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"

namespace coal {

namespace details {

enum SupportOptions {
 NoSweptSphere = 0,
 WithSweptSphere = 0x1,
};

// ============================================================================
// ============================ SUPPORT FUNCTIONS =============================
// ============================================================================
template <int _SupportOptions = SupportOptions::NoSweptSphere>
Vec3s getSupport(const ShapeBase* shape, const Vec3s& dir, int& hint);

struct COAL_DLLAPI ShapeSupportData {
 // @brief Tracks which points have been visited in a ConvexBase.
 std::vector<int8_t> visited;

 // @brief Tracks the last support direction used on this shape; used to
 // warm-start the ConvexBase support function.
 Vec3s last_dir = Vec3s::Zero();

 // @brief Temporary set used to compute the convex-hull of a support set.
 // Only used for ConvexBase and Box.
 SupportSet::Polygon polygon;
};

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>
void getShapeSupport(const ConvexBase* convex, const Vec3s& dir, Vec3s& support,
 int& hint, ShapeSupportData& /*unused*/);

struct LargeConvex : ShapeBase {};
struct SmallConvex : ShapeBase {};

template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupport(const SmallConvex* convex, const Vec3s& dir,
 Vec3s& support, int& hint, ShapeSupportData& data);

template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupport(const LargeConvex* 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, CoalScalar tol = 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, CoalScalar tol = 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,
 CoalScalar tol = 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,
 CoalScalar tol = 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,
 CoalScalar /*unused*/ tol = 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,
 CoalScalar /*unused*/ tol = 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,
 CoalScalar tol = 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, CoalScalar tol = 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, CoalScalar tol = 1e-3);

template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupportSet(const ConvexBase* convex, SupportSet& support_set,
 int& hint, ShapeSupportData& support_data,
 size_t /*unused*/ num_sampled_supports = 6,
 CoalScalar tol = 1e-3);

template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupportSet(const SmallConvex* convex, SupportSet& support_set,
 int& /*unused*/, ShapeSupportData& /*unused*/,
 size_t /*unused*/ num_sampled_supports = 6,
 CoalScalar tol = 1e-3);

template <int _SupportOptions = SupportOptions::NoSweptSphere>
void getShapeSupportSet(const LargeConvex* convex, SupportSet& support_set,
 int& hint, ShapeSupportData& support_data,
 size_t /*unused*/ num_sampled_supports = 6,
 CoalScalar tol = 1e-3);

COAL_DLLAPI void computeSupportSetConvexHull(SupportSet::Polygon& cloud,
 SupportSet::Polygon& cvx_hull);

} // namespace details

} // namespace coal

#endif // COAL_SUPPORT_FUNCTIONS_H