void relativeTransform2(const Transform3f& tf1, const Transform3f& tf2,
Transform3f& tf)
{
const Quaternion3f& q1inv = fcl::conj(tf1.getQuatRotation());
const Quaternion3f& q2_q1inv = tf2.getQuatRotation() * q1inv;
tf = Transform3f(q2_q1inv, tf2.getTranslation() - q2_q1inv.transform(tf1.getTranslation()));
}
FCL_REAL TriangleMotionBoundVisitor::visit(const ScrewMotion& motion) const
{
Transform3f tf;
motion.getCurrentTransform(tf);
const Vec3f& axis = motion.getAxis();
FCL_REAL linear_vel = motion.getLinearVelocity();
FCL_REAL angular_vel = motion.getAngularVelocity();
const Vec3f& p = motion.getAxisOrigin();
FCL_REAL proj_max = ((tf.getQuatRotation().transform(a) + tf.getTranslation() - p).cross(axis)).sqrLength();
FCL_REAL tmp;
tmp = ((tf.getQuatRotation().transform(b) + tf.getTranslation() - p).cross(axis)).sqrLength();
if(tmp > proj_max) proj_max = tmp;
tmp = ((tf.getQuatRotation().transform(c) + tf.getTranslation() - p).cross(axis)).sqrLength();
if(tmp > proj_max) proj_max = tmp;
proj_max = std::sqrt(proj_max);
FCL_REAL v_dot_n = axis.dot(n) * linear_vel;
FCL_REAL w_cross_n = (axis.cross(n)).length() * angular_vel;
FCL_REAL mu = v_dot_n + w_cross_n * proj_max;
return mu;
}
FCL_REAL TBVMotionBoundVisitor<RSS>::visit(const ScrewMotion& motion) const
{
Transform3f tf;
motion.getCurrentTransform(tf);
const Vec3f& axis = motion.getAxis();
FCL_REAL linear_vel = motion.getLinearVelocity();
FCL_REAL angular_vel = motion.getAngularVelocity();
const Vec3f& p = motion.getAxisOrigin();
FCL_REAL c_proj_max = ((tf.getQuatRotation().transform(bv.Tr)).cross(axis)).sqrLength();
FCL_REAL tmp;
tmp = ((tf.getQuatRotation().transform(bv.Tr + bv.axis[0] * bv.l[0])).cross(axis)).sqrLength();
if(tmp > c_proj_max) c_proj_max = tmp;
tmp = ((tf.getQuatRotation().transform(bv.Tr + bv.axis[1] * bv.l[1])).cross(axis)).sqrLength();
if(tmp > c_proj_max) c_proj_max = tmp;
tmp = ((tf.getQuatRotation().transform(bv.Tr + bv.axis[0] * bv.l[0] + bv.axis[1] * bv.l[1])).cross(axis)).sqrLength();
if(tmp > c_proj_max) c_proj_max = tmp;
c_proj_max = sqrt(c_proj_max);
FCL_REAL v_dot_n = axis.dot(n) * linear_vel;
FCL_REAL w_cross_n = (axis.cross(n)).length() * angular_vel;
FCL_REAL origin_proj = ((tf.getTranslation() - p).cross(axis)).length();
FCL_REAL mu = v_dot_n + w_cross_n * (c_proj_max + bv.r + origin_proj);
return mu;
}
/** Basic shape to ccd shape */
static void shapeToGJK(const ShapeBase& s, const Transform3f& tf, ccd_obj_t* o)
{
const Quaternion3f& q = tf.getQuatRotation();
const Vec3f& T = tf.getTranslation();
ccdVec3Set(&o->pos, T[0], T[1], T[2]);
ccdQuatSet(&o->rot, q.getX(), q.getY(), q.getZ(), q.getW());
ccdQuatInvert2(&o->rot_inv, &o->rot);
}
bool conservativeAdvancementMeshOriented(const BVHModel<BV>& o1,
const MotionBase* motion1,
const BVHModel<BV>& o2,
const MotionBase* motion2,
const CollisionRequest& request,
CollisionResult& result,
FCL_REAL& toc)
{
Transform3f tf1, tf2;
motion1->getCurrentTransform(tf1);
motion2->getCurrentTransform(tf2);
// whether the first start configuration is in collision
if(collide(&o1, tf1, &o2, tf2, request, result))
{
toc = 0;
return true;
}
ConservativeAdvancementOrientedNode node;
initialize(node, o1, tf1, o2, tf2);
node.motion1 = motion1;
node.motion2 = motion2;
do
{
node.motion1->getCurrentTransform(tf1);
node.motion2->getCurrentTransform(tf2);
// compute the transformation from 1 to 2
Transform3f tf;
relativeTransform(tf1, tf2, tf);
node.R = tf.getRotation();
node.T = tf.getTranslation();
node.delta_t = 1;
node.min_distance = std::numeric_limits<FCL_REAL>::max();
distanceRecurse(&node, 0, 0, NULL);
if(node.delta_t <= node.t_err)
{
// std::cout << node.delta_t << " " << node.t_err << std::endl;
break;
}
node.toc += node.delta_t;
if(node.toc > 1)
{
node.toc = 1;
break;
}
node.motion1->integrate(node.toc);
node.motion2->integrate(node.toc);
}
while(1);
toc = node.toc;
if(node.toc < 1)
return true;
return false;
}
void relativeTransform(const Transform3f& tf1, const Transform3f& tf2,
Transform3f& tf)
{
const Quaternion3f& q1_inv = fcl::conj(tf1.getQuatRotation());
tf = Transform3f(q1_inv * tf2.getQuatRotation(), q1_inv.transform(tf2.getTranslation() - tf1.getTranslation()));
}