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/* |
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* Software License Agreement (BSD License) |
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* |
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* Copyright (c) 2011-2014, Willow Garage, Inc. |
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* Copyright (c) 2014-2015, Open Source Robotics Foundation |
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* All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* * Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* * Redistributions in binary form must reproduce the above |
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* copyright notice, this list of conditions and the following |
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* disclaimer in the documentation and/or other materials provided |
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* with the distribution. |
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* * Neither the name of Open Source Robotics Foundation nor the names of its |
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* contributors may be used to endorse or promote products derived |
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* from this software without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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*/ |
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/** \author Jia Pan */ |
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#ifndef HPP_FCL_BV_H |
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#define HPP_FCL_BV_H |
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#include <hpp/fcl/BV/kDOP.h> |
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#include <hpp/fcl/BV/AABB.h> |
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#include <hpp/fcl/BV/OBB.h> |
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#include <hpp/fcl/BV/RSS.h> |
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#include <hpp/fcl/BV/OBBRSS.h> |
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#include <hpp/fcl/BV/kIOS.h> |
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#include <hpp/fcl/math/transform.h> |
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/** @brief Main namespace */ |
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namespace hpp { |
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namespace fcl { |
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/// @cond IGNORE |
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namespace details { |
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/// @brief Convert a bounding volume of type BV1 in configuration tf1 to a |
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/// bounding volume of type BV2 in I configuration. |
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template <typename BV1, typename BV2> |
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struct Converter { |
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static void convert(const BV1& bv1, const Transform3f& tf1, BV2& bv2); |
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static void convert(const BV1& bv1, BV2& bv2); |
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}; |
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/// @brief Convert from AABB to AABB, not very tight but is fast. |
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template <> |
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struct Converter<AABB, AABB> { |
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static void convert(const AABB& bv1, const Transform3f& tf1, AABB& bv2) { |
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const Vec3f& center = bv1.center(); |
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FCL_REAL r = (bv1.max_ - bv1.min_).norm() * 0.5; |
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const Vec3f center2 = tf1.transform(center); |
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bv2.min_ = center2 - Vec3f::Constant(r); |
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bv2.max_ = center2 + Vec3f::Constant(r); |
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} |
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117720 |
static void convert(const AABB& bv1, AABB& bv2) { bv2 = bv1; } |
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}; |
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template <> |
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struct Converter<AABB, OBB> { |
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30985 |
static void convert(const AABB& bv1, const Transform3f& tf1, OBB& bv2) { |
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✓✗ | 30985 |
bv2.To = tf1.transform(bv1.center()); |
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✓✗✓✗ ✓✗✓✗ |
30985 |
bv2.extent.noalias() = (bv1.max_ - bv1.min_) * 0.5; |
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30985 |
bv2.axes = tf1.getRotation(); |
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30985 |
} |
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98318 |
static void convert(const AABB& bv1, OBB& bv2) { |
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98318 |
bv2.To = bv1.center(); |
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✓✗✓✗ ✓✗✓✗ |
98318 |
bv2.extent.noalias() = (bv1.max_ - bv1.min_) * 0.5; |
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98318 |
bv2.axes.setIdentity(); |
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98318 |
} |
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}; |
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template <> |
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struct Converter<OBB, OBB> { |
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28982 |
static void convert(const OBB& bv1, const Transform3f& tf1, OBB& bv2) { |
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28982 |
bv2.extent = bv1.extent; |
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28982 |
bv2.To = tf1.transform(bv1.To); |
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✓✗✓✗ |
28982 |
bv2.axes.noalias() = tf1.getRotation() * bv1.axes; |
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28982 |
} |
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static void convert(const OBB& bv1, OBB& bv2) { bv2 = bv1; } |
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}; |
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template <> |
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struct Converter<OBBRSS, OBB> { |
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28982 |
static void convert(const OBBRSS& bv1, const Transform3f& tf1, OBB& bv2) { |
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28982 |
Converter<OBB, OBB>::convert(bv1.obb, tf1, bv2); |
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28982 |
} |
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static void convert(const OBBRSS& bv1, OBB& bv2) { |
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Converter<OBB, OBB>::convert(bv1.obb, bv2); |
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} |
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}; |
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template <> |
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struct Converter<RSS, OBB> { |
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static void convert(const RSS& bv1, const Transform3f& tf1, OBB& bv2) { |
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bv2.extent = Vec3f(bv1.length[0] * 0.5 + bv1.radius, |
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bv1.length[1] * 0.5 + bv1.radius, bv1.radius); |
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bv2.To = tf1.transform(bv1.Tr); |
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bv2.axes.noalias() = tf1.getRotation() * bv1.axes; |
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} |
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static void convert(const RSS& bv1, OBB& bv2) { |
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bv2.extent = Vec3f(bv1.length[0] * 0.5 + bv1.radius, |
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bv1.length[1] * 0.5 + bv1.radius, bv1.radius); |
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bv2.To = bv1.Tr; |
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bv2.axes = bv1.axes; |
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} |
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}; |
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template <typename BV1> |
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struct Converter<BV1, AABB> { |
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static void convert(const BV1& bv1, const Transform3f& tf1, AABB& bv2) { |
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const Vec3f& center = bv1.center(); |
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FCL_REAL r = Vec3f(bv1.width(), bv1.height(), bv1.depth()).norm() * 0.5; |
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const Vec3f center2 = tf1.transform(center); |
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bv2.min_ = center2 - Vec3f::Constant(r); |
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bv2.max_ = center2 + Vec3f::Constant(r); |
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} |
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static void convert(const BV1& bv1, AABB& bv2) { |
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const Vec3f& center = bv1.center(); |
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FCL_REAL r = Vec3f(bv1.width(), bv1.height(), bv1.depth()).norm() * 0.5; |
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bv2.min_ = center - Vec3f::Constant(r); |
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bv2.max_ = center + Vec3f::Constant(r); |
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} |
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}; |
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template <typename BV1> |
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struct Converter<BV1, OBB> { |
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static void convert(const BV1& bv1, const Transform3f& tf1, OBB& bv2) { |
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AABB bv; |
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Converter<BV1, AABB>::convert(bv1, bv); |
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Converter<AABB, OBB>::convert(bv, tf1, bv2); |
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} |
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static void convert(const BV1& bv1, OBB& bv2) { |
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AABB bv; |
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Converter<BV1, AABB>::convert(bv1, bv); |
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Converter<AABB, OBB>::convert(bv, bv2); |
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} |
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}; |
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template <> |
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struct Converter<OBB, RSS> { |
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static void convert(const OBB& bv1, const Transform3f& tf1, RSS& bv2) { |
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bv2.Tr = tf1.transform(bv1.To); |
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bv2.axes.noalias() = tf1.getRotation() * bv1.axes; |
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bv2.radius = bv1.extent[2]; |
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bv2.length[0] = 2 * (bv1.extent[0] - bv2.radius); |
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bv2.length[1] = 2 * (bv1.extent[1] - bv2.radius); |
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} |
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static void convert(const OBB& bv1, RSS& bv2) { |
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bv2.Tr = bv1.To; |
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bv2.axes = bv1.axes; |
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bv2.radius = bv1.extent[2]; |
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bv2.length[0] = 2 * (bv1.extent[0] - bv2.radius); |
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bv2.length[1] = 2 * (bv1.extent[1] - bv2.radius); |
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} |
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}; |
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template <> |
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struct Converter<RSS, RSS> { |
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static void convert(const RSS& bv1, const Transform3f& tf1, RSS& bv2) { |
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bv2.Tr = tf1.transform(bv1.Tr); |
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bv2.axes.noalias() = tf1.getRotation() * bv1.axes; |
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bv2.radius = bv1.radius; |
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bv2.length[0] = bv1.length[0]; |
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bv2.length[1] = bv1.length[1]; |
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} |
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static void convert(const RSS& bv1, RSS& bv2) { bv2 = bv1; } |
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}; |
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template <> |
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struct Converter<OBBRSS, RSS> { |
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static void convert(const OBBRSS& bv1, const Transform3f& tf1, RSS& bv2) { |
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Converter<RSS, RSS>::convert(bv1.rss, tf1, bv2); |
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} |
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static void convert(const OBBRSS& bv1, RSS& bv2) { |
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Converter<RSS, RSS>::convert(bv1.rss, bv2); |
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} |
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}; |
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template <> |
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struct Converter<AABB, RSS> { |
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98318 |
static void convert(const AABB& bv1, const Transform3f& tf1, RSS& bv2) { |
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✓✗✓✗ |
98318 |
bv2.Tr = tf1.transform(bv1.center()); |
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/// Sort the AABB edges so that AABB extents are ordered. |
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✓✗✓✗ ✓✗ |
98318 |
FCL_REAL d[3] = {bv1.width(), bv1.height(), bv1.depth()}; |
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98318 |
Eigen::DenseIndex id[3] = {0, 1, 2}; |
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✓✓ | 294954 |
for (Eigen::DenseIndex i = 1; i < 3; ++i) { |
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✓✓ | 491590 |
for (Eigen::DenseIndex j = i; j > 0; --j) { |
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✓✓ | 294954 |
if (d[j] > d[j - 1]) { |
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{ |
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265551 |
FCL_REAL tmp = d[j]; |
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265551 |
d[j] = d[j - 1]; |
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265551 |
d[j - 1] = tmp; |
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} |
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{ |
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265551 |
Eigen::DenseIndex tmp = id[j]; |
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265551 |
id[j] = id[j - 1]; |
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265551 |
id[j - 1] = tmp; |
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} |
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} |
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} |
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} |
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✓✗✓✗ ✓✗ |
98318 |
const Vec3f extent = (bv1.max_ - bv1.min_) * 0.5; |
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✓✗ | 98318 |
bv2.radius = extent[id[2]]; |
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✓✗ | 98318 |
bv2.length[0] = (extent[id[0]] - bv2.radius) * 2; |
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✓✗ | 98318 |
bv2.length[1] = (extent[id[1]] - bv2.radius) * 2; |
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98318 |
const Matrix3f& R = tf1.getRotation(); |
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98318 |
const bool left_hand = (id[0] == (id[1] + 1) % 3); |
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✓✓ | 98318 |
if (left_hand) |
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✓✗✓✗ ✓✗✓✗ |
68941 |
bv2.axes.col(0) = -R.col(id[0]); |
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else |
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✓✗✓✗ ✓✗ |
29377 |
bv2.axes.col(0) = R.col(id[0]); |
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✓✗✓✗ ✓✗ |
98318 |
bv2.axes.col(1) = R.col(id[1]); |
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✓✗✓✗ ✓✗ |
98318 |
bv2.axes.col(2) = R.col(id[2]); |
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98318 |
} |
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98318 |
static void convert(const AABB& bv1, RSS& bv2) { |
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✓✗ | 98318 |
convert(bv1, Transform3f(), bv2); |
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98318 |
} |
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}; |
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template <> |
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struct Converter<AABB, OBBRSS> { |
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static void convert(const AABB& bv1, const Transform3f& tf1, OBBRSS& bv2) { |
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Converter<AABB, OBB>::convert(bv1, tf1, bv2.obb); |
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Converter<AABB, RSS>::convert(bv1, tf1, bv2.rss); |
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} |
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98318 |
static void convert(const AABB& bv1, OBBRSS& bv2) { |
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98318 |
Converter<AABB, OBB>::convert(bv1, bv2.obb); |
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98318 |
Converter<AABB, RSS>::convert(bv1, bv2.rss); |
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98318 |
} |
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}; |
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} // namespace details |
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/// @endcond |
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/// @brief Convert a bounding volume of type BV1 in configuration tf1 to |
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/// bounding volume of type BV2 in identity configuration. |
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template <typename BV1, typename BV2> |
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117931 |
static inline void convertBV(const BV1& bv1, const Transform3f& tf1, BV2& bv2) { |
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117931 |
details::Converter<BV1, BV2>::convert(bv1, tf1, bv2); |
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117931 |
} |
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/// @brief Convert a bounding volume of type BV1 to bounding volume of type BV2 |
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/// in identity configuration. |
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template <typename BV1, typename BV2> |
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392675 |
static inline void convertBV(const BV1& bv1, BV2& bv2) { |
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392675 |
details::Converter<BV1, BV2>::convert(bv1, bv2); |
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392675 |
} |
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} // namespace fcl |
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} // namespace hpp |
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#endif |
Generated by: GCOVR (Version 4.2) |