Program Listing for File support_functions.h
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#ifndef COAL_SUPPORT_FUNCTIONS_H
#define COAL_SUPPORT_FUNCTIONS_H
#include "coal/shape/geometric_shapes.h"
#include "coal/math/transform.h"
#include "coal/collision_data.h"
#include "coal/narrowphase/support_data.h"
namespace coal {
namespace details {
// ============================================================================
// ============================ SUPPORT FUNCTIONS =============================
// ============================================================================
template <int _SupportOptions = SupportOptions::NoSweptSphere>
Vec3s getSupport(const ShapeBase* shape, const Vec3s& dir, int& hint);
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupport(const TriangleP* triangle, const Vec3s& dir,
Vec3s& support, int& /*unused*/,
ShapeSupportData& /*unused*/);
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupport(const Box* box, const Vec3s& dir, Vec3s& support,
int& /*unused*/, ShapeSupportData& /*unused*/);
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupport(const Sphere* sphere, const Vec3s& dir, Vec3s& support,
int& /*unused*/, ShapeSupportData& /*unused*/);
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupport(const Ellipsoid* ellipsoid, const Vec3s& dir,
Vec3s& support, int& /*unused*/,
ShapeSupportData& /*unused*/);
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupport(const Capsule* capsule, const Vec3s& dir, Vec3s& support,
int& /*unused*/, ShapeSupportData& /*unused*/);
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupport(const Cone* cone, const Vec3s& dir, Vec3s& support,
int& /*unused*/, ShapeSupportData& /*unused*/);
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupport(const Cylinder* cylinder, const Vec3s& dir, Vec3s& support,
int& /*unused*/, ShapeSupportData& /*unused*/);
template <int _SupportOptions = SupportOptions::NoSweptSphere,
typename IndexType>
void getShapeSupport(const ConvexBaseTpl<IndexType>* convex, const Vec3s& dir,
Vec3s& support, int& hint, ShapeSupportData& /*unused*/);
template <typename IndexType>
struct LargeConvex : ConvexBaseTpl<IndexType> {};
typedef LargeConvex<Triangle16::IndexType> LargeConvex16;
typedef LargeConvex<Triangle32::IndexType> LargeConvex32;
template <typename IndexType>
struct SmallConvex : ConvexBaseTpl<IndexType> {};
typedef SmallConvex<Triangle16::IndexType> SmallConvex16;
typedef SmallConvex<Triangle32::IndexType> SmallConvex32;
template <int _SupportOptions = SupportOptions::NoSweptSphere,
typename IndexType>
void getShapeSupport(const SmallConvex<IndexType>* convex, const Vec3s& dir,
Vec3s& support, int& hint, ShapeSupportData& data);
template <int _SupportOptions = SupportOptions::NoSweptSphere,
typename IndexType>
void getShapeSupport(const LargeConvex<IndexType>* convex, const Vec3s& dir,
Vec3s& support, int& hint, ShapeSupportData& support_data);
// ============================================================================
// ========================== SUPPORT SET FUNCTIONS ===========================
// ============================================================================
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getSupportSet(const ShapeBase* shape, SupportSet& support_set, int& hint,
size_t num_sampled_supports = 6, Scalar tol = Scalar(1e-3));
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getSupportSet(const ShapeBase* shape, const Vec3s& dir,
SupportSet& support_set, int& hint,
size_t num_sampled_supports = 6, Scalar tol = Scalar(1e-3)) {
support_set.tf.rotation() = constructOrthonormalBasisFromVector(dir);
const Vec3s& support_dir = support_set.getNormal();
const Vec3s support = getSupport<_SupportOptions>(shape, support_dir, hint);
getSupportSet<_SupportOptions>(shape, support_set, hint, num_sampled_supports,
tol);
}
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupportSet(const TriangleP* triangle, SupportSet& support_set,
int& /*unused*/, ShapeSupportData& /*unused*/,
size_t /*unused*/ num_sampled_supports = 6,
Scalar tol = Scalar(1e-3));
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupportSet(const Box* box, SupportSet& support_set,
int& /*unused*/, ShapeSupportData& support_data,
size_t /*unused*/ num_sampled_supports = 6,
Scalar tol = Scalar(1e-3));
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupportSet(const Sphere* sphere, SupportSet& support_set,
int& /*unused*/, ShapeSupportData& /*unused*/,
size_t /*unused*/ num_sampled_supports = 6,
Scalar /*unused*/ tol = Scalar(1e-3));
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupportSet(const Ellipsoid* ellipsoid, SupportSet& support_set,
int& /*unused*/, ShapeSupportData& /*unused*/,
size_t /*unused*/ num_sampled_supports = 6,
Scalar /*unused*/ tol = Scalar(1e-3));
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupportSet(const Capsule* capsule, SupportSet& support_set,
int& /*unused*/, ShapeSupportData& /*unused*/,
size_t /*unused*/ num_sampled_supports = 6,
Scalar tol = Scalar(1e-3));
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupportSet(const Cone* cone, SupportSet& support_set,
int& /*unused*/, ShapeSupportData& /*unused*/,
size_t num_sampled_supports = 6,
Scalar tol = Scalar(1e-3));
template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupportSet(const Cylinder* cylinder, SupportSet& support_set,
int& /*unused*/, ShapeSupportData& /*unused*/,
size_t num_sampled_supports = 6,
Scalar tol = Scalar(1e-3));
template <int _SupportOptions = SupportOptions::NoSweptSphere,
typename IndexType>
void getShapeSupportSet(const ConvexBaseTpl<IndexType>* convex,
SupportSet& support_set, int& hint,
ShapeSupportData& support_data,
size_t /*unused*/ num_sampled_supports = 6,
Scalar tol = Scalar(1e-3));
template <int _SupportOptions = SupportOptions::NoSweptSphere,
typename IndexType>
void getShapeSupportSet(const SmallConvex<IndexType>* convex,
SupportSet& support_set, int& /*unused*/,
ShapeSupportData& /*unused*/,
size_t /*unused*/ num_sampled_supports = 6,
Scalar tol = Scalar(1e-3));
template <int _SupportOptions = SupportOptions::NoSweptSphere,
typename IndexType>
void getShapeSupportSet(const LargeConvex<IndexType>* convex,
SupportSet& support_set, int& hint,
ShapeSupportData& support_data,
size_t /*unused*/ num_sampled_supports = 6,
Scalar tol = Scalar(1e-3));
COAL_DLLAPI void computeSupportSetConvexHull(SupportSet::Polygon& cloud,
SupportSet::Polygon& cvx_hull);
} // namespace details
} // namespace coal
#endif // COAL_SUPPORT_FUNCTIONS_H