Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Add primitive cylinder-sphere collision and distance query #321

Merged
merged 1 commit into from
Aug 8, 2018
Merged

Add primitive cylinder-sphere collision and distance query #321

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
1 change: 1 addition & 0 deletions CHANGELOG.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
* Narrowphase

* Add custom sphere-box collision and distance algorithms for both solvers: [#316](https://github.com/flexible-collision-library/fcl/pull/316)
* Add custom sphere-cylinder collision and distance algorithms for both solvers: [#321](https://github.com/flexible-collision-library/fcl/pull/321)

* Distance

Expand Down
43 changes: 41 additions & 2 deletions include/fcl/narrowphase/detail/gjk_solver_indep-inl.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -51,6 +51,7 @@
#include "fcl/narrowphase/detail/primitive_shape_algorithm/capsule_capsule.h"
#include "fcl/narrowphase/detail/primitive_shape_algorithm/sphere_box.h"
#include "fcl/narrowphase/detail/primitive_shape_algorithm/sphere_capsule.h"
#include "fcl/narrowphase/detail/primitive_shape_algorithm/sphere_cylinder.h"
#include "fcl/narrowphase/detail/primitive_shape_algorithm/sphere_sphere.h"
#include "fcl/narrowphase/detail/primitive_shape_algorithm/sphere_triangle.h"
#include "fcl/narrowphase/detail/primitive_shape_algorithm/box_box.h"
Expand Down Expand Up @@ -184,7 +185,7 @@ bool GJKSolver_indep<S>::shapeIntersect(
// +------------+-----+--------+-----------+---------+------+----------+-------+------------+----------+
// | box | O | O | | | | | O | O | |
// +------------+-----+--------+-----------+---------+------+----------+-------+------------+----------+
// | sphere |/////| O | | O | | | O | O | O |
// | sphere |/////| O | | O | | O | O | O | O |
// +------------+-----+--------+-----------+---------+------+----------+-------+------------+----------+
// | ellipsoid |/////|////////| | | | | O | O | |
// +------------+-----+--------+-----------+---------+------+----------+-------+------------+----------+
Expand Down Expand Up @@ -249,6 +250,8 @@ FCL_GJK_INDEP_SHAPE_SHAPE_INTERSECT(Sphere, Capsule, detail::sphereCapsuleInters

FCL_GJK_INDEP_SHAPE_SHAPE_INTERSECT(Sphere, Box, detail::sphereBoxIntersect)

FCL_GJK_INDEP_SHAPE_SHAPE_INTERSECT(Sphere, Cylinder, detail::sphereCylinderIntersect)

FCL_GJK_INDEP_SHAPE_SHAPE_INTERSECT(Sphere, Halfspace, detail::sphereHalfspaceIntersect)
FCL_GJK_INDEP_SHAPE_SHAPE_INTERSECT(Ellipsoid, Halfspace, detail::ellipsoidHalfspaceIntersect)
FCL_GJK_INDEP_SHAPE_SHAPE_INTERSECT(Box, Halfspace, detail::boxHalfspaceIntersect)
Expand Down Expand Up @@ -675,7 +678,7 @@ bool GJKSolver_indep<S>::shapeSignedDistance(
// +------------+-----+--------+-----------+---------+------+----------+-------+------------+----------+
// | box | | O | | | | | | | |
// +------------+-----+--------+-----------+---------+------+----------+-------+------------+----------+
// | sphere |/////| O | | O | | | | | O |
// | sphere |/////| O | | O | | O | | | O |
// +------------+-----+--------+-----------+---------+------+----------+-------+------------+----------+
// | ellipsoid |/////|////////| | | | | | | |
// +------------+-----+--------+-----------+---------+------+----------+-------+------------+----------+
Expand Down Expand Up @@ -764,6 +767,42 @@ struct ShapeDistanceIndepImpl<S, Capsule<S>, Sphere<S>>
}
};

//==============================================================================
template<typename S>
struct ShapeDistanceIndepImpl<S, Sphere<S>, Cylinder<S>>
{
static bool run(
const GJKSolver_indep<S>& /*gjkSolver*/,
const Sphere<S>& s1,
const Transform3<S>& tf1,
const Cylinder<S>& s2,
const Transform3<S>& tf2,
S* dist,
Vector3<S>* p1,
Vector3<S>* p2)
{
return detail::sphereCylinderDistance(s1, tf1, s2, tf2, dist, p1, p2);
}
};

//==============================================================================
template<typename S>
struct ShapeDistanceIndepImpl<S, Cylinder<S>, Sphere<S>>
{
static bool run(
const GJKSolver_indep<S>& /*gjkSolver*/,
const Cylinder<S>& s1,
const Transform3<S>& tf1,
const Sphere<S>& s2,
const Transform3<S>& tf2,
S* dist,
Vector3<S>* p1,
Vector3<S>* p2)
{
return detail::sphereCylinderDistance(s2, tf2, s1, tf1, dist, p2, p1);
}
};

//==============================================================================
template<typename S>
struct ShapeDistanceIndepImpl<S, Sphere<S>, Sphere<S>>
Expand Down
43 changes: 41 additions & 2 deletions include/fcl/narrowphase/detail/gjk_solver_libccd-inl.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -48,6 +48,7 @@
#include "fcl/narrowphase/detail/primitive_shape_algorithm/capsule_capsule.h"
#include "fcl/narrowphase/detail/primitive_shape_algorithm/sphere_box.h"
#include "fcl/narrowphase/detail/primitive_shape_algorithm/sphere_capsule.h"
#include "fcl/narrowphase/detail/primitive_shape_algorithm/sphere_cylinder.h"
#include "fcl/narrowphase/detail/primitive_shape_algorithm/sphere_sphere.h"
#include "fcl/narrowphase/detail/primitive_shape_algorithm/sphere_triangle.h"
#include "fcl/narrowphase/detail/primitive_shape_algorithm/box_box.h"
Expand Down Expand Up @@ -180,7 +181,7 @@ bool GJKSolver_libccd<S>::shapeIntersect(
// +------------+-----+--------+-----------+---------+------+----------+-------+------------+----------+
// | box | O | O | | | | | O | O | |
// +------------+-----+--------+-----------+---------+------+----------+-------+------------+----------+
// | sphere |/////| O | | O | | | O | O | O |
// | sphere |/////| O | | O | | O | O | O | O |
// +------------+-----+--------+-----------+---------+------+----------+-------+------------+----------+
// | ellipsoid |/////|////////| | | | | O | O | TODO |
// +------------+-----+--------+-----------+---------+------+----------+-------+------------+----------+
Expand Down Expand Up @@ -245,6 +246,8 @@ FCL_GJK_LIBCCD_SHAPE_SHAPE_INTERSECT(Sphere, Capsule, detail::sphereCapsuleInter

FCL_GJK_LIBCCD_SHAPE_SHAPE_INTERSECT(Sphere, Box, detail::sphereBoxIntersect)

FCL_GJK_LIBCCD_SHAPE_SHAPE_INTERSECT(Sphere, Cylinder, detail::sphereCylinderIntersect)

FCL_GJK_LIBCCD_SHAPE_SHAPE_INTERSECT(Sphere, Halfspace, detail::sphereHalfspaceIntersect)
FCL_GJK_LIBCCD_SHAPE_SHAPE_INTERSECT(Ellipsoid, Halfspace, detail::ellipsoidHalfspaceIntersect)
FCL_GJK_LIBCCD_SHAPE_SHAPE_INTERSECT(Box, Halfspace, detail::boxHalfspaceIntersect)
Expand Down Expand Up @@ -656,7 +659,7 @@ bool GJKSolver_libccd<S>::shapeDistance(
// +------------+-----+--------+-----------+---------+------+----------+-------+------------+----------+
// | box | | O | | | | | | | |
// +------------+-----+--------+-----------+---------+------+----------+-------+------------+----------+
// | sphere |/////| O | | O | | | | | O |
// | sphere |/////| O | | O | | O | | | O |
// +------------+-----+--------+-----------+---------+------+----------+-------+------------+----------+
// | ellipsoid |/////|////////| | | | | | | |
// +------------+-----+--------+-----------+---------+------+----------+-------+------------+----------+
Expand Down Expand Up @@ -745,6 +748,42 @@ struct ShapeDistanceLibccdImpl<S, Capsule<S>, Sphere<S>>
}
};

//==============================================================================
template<typename S>
struct ShapeDistanceLibccdImpl<S, Sphere<S>, Cylinder<S>>
{
static bool run(
const GJKSolver_libccd<S>& /*gjkSolver*/,
const Sphere<S>& s1,
const Transform3<S>& tf1,
const Cylinder<S>& s2,
const Transform3<S>& tf2,
S* dist,
Vector3<S>* p1,
Vector3<S>* p2)
{
return detail::sphereCylinderDistance(s1, tf1, s2, tf2, dist, p1, p2);
}
};

//==============================================================================
template<typename S>
struct ShapeDistanceLibccdImpl<S, Cylinder<S>, Sphere<S>>
{
static bool run(
const GJKSolver_libccd<S>& /*gjkSolver*/,
const Cylinder<S>& s1,
const Transform3<S>& tf1,
const Sphere<S>& s2,
const Transform3<S>& tf2,
S* dist,
Vector3<S>* p1,
Vector3<S>* p2)
{
return detail::sphereCylinderDistance(s2, tf2, s1, tf1, dist, p2, p1);
}
};

//==============================================================================
template<typename S>
struct ShapeDistanceLibccdImpl<S, Sphere<S>, Sphere<S>>
Expand Down
Loading