data_types.h

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#ifndef COAL_DATA_TYPES_H
#define COAL_DATA_TYPES_H

#include <Eigen/Core>
#include <Eigen/Geometry>

#include "coal/config.hh"

#ifdef COAL_HAS_OCTOMAP
#define OCTOMAP_VERSION_AT_LEAST(x, y, z) \
 (OCTOMAP_MAJOR_VERSION > x || \
 (OCTOMAP_MAJOR_VERSION >= x && \
 (OCTOMAP_MINOR_VERSION > y || \
 (OCTOMAP_MINOR_VERSION >= y && OCTOMAP_PATCH_VERSION >= z))))

#define OCTOMAP_VERSION_AT_MOST(x, y, z) \
 (OCTOMAP_MAJOR_VERSION < x || \
 (OCTOMAP_MAJOR_VERSION <= x && \
 (OCTOMAP_MINOR_VERSION < y || \
 (OCTOMAP_MINOR_VERSION <= y && OCTOMAP_PATCH_VERSION <= z))))
#endif // COAL_HAS_OCTOMAP

namespace coal {
#ifdef COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL
// We keep the FCL_REAL typedef and the Vec[..]f typedefs for backward
// compatibility.
typedef double FCL_REAL;
typedef Eigen::Matrix<FCL_REAL, 3, 1> Vec3f;
typedef Eigen::Matrix<FCL_REAL, 2, 1> Vec2f;
typedef Eigen::Matrix<FCL_REAL, 6, 1> Vec6f;
typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, 1> VecXf;
typedef Eigen::Matrix<FCL_REAL, 3, 3> Matrix3f;
typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, 3, Eigen::RowMajor> Matrixx3f;
typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, 2, Eigen::RowMajor> Matrixx2f;
typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, Eigen::Dynamic> MatrixXf;
#endif

typedef double CoalScalar;
typedef Eigen::Matrix<CoalScalar, 3, 1> Vec3s;
typedef Eigen::Matrix<CoalScalar, 2, 1> Vec2s;
typedef Eigen::Matrix<CoalScalar, 6, 1> Vec6s;
typedef Eigen::Matrix<CoalScalar, Eigen::Dynamic, 1> VecXs;
typedef Eigen::Matrix<CoalScalar, 3, 3> Matrix3s;
typedef Eigen::Matrix<CoalScalar, Eigen::Dynamic, 3, Eigen::RowMajor> MatrixX3s;
typedef Eigen::Matrix<CoalScalar, Eigen::Dynamic, 2, Eigen::RowMajor> MatrixX2s;
typedef Eigen::Matrix<Eigen::DenseIndex, Eigen::Dynamic, 3, Eigen::RowMajor>
 Matrixx3i;
typedef Eigen::Matrix<CoalScalar, Eigen::Dynamic, Eigen::Dynamic> MatrixXs;
typedef Eigen::Vector2i support_func_guess_t;

enum GJKInitialGuess { DefaultGuess, CachedGuess, BoundingVolumeGuess };

enum GJKVariant { DefaultGJK, PolyakAcceleration, NesterovAcceleration };

enum GJKConvergenceCriterion { Default, DualityGap, Hybrid };

enum GJKConvergenceCriterionType { Relative, Absolute };

class COAL_DLLAPI Triangle {
 public:
 typedef std::size_t index_type;
 typedef int size_type;

 Triangle() {}

 Triangle(index_type p1, index_type p2, index_type p3) { set(p1, p2, p3); }

 inline void set(index_type p1, index_type p2, index_type p3) {
 vids[0] = p1;
 vids[1] = p2;
 vids[2] = p3;
 }

 inline index_type operator[](index_type i) const { return vids[i]; }

 inline index_type& operator[](index_type i) { return vids[i]; }

 static inline size_type size() { return 3; }

 bool operator==(const Triangle& other) const {
 return vids[0] == other.vids[0] && vids[1] == other.vids[1] &&
 vids[2] == other.vids[2];
 }

 bool operator!=(const Triangle& other) const { return !(*this == other); }

 bool isValid() const {
 return vids[0] != (std::numeric_limits<index_type>::max)() &&
 vids[1] != (std::numeric_limits<index_type>::max)() &&
 vids[2] != (std::numeric_limits<index_type>::max)();
 }

 private:
 index_type vids[3] = {(std::numeric_limits<index_type>::max)(),
 (std::numeric_limits<index_type>::max)(),
 (std::numeric_limits<index_type>::max)()};
};

struct COAL_DLLAPI Quadrilateral {
 typedef std::size_t index_type;
 typedef int size_type;

 Quadrilateral() {}

 Quadrilateral(index_type p0, index_type p1, index_type p2, index_type p3) {
 set(p0, p1, p2, p3);
 }

 inline void set(index_type p0, index_type p1, index_type p2, index_type p3) {
 vids[0] = p0;
 vids[1] = p1;
 vids[2] = p2;
 vids[3] = p3;
 }

 inline index_type operator[](index_type i) const { return vids[i]; }

 inline index_type& operator[](index_type i) { return vids[i]; }

 static inline size_type size() { return 4; }

 bool operator==(const Quadrilateral& other) const {
 return vids[0] == other.vids[0] && vids[1] == other.vids[1] &&
 vids[2] == other.vids[2] && vids[3] == other.vids[3];
 }

 bool operator!=(const Quadrilateral& other) const {
 return !(*this == other);
 }

 private:
 index_type vids[4];
};

} // namespace coal

#endif