Specialize ShapeShapeDistance <Halfspace, Sphere, GJKSolver_indep>.

src/CMakeLists.txt

@@ -51,6 +51,7 @@ set(${LIBRARY_NAME}_SOURCES
   shape/geometric_shapes_utility.cpp
   distance_capsule_capsule.cpp
   distance_sphere_sphere.cpp
+  distance_sphere_halfspace.cpp
   intersect.cpp
   math/transform.cpp
   traversal/traversal_node_setup.cpp

src/distance_sphere_halfspace.cpp

+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2011-2014, Willow Garage, Inc.
+ *  Copyright (c) 2014-2015, Open Source Robotics Foundation
+ *  Copyright (c) 2018-2019, Center National de la Recherche Scientifique
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Open Source Robotics Foundation nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/** \author Florent Lamiraux */
+
+#include <cmath>
+#include <limits>
+#include <hpp/fcl/math/transform.h>
+#include <hpp/fcl/shape/geometric_shapes.h>
+#include "distance_func_matrix.h"
+#include "../src/narrowphase/details.h"
+
+namespace fcl {
+    class GJKSolver_indep;
+
+  template <>
+  FCL_REAL ShapeShapeDistance <Sphere, Halfspace, GJKSolver_indep>
+  (const CollisionGeometry* o1, const Transform3f& tf1,
+   const CollisionGeometry* o2, const Transform3f& tf2,
+   const GJKSolver_indep*, const DistanceRequest& request,
+   DistanceResult& result)
+  {
+    const Sphere& s1 = static_cast <const Sphere&> (*o1);
+    const Halfspace& s2 = static_cast <const Halfspace&> (*o2);
+    bool col = details::sphereHalfspaceIntersect
+      (s1, tf1, s2, tf2, result.min_distance, result.nearest_points [0],
+       result.nearest_points [1], result.normal);
+    result.o1 = o1; result.o2 = o2; result.b1 = -1; result.b2 = -1;
+    return result.min_distance;
+  }
+
+  template <>
+  FCL_REAL ShapeShapeDistance <Halfspace, Sphere, GJKSolver_indep>
+  (const CollisionGeometry* o1, const Transform3f& tf1,
+   const CollisionGeometry* o2, const Transform3f& tf2,
+   const GJKSolver_indep*, const DistanceRequest& request,
+   DistanceResult& result)
+  {
+    const Halfspace& s1 = static_cast <const Halfspace&> (*o1);
+    const Sphere& s2 = static_cast <const Sphere&> (*o2);
+    bool col = details::sphereHalfspaceIntersect
+      (s2, tf2, s1, tf1, result.min_distance, result.nearest_points [1],
+       result.nearest_points [0], result.normal);
+    result.o1 = o1; result.o2 = o2; result.b1 = -1; result.b2 = -1;
+    result.normal = -result.normal;
+    return result.min_distance;
+  }
+} // namespace fcl