hpp-fcl  1.8.1
HPP fork of FCL -- The Flexible Collision Library
geometric_shapes_utility.h
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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 
47 namespace hpp
48 {
49 namespace fcl
50 {
51 
53 namespace details
54 {
56 HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const Box& box, const Transform3f& tf);
57 HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const Sphere& sphere, const Transform3f& tf);
58 HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const Capsule& capsule, const Transform3f& tf);
59 HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const Cone& cone, const Transform3f& tf);
60 HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const Cylinder& cylinder, const Transform3f& tf);
61 HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const ConvexBase& convex, const Transform3f& tf);
62 HPP_FCL_DLLAPI std::vector<Vec3f> getBoundVertices(const TriangleP& triangle, const Transform3f& tf);
63 }
65 
66 
68 template<typename BV, typename S>
69 inline 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 
75 template<>
76 HPP_FCL_DLLAPI void computeBV<AABB, Box>(const Box& s, const Transform3f& tf, AABB& bv);
77 
78 template<>
80 
81 template<>
83 
84 template<>
85 HPP_FCL_DLLAPI void computeBV<AABB, Cone>(const Cone& s, const Transform3f& tf, AABB& bv);
86 
87 template<>
89 
90 template<>
92 
93 template<>
95 
96 template<>
98 
99 template<>
101 
102 
103 
104 template<>
105 HPP_FCL_DLLAPI void computeBV<OBB, Box>(const Box& s, const Transform3f& tf, OBB& bv);
106 
107 template<>
109 
110 template<>
112 
113 template<>
114 HPP_FCL_DLLAPI void computeBV<OBB, Cone>(const Cone& s, const Transform3f& tf, OBB& bv);
115 
116 template<>
118 
119 template<>
121 
122 template<>
124 
125 template<>
127 
128 template<>
130 
131 template<>
133 
134 template<>
135 HPP_FCL_DLLAPI void computeBV<KDOP<16>, Halfspace>(const Halfspace& s, const Transform3f& tf, KDOP<16>& bv);
136 
137 template<>
138 HPP_FCL_DLLAPI void computeBV<KDOP<18>, Halfspace>(const Halfspace& s, const Transform3f& tf, KDOP<18>& bv);
139 
140 template<>
141 HPP_FCL_DLLAPI void computeBV<KDOP<24>, Halfspace>(const Halfspace& s, const Transform3f& tf, KDOP<24>& bv);
142 
143 template<>
145 
146 template<>
148 
149 template<>
151 
152 template<>
154 
155 template<>
156 HPP_FCL_DLLAPI void computeBV<KDOP<16>, Plane>(const Plane& s, const Transform3f& tf, KDOP<16>& bv);
157 
158 template<>
159 HPP_FCL_DLLAPI void computeBV<KDOP<18>, Plane>(const Plane& s, const Transform3f& tf, KDOP<18>& bv);
160 
161 template<>
162 HPP_FCL_DLLAPI void computeBV<KDOP<24>, Plane>(const Plane& s, const Transform3f& tf, KDOP<24>& bv);
163 
164 
166 HPP_FCL_DLLAPI void constructBox(const AABB& bv, Box& box, Transform3f& tf);
167 
168 HPP_FCL_DLLAPI void constructBox(const OBB& bv, Box& box, Transform3f& tf);
169 
170 HPP_FCL_DLLAPI void constructBox(const OBBRSS& bv, Box& box, Transform3f& tf);
171 
172 HPP_FCL_DLLAPI void constructBox(const kIOS& bv, Box& box, Transform3f& tf);
173 
174 HPP_FCL_DLLAPI void constructBox(const RSS& bv, Box& box, Transform3f& tf);
175 
177 
179 
181 
182 HPP_FCL_DLLAPI void constructBox(const AABB& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
183 
184 HPP_FCL_DLLAPI void constructBox(const OBB& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
185 
186 HPP_FCL_DLLAPI void constructBox(const OBBRSS& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
187 
188 HPP_FCL_DLLAPI void constructBox(const kIOS& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
189 
190 HPP_FCL_DLLAPI void constructBox(const RSS& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
191 
192 HPP_FCL_DLLAPI void constructBox(const KDOP<16>& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
193 
194 HPP_FCL_DLLAPI void constructBox(const KDOP<18>& bv, const Transform3f& tf_bv, Box& box, Transform3f& tf);
195 
196 HPP_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
Definition: traversal_node_setup.h:852
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