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Add PointToTriangleDistanceSquare which computes the distance more robustly #401

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Add PointToTriangleDistanceSquare which computes the distance more robustly #401

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33 changes: 31 additions & 2 deletions include/fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd-inl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -228,6 +228,35 @@ _ccd_inline void tripleCross(const ccd_vec3_t *a, const ccd_vec3_t *b,
ccdVec3Cross(d, &e, c);
}

_ccd_inline ccd_real_t PointToTriangleDistanceSquared(const ccd_vec3_t& P,
const ccd_vec3_t& A,
const ccd_vec3_t& B,
const ccd_vec3_t& C,
ccd_vec3_t* witness) {
const Vector3<ccd_real_t> a(A.v[0], A.v[1], A.v[2]);
const Vector3<ccd_real_t> b(B.v[0], B.v[1], B.v[2]);
const Vector3<ccd_real_t> c(C.v[0], C.v[1], C.v[2]);
const Vector3<ccd_real_t> p(P.v[0], P.v[1], P.v[2]);
// n is the normal vector of the plane on which A, B, C live.
const Vector3<ccd_real_t> n = ((b - a).cross(c - a)).normalized();
// q is the projection point from P to the plane on which A, B, C live.
const Vector3<ccd_real_t> q = p - n.dot(p - a) * n;
// Now determine if q is within the triangle ABC.
if ((n.cross(b - a)).dot(q - a) < 0 || (n.cross(c - b)).dot(q - b) < 0 ||
(n.cross(a - c)).dot(q - c) < 0) {
// q is not inside the triangle.
return ccdVec3PointTriDist2(&P, &A, &B, &C, witness);
} else {
// q is inside the triangle.
if (witness) {
witness->v[0] = q(0);
witness->v[1] = q(1);
witness->v[2] = q(2);
}
return (p - q).squaredNorm();
}
}

/* This is *not* an implementation of the general function: what's the nearest
point on the line segment AB to the origin O? It is not intended to be.
This is a limited, special case which exploits the known (or at least
Expand Down Expand Up @@ -397,8 +426,8 @@ static int doSimplex3(ccd_simplex_t *simplex, ccd_vec3_t *dir)
// https://github.com/danfis/libccd/issues/55.
ccd_vec3_t origin_projection_unused;

const ccd_real_t dist_squared = ccdVec3PointTriDist2(
ccd_vec3_origin, &A->v, &B->v, &C->v, &origin_projection_unused);
const ccd_real_t dist_squared = PointToTriangleDistanceSquared(
*ccd_vec3_origin, A->v, B->v, C->v, &origin_projection_unused);
if (isAbsValueLessThanEpsSquared(dist_squared)) {
return 1;
}
Expand Down
58 changes: 58 additions & 0 deletions test/test_fcl_signed_distance.cpp
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Expand Up @@ -379,6 +379,62 @@ void test_distance_box_box2() {
test_distance_box_box_helper(box1_size, X_WB1, box2_size, X_WB2);
}

// This is a *specific* case that has cropped up in the wild that reaches the
// unexpected `validateNearestFeatureOfPolytopeBeingEdge` error. This error was
// reported in https://github.com/flexible-collision-library/fcl/issues/399
template <typename S>
void test_distance_box_box3() {
const Vector3<S> box1_size(0.23768037557601928711, 0.15702305734157562256,
0.25);
Transform3<S> X_WB1 = Transform3<S>::Identity();
// clang-format off
X_WB1.matrix() << -0.099432387353076273628, 0.99504432079443971837, 0, 0.29526406526565551758,
-0.99504432079443971837, -0.099432387353076273628, 0, -0.013230856508016586304,
0, 0, 1, 0,
0, 0, 0, 1;
// clang-format on

const Vector3<S> box2_size(0.010000000000000000208, 0.78165709972381591797,
0.25);
Transform3<S> X_WB2 = Transform3<S>::Identity();
// clang-format off
X_WB2.matrix() << 0.99506598442099225554, 0.099215354901756730444, 0, 0.22759585694545214629,
-0.099215354901756730444, 0.99506598442099225554, 0, 0.14974093549228112421,
0, 0, 1, 0,
0, 0, 0, 1;
// clang-format on
test_distance_box_box_helper(box1_size, X_WB1, box2_size, X_WB2);
}

// This is a *specific* case that has cropped up in the wild that reaches the
// unexpected `validateNearestFeatureOfPolytopeBeingEdge` error. This error was
// reported in https://github.com/flexible-collision-library/fcl/issues/399
template <typename S>
void test_distance_box_box4() {
const Vector3<S> box1_size(0.23431687057018280029, 0.16946108639240264893,
0.25);

Transform3<S> X_WB1 = Transform3<S>::Identity();
// clang-format off
X_WB1.matrix() << 0.1612859416241739785, 0.98690771860108761349, 0, -0.20553381741046905518,
-0.98690771860108761349, 0.1612859416241739785, 0, 0.25915133953094482422,
0, 0, 1, 0,
0, 0, 0, 1;
// clang-format on

const Vector3<S> box2_size(0.010000000000000000208, 1.4315791130065917969,
0.25);
Transform3<S> X_WB2 = Transform3<S>::Identity();
// clang-format off
X_WB2.matrix() <<
-0.16128686395059221859, -0.98690756786893829577, 0, -0.38020379396316156262,
0.98690756786893829577, -0.16128686395059221859, 0, 0.10682664338807786042,
0, 0, 1, 0,
0, 0, 0, 1;
// clang-format on
test_distance_box_box_helper(box1_size, X_WB1, box2_size, X_WB2);
}

//==============================================================================

GTEST_TEST(FCL_NEGATIVE_DISTANCE, sphere_sphere_ccd)
Expand Down Expand Up @@ -413,6 +469,8 @@ GTEST_TEST(FCL_SIGNED_DISTANCE, cylinder_box_ccd) {
GTEST_TEST(FCL_SIGNED_DISTANCE, box_box1_ccd) {
test_distance_box_box1<double>();
test_distance_box_box2<double>();
test_distance_box_box3<double>();
test_distance_box_box4<double>();
}

//==============================================================================
Expand Down