R0, T0) and b2 is in identity.
/// @todo Not efficient
154
155
bool overlap(const Matrix3f& R0, const Vec3f& T0, const kIOS& b1, const kIOS& b2);

Joseph Mirabel's avatar
Joseph Mirabel committed
156
157
158
159
160
161
/// @brief Check collision between two kIOSs, b1 is in configuration (R0, T0) and b2 is in identity.
/// @todo Not efficient
bool overlap(const Matrix3f& R0, const Vec3f& T0, const kIOS& b1, const kIOS& b2,
             const CollisionRequest& request,
             FCL_REAL& sqrDistLowerBound);

162
163
/// @brief Approximate distance between two kIOS bounding volumes
/// @todo P and Q is not returned, need implementation
164
FCL_REAL distance(const Matrix3f& R0, const Vec3f& T0, const kIOS& b1, const kIOS& b2, Vec3f* P = NULL, Vec3f* Q = NULL);
165
166
167

}

168
169
} // namespace hpp

170
#endif