gjk_libccd.h

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#ifndef FCL_NARROWPHASE_DETAIL_GJKLIBCCD_H
#define FCL_NARROWPHASE_DETAIL_GJKLIBCCD_H

#include <ccd/ccd.h>
#include <ccd/quat.h>
#include <ccd/vec3.h>
#include "fcl/geometry/shape/box.h"
#include "fcl/geometry/shape/capsule.h"
#include "fcl/geometry/shape/cone.h"
#include "fcl/geometry/shape/convex.h"
#include "fcl/geometry/shape/cylinder.h"
#include "fcl/geometry/shape/ellipsoid.h"
#include "fcl/geometry/shape/halfspace.h"
#include "fcl/geometry/shape/plane.h"
#include "fcl/geometry/shape/sphere.h"
#include "fcl/geometry/shape/triangle_p.h"
#include "fcl/narrowphase/detail/convexity_based_algorithm/simplex.h"
#include "fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd.h"

namespace fcl
{

namespace detail
{


using GJKSupportFunction = void (*)(const void* obj, const ccd_vec3_t* dir_, ccd_vec3_t* v);
using GJKCenterFunction = void (*)(const void* obj, ccd_vec3_t* c);

template <typename S, typename T>
class GJKInitializer
{
public:
  static GJKSupportFunction getSupportFunction() { return nullptr; }

  static GJKCenterFunction getCenterFunction() { return nullptr; }

  static void* createGJKObject(const T& /* s */, const Transform3<S>& /*tf*/) { return nullptr; }

  static void deleteGJKObject(void* o) {}
};

template <typename S>
class GJKInitializer<S, Cylinder<S>>
{
public:
  static GJKSupportFunction getSupportFunction();
  static GJKCenterFunction getCenterFunction();
  static void* createGJKObject(const Cylinder<S>& s, const Transform3<S>& tf);
  static void deleteGJKObject(void* o);
};

template <typename S>
class GJKInitializer<S, Sphere<S>>
{
public:
  static GJKSupportFunction getSupportFunction();
  static GJKCenterFunction getCenterFunction();
  static void* createGJKObject(const Sphere<S>& s, const Transform3<S>& tf);
  static void deleteGJKObject(void* o);
};

template <typename S>
class GJKInitializer<S, Ellipsoid<S>>
{
public:
  static GJKSupportFunction getSupportFunction();
  static GJKCenterFunction getCenterFunction();
  static void* createGJKObject(const Ellipsoid<S>& s, const Transform3<S>& tf);
  static void deleteGJKObject(void* o);
};

template <typename S>
class GJKInitializer<S, Box<S>>
{
public:
  static GJKSupportFunction getSupportFunction();
  static GJKCenterFunction getCenterFunction();
  static void* createGJKObject(const Box<S>& s, const Transform3<S>& tf);
  static void deleteGJKObject(void* o);
};

template <typename S>
class GJKInitializer<S, Capsule<S>>
{
public:
  static GJKSupportFunction getSupportFunction();
  static GJKCenterFunction getCenterFunction();
  static void* createGJKObject(const Capsule<S>& s, const Transform3<S>& tf);
  static void deleteGJKObject(void* o);
};

template <typename S>
class GJKInitializer<S, Cone<S>>
{
public:
  static GJKSupportFunction getSupportFunction();
  static GJKCenterFunction getCenterFunction();
  static void* createGJKObject(const Cone<S>& s, const Transform3<S>& tf);
  static void deleteGJKObject(void* o);
};

template <typename S>
class GJKInitializer<S, Convex<S>>
{
public:
  static GJKSupportFunction getSupportFunction();
  static GJKCenterFunction getCenterFunction();
  static void* createGJKObject(const Convex<S>& s, const Transform3<S>& tf);
  static void deleteGJKObject(void* o);
};

GJKSupportFunction triGetSupportFunction();

GJKCenterFunction triGetCenterFunction();

template <typename S>
void* triCreateGJKObject(const Vector3<S>& P1, const Vector3<S>& P2, const Vector3<S>& P3);

template <typename S>
void* triCreateGJKObject(const Vector3<S>& P1, const Vector3<S>& P2, const Vector3<S>& P3, const Transform3<S>& tf);

void triDeleteGJKObject(void* o);

template <typename S>
bool GJKCollide(
    void* obj1,
    ccd_support_fn supp1,
    ccd_center_fn cen1,
    void* obj2,
    ccd_support_fn supp2,
    ccd_center_fn cen2,
    unsigned int max_iterations,
    S tolerance,
    Vector3<S>* contact_points,
    S* penetration_depth,
    Vector3<S>* normal);

template <typename S>
bool GJKDistance(void* obj1, ccd_support_fn supp1,
                 void* obj2, ccd_support_fn supp2,
                 unsigned int max_iterations, S tolerance,
                 S* dist, Vector3<S>* p1, Vector3<S>* p2);

} // namespace detail
} // namespace fcl

#include "fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd-inl.h"

#endif