DARTCollide.cpp File Reference

#include "dart/collision/dart/DARTCollide.hpp"
#include "dart/collision/CollisionObject.hpp"
#include <memory>
#include "dart/dynamics/BodyNode.hpp"
#include "dart/dynamics/BoxShape.hpp"
#include "dart/dynamics/CylinderShape.hpp"
#include "dart/dynamics/EllipsoidShape.hpp"
#include "dart/dynamics/SphereShape.hpp"
#include "dart/math/Helpers.hpp"

Classes
struct	dart::collision::dContactGeom

Namespaces
	dart
	dart::collision

Macros
#define	DART_COLLISION_EPS   1E-6
#define	dMULTIPLYOP0_331(A, op, B, C)
#define	dMULTIPLYOP1_331(A, op, B, C)
#define	dRecip(x)   (1.0 / (x))
#define	TST(expr1, expr2, norm, cc)
#define	TST(expr1, expr2, n1, n2, n3, cc)
#define	TEMP_INNER14(a, b)   (a[0] * (b)[0] + a[1] * (b)[4] + a[2] * (b)[8])

Typedefs
typedef double	dart::collision::dVector3[4]
typedef double	dart::collision::dVector4[4]
typedef double	dart::collision::dMatrix3[12]
typedef double	dart::collision::dMatrix4[16]
typedef double	dart::collision::dMatrix6[48]
typedef double	dart::collision::dQuaternion[4]

Functions
void	dart::collision::convVector (const Eigen::Vector3d &p0, dVector3 &p1)
void	dart::collision::convMatrix (const Eigen::Isometry3d &T0, dMatrix3 &R0)
double	dart::collision::Inner (const double *a, const double *b)
double	dart::collision::Inner14 (const double *a, const double *b)
double	dart::collision::Inner41 (const double *a, const double *b)
double	dart::collision::Inner44 (const double *a, const double *b)
void	dart::collision::dMULTIPLY0_331 (double *A, const double *B, const double *C)
void	dart::collision::dMULTIPLY1_331 (double *A, const double *B, const double *C)
void	dart::collision::cullPoints (int n, double p[], int m, int i0, int iret[])
void	dart::collision::dLineClosestApproach (const dVector3 pa, const dVector3 ua, const dVector3 pb, const dVector3 ub, double *alpha, double *beta)
int	dart::collision::intersectRectQuad (double h[2], double p[8], double ret[16])
void	dart::collision::dClosestLineBoxPoints (const dVector3 p1, const dVector3 p2, const dVector3 c, const dMatrix3 R, const dVector3 side, dVector3 lret, dVector3 bret)
int	dart::collision::dBoxBox (CollisionObject *o1, CollisionObject *o2, const dVector3 p1, const dMatrix3 R1, const dVector3 side1, const dVector3 p2, const dMatrix3 R2, const dVector3 side2, CollisionResult &result)
int	dart::collision::collideBoxBox (CollisionObject *o1, CollisionObject *o2, const Eigen::Vector3d &size0, const Eigen::Isometry3d &T0, const Eigen::Vector3d &size1, const Eigen::Isometry3d &T1, CollisionResult &result)
int	dart::collision::collideBoxSphere (CollisionObject *o1, CollisionObject *o2, const Eigen::Vector3d &size0, const Eigen::Isometry3d &T0, const double &r1, const Eigen::Isometry3d &T1, CollisionResult &result)
int	dart::collision::collideSphereBox (CollisionObject *o1, CollisionObject *o2, const double &r0, const Eigen::Isometry3d &T0, const Eigen::Vector3d &size1, const Eigen::Isometry3d &T1, CollisionResult &result)
int	dart::collision::collideSphereSphere (CollisionObject *o1, CollisionObject *o2, const double &_r0, const Eigen::Isometry3d &c0, const double &_r1, const Eigen::Isometry3d &c1, CollisionResult &result)
int	dart::collision::collideCylinderSphere (CollisionObject *o1, CollisionObject *o2, const double &cyl_rad, const double &half_height, const Eigen::Isometry3d &T0, const double &sphere_rad, const Eigen::Isometry3d &T1, CollisionResult &result)
int	dart::collision::collideCylinderPlane (CollisionObject *o1, CollisionObject *o2, const double &cyl_rad, const double &half_height, const Eigen::Isometry3d &T0, const Eigen::Vector3d &plane_normal, const Eigen::Isometry3d &T1, CollisionResult &result)
int	dart::collision::collide (CollisionObject *o1, CollisionObject *o2, CollisionResult &result)

Variables
static const int	dart::collision::MAX_CYLBOX_CLIP_POINTS = 16
static const int	dart::collision::nCYLINDER_AXIS = 2
static const int	dart::collision::nCYLINDER_SEGMENT = 8

Macro Definition Documentation

DART_COLLISION_EPS

#define DART_COLLISION_EPS   1E-6

dMULTIPLYOP0_331

#define dMULTIPLYOP0_331	(		A,
			op,
			B,
			C
	)

Value:

  (A)[0] op Inner((B), (C));                                                   \
  (A)[1] op Inner((B + 4), (C));                                               \
  (A)[2] op Inner((B + 8), (C));

dMULTIPLYOP1_331

#define dMULTIPLYOP1_331	(		A,
			op,
			B,
			C
	)

Value:

  (A)[0] op Inner41((B), (C));                                                 \
  (A)[1] op Inner41((B + 1), (C));                                             \
  (A)[2] op Inner41((B + 2), (C));

dRecip

#define dRecip

(

x

)

(1.0 / (x))

TEMP_INNER14

#define TEMP_INNER14	(		a,
			b
	)		(a[0] * (b)[0] + a[1] * (b)[4] + a[2] * (b)[8])

TST [1/2]

#define TST	(		expr1,
			expr2,
			n1,
			n2,
			n3,
			cc
	)

Value:

  s2 = std::abs(expr1) - (expr2);                                              \
  l = sqrt((n1) * (n1) + (n2) * (n2) + (n3) * (n3));                           \
  if (l > 0)                                                                   \
  {                                                                            \
    s2 /= l;                                                                   \
    if (s2 * fudge_factor > s)                                                 \
    {                                                                          \
      s = s2;                                                                  \
      normalR = 0;                                                             \
      normalC[0] = (n1) / l;                                                   \
      normalC[1] = (n2) / l;                                                   \
      normalC[2] = (n3) / l;                                                   \
      invert_normal = ((expr1) < 0);                                           \
      code = (cc);                                                             \
    }                                                                          \
  }

TST [2/2]

#define TST	(		expr1,
			expr2,
			norm,
			cc
	)

Value:

  s2 = std::abs(expr1) - (expr2);                                              \
  if (s2 > s)                                                                  \
  {                                                                            \
    s = s2;                                                                    \
    normalR = norm;                                                            \
    invert_normal = ((expr1) < 0);                                             \
    code = (cc);                                                               \
  }