Add collision and distance between ConvexBase and Halfspace.

src/CMakeLists.txt

@@ -65,6 +65,8 @@ set(${LIBRARY_NAME}_SOURCES
   distance/sphere_cylinder.cpp
   distance/sphere_halfspace.cpp
   distance/sphere_plane.cpp
+  distance/convex_halfspace.cpp
+  distance/triangle_halfspace.cpp
   intersect.cpp
   math/transform.cpp
   traversal/traversal_recurse.cpp

src/distance/convex_halfspace.cpp

+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2020, 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 Joseph Mirabel */
+
+#include <hpp/fcl/shape/geometric_shapes.h>
+
+#include "../distance_func_matrix.h"
+#include "../narrowphase/details.h"
+
+namespace hpp {
+namespace fcl {
+
+template <>
+FCL_REAL ShapeShapeDistance <ConvexBase, Halfspace>
+(const CollisionGeometry* o1, const Transform3f& tf1,
+ const CollisionGeometry* o2, const Transform3f& tf2,
+ const GJKSolver*, const DistanceRequest&,
+ DistanceResult& result)
+{
+  const ConvexBase& s1 = static_cast <const ConvexBase&> (*o1);
+  const Halfspace& s2 = static_cast <const Halfspace&> (*o2);
+  details::halfspaceDistance
+    (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;
+}
+
+template <>
+FCL_REAL ShapeShapeDistance <Halfspace, ConvexBase>
+(const CollisionGeometry* o1, const Transform3f& tf1,
+ const CollisionGeometry* o2, const Transform3f& tf2,
+ const GJKSolver*, const DistanceRequest&,
+ DistanceResult& result)
+{
+  const Halfspace& s1 = static_cast <const Halfspace&> (*o1);
+  const ConvexBase& s2 = static_cast <const ConvexBase&> (*o2);
+  details::halfspaceDistance
+    (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;
+}
+
+} // namespace fcl
+} // namespace hpp

src/distance/triangle_halfspace.cpp

+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2020, 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 Joseph Mirabel */
+
+#include <hpp/fcl/shape/geometric_shapes.h>
+
+#include "../distance_func_matrix.h"
+#include "../narrowphase/details.h"
+
+namespace hpp {
+namespace fcl {
+
+template <>
+FCL_REAL ShapeShapeDistance <TriangleP, Halfspace>
+(const CollisionGeometry* o1, const Transform3f& tf1,
+ const CollisionGeometry* o2, const Transform3f& tf2,
+ const GJKSolver*, const DistanceRequest&,
+ DistanceResult& result)
+{
+  const TriangleP& s1 = static_cast <const TriangleP&> (*o1);
+  const Halfspace& s2 = static_cast <const Halfspace&> (*o2);
+  details::halfspaceDistance
+    (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;
+}
+
+template <>
+FCL_REAL ShapeShapeDistance <Halfspace, TriangleP>
+(const CollisionGeometry* o1, const Transform3f& tf1,
+ const CollisionGeometry* o2, const Transform3f& tf2,
+ const GJKSolver*, const DistanceRequest&,
+ DistanceResult& result)
+{
+  const Halfspace& s1 = static_cast <const Halfspace&> (*o1);
+  const TriangleP& s2 = static_cast <const TriangleP&> (*o2);
+  details::halfspaceDistance
+    (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;
+}
+
+} // namespace fcl
+} // namespace hpp

src/distance_func_matrix.h

@@ -89,6 +89,9 @@ HPP_FCL_DLLAPI FCL_REAL ShapeShapeDistance<T2,T1> \
   SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Sphere,Sphere);
   SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Sphere,Cylinder);
 
+  SHAPE_SHAPE_DISTANCE_SPECIALIZATION(ConvexBase, Halfspace);
+  SHAPE_SHAPE_DISTANCE_SPECIALIZATION(TriangleP, Halfspace);
+
 #undef SHAPE_SHAPE_DISTANCE_SPECIALIZATION
 
 #define SHAPE_SHAPE_COLLIDE_SPECIALIZATION(T1,T2) \

src/narrowphase/details.h

@@ -1942,6 +1942,29 @@ namespace fcl {
       return true;
     }
 
+    /// @param p1 closest (or most penetrating) point on the Halfspace,
+    /// @param p2 closest (or most penetrating) point on the shape,
+    /// @param normal the halfspace normal.
+    /// @return true if the distance is negative (the shape overlaps).
+    inline bool halfspaceDistance(const Halfspace& h, const Transform3f& tf1,
+                                  const ShapeBase& s, const Transform3f& tf2,
+                                  FCL_REAL& dist, Vec3f& p1, Vec3f& p2,
+                                  Vec3f& normal)
+    {
+      Vec3f n_w = tf1.getRotation() * h.n;
+      Vec3f n_2 (tf2.getRotation().transpose() * n_w);
+      int hint = 0;
+      p2 = getSupport(&s, -n_2, true, hint);
+      dist = p2.dot(n_2) - h.d;
+      p1 = p2 - dist * n_2;
+
+      p1 = tf2.transform(p1);
+      p2 = tf2.transform(p2);
+      normal = n_w;
+
+      return dist <= 0;
+    }
+
     template<typename T>
       inline T planeIntersectTolerance()
       {