hpp-fcl 1.8.1
HPP fork of FCL -- The Flexible Collision Library
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geometric_shapes_utility.h
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1/*
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35
39#ifndef HPP_FCL_GEOMETRIC_SHAPES_UTILITY_H
40#define HPP_FCL_GEOMETRIC_SHAPES_UTILITY_H
41
42#include <vector>
44#include <hpp/fcl/BV/BV.h>
46
47namespace hpp
48{
49namespace fcl
50{
51
53namespace details
54{
56HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const Box& box, const Transform3f& tf);
57HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const Sphere& sphere, const Transform3f& tf);
58HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const Capsule& capsule, const Transform3f& tf);
59HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const Cone& cone, const Transform3f& tf);
60HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const Cylinder& cylinder, const Transform3f& tf);
61HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const ConvexBase& convex, const Transform3f& tf);
62HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const TriangleP& triangle, const Transform3f& tf);
63}
65
66
68template<typename BV, typename S>
69inline void computeBV(const S& s, const Transform3f& tf, BV& bv)
70{
71 std::vector<Vec3f> convex_bound_vertices = details::getBoundVertices(s, tf);
72 fit(&convex_bound_vertices[0], (unsigned int)convex_bound_vertices.size(), bv);
73}
74
75template<>
77
78template<>
80
81template<>
83
84template<>
86
87template<>
89
90template<>
92
93template<>
95
96template<>
98
99template<>
101
102
103
104template<>
105HPP_FCL_DLLAPI void computeBV<OBB, Box>(const Box& s, const Transform3f& tf, OBB& bv);
106
107template<>
109
110template<>
112
113template<>
115
116template<>
118
119template<>
121
122template<>
124
125template<>
127
128template<>
130
131template<>
133
134template<>
135HPP_FCL_DLLAPI void computeBV<KDOP<16>, Halfspace>(const Halfspace& s, const Transform3f& tf, KDOP<16>& bv);
136
137template<>
138HPP_FCL_DLLAPI void computeBV<KDOP<18>, Halfspace>(const Halfspace& s, const Transform3f& tf, KDOP<18>& bv);
139
140template<>
141HPP_FCL_DLLAPI void computeBV<KDOP<24>, Halfspace>(const Halfspace& s, const Transform3f& tf, KDOP<24>& bv);
142
143template<>
145
146template<>
148
149template<>
151
152template<>
154
155template<>
156HPP_FCL_DLLAPI void computeBV<KDOP<16>, Plane>(const Plane& s, const Transform3f& tf, KDOP<16>& bv);
157
158template<>
159HPP_FCL_DLLAPI void computeBV<KDOP<18>, Plane>(const Plane& s, const Transform3f& tf, KDOP<18>& bv);
160
161template<>
162HPP_FCL_DLLAPI void computeBV<KDOP<24>, Plane>(const Plane& s, const Transform3f& tf, KDOP<24>& bv);
163
164
166HPP_FCL_DLLAPI void constructBox(const AABB& bv, Box& box, Transform3f& tf);
167
168HPP_FCL_DLLAPI void constructBox(const OBB& bv, Box& box, Transform3f& tf);
169
171
172HPP_FCL_DLLAPI void constructBox(const kIOS& bv, Box& box, Transform3f& tf);
173
174HPP_FCL_DLLAPI void constructBox(const RSS& bv, Box& box, Transform3f& tf);
175
177
179
181
182HPP_FCL_DLLAPI void constructBox(const AABB& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
183
184HPP_FCL_DLLAPI void constructBox(const OBB& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
185
186HPP_FCL_DLLAPI void constructBox(const OBBRSS& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
187
188HPP_FCL_DLLAPI void constructBox(const kIOS& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
189
190HPP_FCL_DLLAPI void constructBox(const RSS& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
191
192HPP_FCL_DLLAPI void constructBox(const KDOP<16>& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
193
194HPP_FCL_DLLAPI void constructBox(const KDOP<18>& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
195
196HPP_FCL_DLLAPI void constructBox(const KDOP<24>& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
197
199
201
202}
203
204} // namespace hpp
205
206#endif
A class describing the AABB collision structure, which is a box in 3D space determined by two diagona...
Definition: AABB.h:56
Center at zero point, axis aligned box.
Definition: geometric_shapes.h:103
Capsule It is where is the distance between the point x and the capsule segment AB,...
Definition: geometric_shapes.h:193
Cone The base of the cone is at and the top is at .
Definition: geometric_shapes.h:250
Base for convex polytope.
Definition: geometric_shapes.h:356
Cylinder along Z axis. The cylinder is defined at its centroid.
Definition: geometric_shapes.h:306
Half Space: this is equivalent to the Plane in ODE. The separation plane is defined as n * x = d; Poi...
Definition: geometric_shapes.h:461
KDOP class describes the KDOP collision structures. K is set as the template parameter,...
Definition: kDOP.h:90
Infinite plane.
Definition: geometric_shapes.h:531
Center at zero point sphere.
Definition: geometric_shapes.h:150
Simple transform class used locally by InterpMotion.
Definition: transform.h:59
Triangle stores the points instead of only indices of points.
Definition: geometric_shapes.h:76
A class describing the kIOS collision structure, which is a set of spheres.
Definition: kIOS.h:56
#define HPP_FCL_DLLAPI
Definition: config.hh:64
void computeBV< OBBRSS, Halfspace >(const Halfspace &s, const Transform3f &tf, OBBRSS &bv)
void computeBV(const S &s, const Transform3f &tf, BV &bv)
calculate a bounding volume for a shape in a specific configuration
Definition: geometric_shapes_utility.h:69
void constructBox(const AABB &bv, Box &box, Transform3f &tf)
construct a box shape (with a configuration) from a given bounding volume
void computeBV< OBB, Plane >(const Plane &s, const Transform3f &tf, OBB &bv)
void computeBV< AABB, ConvexBase >(const ConvexBase &s, const Transform3f &tf, AABB &bv)
void computeBV< OBB, Capsule >(const Capsule &s, const Transform3f &tf, OBB &bv)
void computeBV< OBB, Box >(const Box &s, const Transform3f &tf, OBB &bv)
void computeBV< AABB, TriangleP >(const TriangleP &s, const Transform3f &tf, AABB &bv)
void computeBV< RSS, Halfspace >(const Halfspace &s, const Transform3f &tf, RSS &bv)
void computeBV< AABB, Cylinder >(const Cylinder &s, const Transform3f &tf, AABB &bv)
void computeBV< AABB, Box >(const Box &s, const Transform3f &tf, AABB &bv)
void computeBV< OBBRSS, Plane >(const Plane &s, const Transform3f &tf, OBBRSS &bv)
void computeBV< OBB, ConvexBase >(const ConvexBase &s, const Transform3f &tf, OBB &bv)
void computeBV< RSS, Plane >(const Plane &s, const Transform3f &tf, RSS &bv)
void fit(Vec3f *ps, unsigned int n, BV &bv)
Compute a bounding volume that fits a set of n points.
Definition: BV_fitter.h:54
void computeBV< AABB, Plane >(const Plane &s, const Transform3f &tf, AABB &bv)
void computeBV< OBB, Cone >(const Cone &s, const Transform3f &tf, OBB &bv)
void computeBV< OBB, Halfspace >(const Halfspace &s, const Transform3f &tf, OBB &bv)
void computeBV< AABB, Cone >(const Cone &s, const Transform3f &tf, AABB &bv)
void computeBV< AABB, Sphere >(const Sphere &s, const Transform3f &tf, AABB &bv)
void computeBV< kIOS, Plane >(const Plane &s, const Transform3f &tf, kIOS &bv)
void computeBV< OBB, Sphere >(const Sphere &s, const Transform3f &tf, OBB &bv)
Halfspace transform(const Halfspace &a, const Transform3f &tf)
void computeBV< kIOS, Halfspace >(const Halfspace &s, const Transform3f &tf, kIOS &bv)
void computeBV< OBB, Cylinder >(const Cylinder &s, const Transform3f &tf, OBB &bv)
void computeBV< AABB, Capsule >(const Capsule &s, const Transform3f &tf, AABB &bv)
void computeBV< AABB, Halfspace >(const Halfspace &s, const Transform3f &tf, AABB &bv)
Main namespace.
Definition: AABB.h:44
Class merging the OBB and RSS, can handle collision and distance simultaneously.
Definition: OBBRSS.h:57
Oriented bounding box class.
Definition: OBB.h:55
A class for rectangle sphere-swept bounding volume.
Definition: RSS.h:56