halfspace.cpp

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/** @author Jia Pan */

#include "fcl/narrowphase/detail/primitive_shape_algorithm/halfspace-inl.h"

namespace fcl
{

namespace detail
{

//==============================================================================
template <>
float halfspaceIntersectTolerance()
{
  return 0.0001f;
}

//==============================================================================
template <>
double halfspaceIntersectTolerance()
{
  return 0.0000001;
}

//==============================================================================
template
bool sphereHalfspaceIntersect(
    const Sphere<double>& s1, const Transform3<double>& tf1,
    const Halfspace<double>& s2, const Transform3<double>& tf2,
    std::vector<ContactPoint<double>>* contacts);

//==============================================================================
template
bool ellipsoidHalfspaceIntersect(
    const Ellipsoid<double>& s1, const Transform3<double>& tf1,
    const Halfspace<double>& s2, const Transform3<double>& tf2,
    std::vector<ContactPoint<double>>* contacts);

//==============================================================================
template
bool boxHalfspaceIntersect(
    const Box<double>& s1, const Transform3<double>& tf1,
    const Halfspace<double>& s2, const Transform3<double>& tf2);

//==============================================================================
template
bool boxHalfspaceIntersect(
    const Box<double>& s1, const Transform3<double>& tf1,
    const Halfspace<double>& s2, const Transform3<double>& tf2,
    std::vector<ContactPoint<double>>* contacts);

//==============================================================================
template
bool capsuleHalfspaceIntersect(
    const Capsule<double>& s1, const Transform3<double>& tf1,
    const Halfspace<double>& s2, const Transform3<double>& tf2,
    std::vector<ContactPoint<double>>* contacts);

//==============================================================================
template
bool cylinderHalfspaceIntersect(
    const Cylinder<double>& s1, const Transform3<double>& tf1,
    const Halfspace<double>& s2, const Transform3<double>& tf2,
    std::vector<ContactPoint<double>>* contacts);

//==============================================================================
template
bool coneHalfspaceIntersect(
    const Cone<double>& s1, const Transform3<double>& tf1,
    const Halfspace<double>& s2, const Transform3<double>& tf2,
    std::vector<ContactPoint<double>>* contacts);

//==============================================================================
template
bool convexHalfspaceIntersect(
    const Convex<double>& s1, const Transform3<double>& tf1,
    const Halfspace<double>& s2, const Transform3<double>& tf2,
    Vector3<double>* contact_points, double* penetration_depth, Vector3<double>* normal);

//==============================================================================
template
bool convexHalfspaceIntersect(const Convex<double>& convex_C,
                              const Transform3<double>& X_FC,
                              const Halfspace<double>& half_space_H,
                              const Transform3<double>& X_FH,
                              std::vector<ContactPoint<double>>* contacts);

//==============================================================================
template
bool halfspaceTriangleIntersect(
    const Halfspace<double>& s1, const Transform3<double>& tf1,
    const Vector3<double>& P1, const Vector3<double>& P2, const Vector3<double>& P3, const Transform3<double>& tf2,
    Vector3<double>* contact_points, double* penetration_depth, Vector3<double>* normal);

//==============================================================================
template
bool planeHalfspaceIntersect(
    const Plane<double>& s1, const Transform3<double>& tf1,
    const Halfspace<double>& s2, const Transform3<double>& tf2,
    Plane<double>& pl,
    Vector3<double>& p, Vector3<double>& d,
    double& penetration_depth,
    int& ret);

//==============================================================================
template
bool halfspacePlaneIntersect(
    const Halfspace<double>& s1, const Transform3<double>& tf1,
    const Plane<double>& s2, const Transform3<double>& tf2,
    Plane<double>& pl, Vector3<double>& p, Vector3<double>& d,
    double& penetration_depth,
    int& ret);

//==============================================================================
template
bool halfspaceIntersect(
    const Halfspace<double>& s1, const Transform3<double>& tf1,
    const Halfspace<double>& s2, const Transform3<double>& tf2,
    Vector3<double>& p, Vector3<double>& d,
    Halfspace<double>& s,
    double& penetration_depth,
    int& ret);

} // namespace detail
} // namespace fcl