66 lines
2.6 KiB
C++
66 lines
2.6 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2024, INRIA
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Open Source Robotics Foundation nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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/// This file defines different macros used to characterize the default behavior
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/// of the narrowphase algorithms GJK and EPA.
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#ifndef COAL_NARROWPHASE_DEFAULTS_H
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#define COAL_NARROWPHASE_DEFAULTS_H
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#include "coal/data_types.h"
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namespace coal {
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/// GJK
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constexpr size_t GJK_DEFAULT_MAX_ITERATIONS = 128;
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constexpr CoalScalar GJK_DEFAULT_TOLERANCE = 1e-6;
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/// Note: if the considered shapes are on the order of the meter, and the
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/// convergence criterion of GJK is the default VDB criterion,
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/// setting a tolerance of 1e-6 on the GJK algorithm makes it precise up to
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/// the micro-meter.
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/// The same is true for EPA.
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constexpr CoalScalar GJK_MINIMUM_TOLERANCE = 1e-6;
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/// EPA
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/// EPA build a polytope which maximum size is:
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/// - `#iterations + 4` vertices
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/// - `2 x #iterations + 4` faces
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constexpr size_t EPA_DEFAULT_MAX_ITERATIONS = 64;
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constexpr CoalScalar EPA_DEFAULT_TOLERANCE = 1e-6;
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constexpr CoalScalar EPA_MINIMUM_TOLERANCE = 1e-6;
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} // namespace coal
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#endif // COAL_NARROWPHASE_DEFAULTS_H
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