/home/slemaign/softs-local/BioMove3D-git/collision/Kcd/kcd_dist.c File Reference

Functions concerning exact distance calculation. More...

#include "Util-pkg.h"
#include "Collision-pkg.h"

Functions
void	kcd_dist_init_list_aabb ()
void	kcd_dist_set_min_dist (double d)
double	kcd_dist_get_min_dist ()
void	kcd_dist_init_min_dist ()
void	kcd_dist_init_closest_points ()
void	kcd_dist_get_closest_points (kcd_vector3 pointA, kcd_vector3 pointB)
void	kcd_dist_set_closest_points (kcd_vector3 pointA, kcd_vector3 pointB)
void	kcd_set_kcd_exact_epsilon (double value)
double	kcd_get_kcd_exact_epsilon ()
int	kcd_gjk_between_2_OBB (kcd_bb *obbox1, kcd_bb *obbox2, kcd_matrix4 *BwrtA, double *min_distance)
	exact distance between two OBB's, used for min_max filtering when testintg two OBB-trees
void	kcd_min_dist_est_between_2_OBB (kcd_bb *obbox1, kcd_bb *obbox2, kcd_matrix4 BwrtA, double *min_distance)
	Minimum distance estimate between two OBB (underestimation)
void	kcd_max_dist_est_between_2_OBB (kcd_bb *obbox1, kcd_bb *obbox2, kcd_matrix4 BwrtA, double *max_distance)
	Maximum distance estimate between two OBB (overestimation)
int	kcd_dist_exact_between_2_obbtrees (kcd_bb *rob_box, kcd_matrix4 invM2, kcd_matrix4 mat2, kcd_matrix4 a_box_pos, kcd_bb *second_box, kcd_matrix4 *THISmat9, kcd_matrix4 *THISmat8, double *distance_estimate, int *nearest_obstacle, int which_trees)
	calculate the exact distance and the correponding closest points between the objects inside two given OBB-trees.
int	kcd_visit_2_obbtrees (kcd_bb *rob_box, kcd_matrix4 invM2, kcd_matrix4 mat2, kcd_matrix4 a_box_pos, kcd_bb *second_box, kcd_matrix4 *THISmat9, kcd_matrix4 *THISmat8, double *distance_estimate, double *max_param, double *min_param)
int	kcd_visit_obbtree_robot (kcd_bb *rob_box, kcd_matrix4 invM2, kcd_matrix4 mat3, kcd_bb *second_box, double *distance_estimate, double *max_param, double *min_param)
int	kcd_visit_2_robot_obbtrees (kcd_bb *rob_box, kcd_matrix4 invM2, kcd_matrix4 mat2, kcd_matrix4 mat1, kcd_matrix4 thisM1, kcd_bb *second_box, kcd_matrix4 *THISmat8, kcd_matrix4 *THISmat9, double *distance_estimate, double *max_param, double *min_param)
int	filter_min_max_OBB (kcd_bb *bb1, kcd_bb *bb2)
int	filter_min_gjk_OBB (kcd_bb *obb, double min_gjk_dist)
int	filter_min_gjk_OBB_with_eps (kcd_bb *obb, double min_gjk_dist)
int	filter_min_max_OBB_2 (double max, double min)
int	filter_min_gjk_OBB_2 (double min_obb, double min_gjk_dist)
double	aabbs_maximum_distance (int b1_nr, int b2_nr)
double	aabbs_maximum_square_distance (int b1_nr, int b2_nr)
int	kcd_dist_mo_in_collision (int mobj_id, int bb_id_of_body, double *min_distance)
int	kcd_dist_test_robot_vs_static_obbs (int mobj_id, double xmin, double xmax, double ymin, double ymax, double zmin, double zmax, int with_report, double *minimal_distance_estimate, int *nearest_obstacle, int current_bb_id)
int	kcd_gjk_between_2_OBB_volume_boxes (kcd_bb *obbox1, kcd_bb *obbox2, kcd_matrix4 MOwrtSO, double *min_distance)
	exact distance between two OBB's and the corresponding closest points, this function is called to test two volume boxes against eachother
int	kcd_gjk_between_2_robot_OBB_volume_boxes (kcd_bb *obbox1, kcd_bb *obbox2, kcd_matrix4 MO1wrtMO2, kcd_matrix4 MO2wrtW, double *min_distance)
	exact distance between two OBB's and the corresponding closest points, this function is called to test two volume boxes against eachother. This function is specificly for testing two OBB's around moving objects
void	kcd_init_distance_exact ()
void	kcd_clean_up_dist ()
Variables
double	kcd_tolerance

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Detailed Description

Functions concerning exact distance calculation.

This file contains a set of functions and static variables used to obtain the exact distances written by Pepijn Raeymaekers (KINEO) july 2001

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Function Documentation

int kcd_dist_exact_between_2_obbtrees	(	kcd_bb *	rob_box,
		kcd_matrix4	invM2,
		kcd_matrix4	mat2,
		kcd_matrix4	a_box_pos,
		kcd_bb *	second_box,
		kcd_matrix4 *	THISmat9,
		kcd_matrix4 *	THISmat8,
		double *	distance_exact,
		int *	nearest_obstacle,
		int	which_trees
	)

calculate the exact distance and the correponding closest points between the objects inside two given OBB-trees.

Parameters:

*rob_box	pointer to the BB around a movable object
invM2	information position wrt joint
mat2	information concerning position of joint
a_box_pos	could be second_box wrt W
*second_box	pointer to the BB, this migth be the BB around a static or a movable object
*THISmat9	could be W wrt Rob_box
*THISmat8	also a sort of second_box wrt W
*distance_exact

Returns:

The exact distances and the corresponding closest points will be written in the report

Note:

The placement matrices contain different information depending on the utilisation, the information inside could be what is written in the explication of the parameters

Todo:

remove the nearest_obstacle parameter

int kcd_gjk_between_2_OBB	(	kcd_bb *	obbox1,
		kcd_bb *	obbox2,
		kcd_matrix4 *	BwrtA,
		double *	min_distance
	)

exact distance between two OBB's, used for min_max filtering when testintg two OBB-trees

Parameters:

*obbox1	pointers to OBB 1
*obbox2	pointers to OBB 2
BwrtA	B with respect to A (placement matrix)

Returns:

min_distance, exact distance between two OBB's

Note:

BwrtA is used together with AwrtA, we will retrieve the exact distance but the closest points will not be valid

int kcd_gjk_between_2_OBB_volume_boxes	(	kcd_bb *	obbox1,
		kcd_bb *	obbox2,
		kcd_matrix4	MOwrtSO,
		double *	min_distance
	)

exact distance between two OBB's and the corresponding closest points, this function is called to test two volume boxes against eachother

Parameters:

*obbox1	pointer to OBB 1 (Movable object)
*obbox2	pointer to OBB 2 (Static object)
MOwrtSO	movable object with respect to static object (placement matrix)

Returns:

min_distance, exact distance between two OBB's

Warning:

the placement matrix for the static object will be retrieved in the kcd_bb *obbox2

Note:

The closest points (in kcd_dist.c) will be filled in and will be valid, these are the points filled in the report afterwards

int kcd_gjk_between_2_robot_OBB_volume_boxes	(	kcd_bb *	obbox1,
		kcd_bb *	obbox2,
		kcd_matrix4	MO1wrtMO2,
		kcd_matrix4	MO2wrtW,
		double *	min_distance
	)

exact distance between two OBB's and the corresponding closest points, this function is called to test two volume boxes against eachother. This function is specificly for testing two OBB's around moving objects

Parameters:

*obbox1	pointer to OBB 1 (Movable object 1)
*obbox2	pointer to OBB 2 (Movable object 2)
MO1wrtMO2	movable object with respect to static object(placement matrix)
MO2wrtW	movable object wrt to Workspace(placement matrix)

Returns:

min_distance, exact distance between two OBB's

Note:

The closest points (in kcd_dist.c) will be filled in and will be valid, these are the points filled in the report afterwards

void kcd_max_dist_est_between_2_OBB	(	kcd_bb *	obbox1,
		kcd_bb *	obbox2,
		kcd_matrix4	BwrtA,
		double *	max_distance
	)

Maximum distance estimate between two OBB (overestimation)

Parameters:

*obbox	pointers to the two OBB
BwrtA	B with respect to A (placement matrix)

Returns:

max-distance, maximum distance estimate

Note:

used for min max filtering, this function is slightly modified to filter more efficient, the maximum distance is actually the distance between the two centers of the OBB

void kcd_min_dist_est_between_2_OBB	(	kcd_bb *	obbox1,
		kcd_bb *	obbox2,
		kcd_matrix4	BwrtA,
		double *	min_distance
	)

Minimum distance estimate between two OBB (underestimation)

Parameters:

*obbox	pointers to the two OBB
BwrtA	B with respect to A (placement matrix)

Returns:

minimum distance estimate ( >= 0 )

Note:

is a better minimum estimate then obb_overlap but not always. Migth be usefull for min_max filtering.

not used