-
Notifications
You must be signed in to change notification settings - Fork 683
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
feat(universe_utils): add SAT implementation for 2D convex polygon co…
…llision check (#8239)
- Loading branch information
1 parent
75706db
commit e5ac1a5
Showing
4 changed files
with
158 additions
and
9 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
30 changes: 30 additions & 0 deletions
30
common/autoware_universe_utils/include/autoware/universe_utils/geometry/sat_2d.hpp
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,30 @@ | ||
| // Copyright 2024 TIER IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
|
||
| #ifndef AUTOWARE__UNIVERSE_UTILS__GEOMETRY__SAT_2D_HPP_ | ||
| #define AUTOWARE__UNIVERSE_UTILS__GEOMETRY__SAT_2D_HPP_ | ||
|
|
||
| #include "autoware/universe_utils/geometry/boost_geometry.hpp" | ||
|
|
||
| namespace autoware::universe_utils::sat | ||
| { | ||
| /** | ||
| * @brief Check if 2 convex polygons intersect using the SAT algorithm | ||
| * @details faster than boost::geometry::overlap() but speed decline sharply as vertices increase | ||
| */ | ||
| bool intersects(const Polygon2d & convex_polygon1, const Polygon2d & convex_polygon2); | ||
|
|
||
| } // namespace autoware::universe_utils::sat | ||
|
|
||
| #endif // AUTOWARE__UNIVERSE_UTILS__GEOMETRY__SAT_2D_HPP_ |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,80 @@ | ||
| // Copyright 2024 TIER IV, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
|
||
| #include "autoware/universe_utils/geometry/sat_2d.hpp" | ||
|
|
||
| namespace autoware::universe_utils::sat | ||
| { | ||
|
|
||
| namespace | ||
| { | ||
| /// @brief calculate the edge normal of two points | ||
| Point2d edge_normal(const Point2d & p1, const Point2d & p2) | ||
| { | ||
| return {p2.y() - p1.y(), p1.x() - p2.x()}; | ||
| } | ||
|
|
||
| /// @brief project a polygon onto an axis and return the minimum and maximum values | ||
| std::pair<double, double> project_polygon(const Polygon2d & poly, const Point2d & axis) | ||
| { | ||
| double min = poly.outer()[0].dot(axis); | ||
| double max = min; | ||
| for (const auto & point : poly.outer()) { | ||
| double projection = point.dot(axis); | ||
| if (projection < min) { | ||
| min = projection; | ||
| } | ||
| if (projection > max) { | ||
| max = projection; | ||
| } | ||
| } | ||
| return {min, max}; | ||
| } | ||
|
|
||
| /// @brief check if two projections overlap | ||
| bool projections_overlap( | ||
| const std::pair<double, double> & proj1, const std::pair<double, double> & proj2) | ||
| { | ||
| return proj1.second >= proj2.first && proj2.second >= proj1.first; | ||
| } | ||
|
|
||
| /// @brief check is all edges of a polygon can be separated from the other polygon with a separating | ||
| /// axis | ||
| bool has_no_separating_axis(const Polygon2d & polygon, const Polygon2d & other) | ||
| { | ||
| for (size_t i = 0; i < polygon.outer().size(); ++i) { | ||
| const size_t next_i = (i + 1) % polygon.outer().size(); | ||
| const Point2d edge = edge_normal(polygon.outer()[i], polygon.outer()[next_i]); | ||
| const auto projection1 = project_polygon(polygon, edge); | ||
| const auto projection2 = project_polygon(other, edge); | ||
| if (!projections_overlap(projection1, projection2)) { | ||
| return false; | ||
| } | ||
| } | ||
| return true; | ||
| } | ||
| } // namespace | ||
|
|
||
| /// @brief check if two convex polygons intersect using the SAT algorithm | ||
| /// @details this function uses the Separating Axis Theorem (SAT) to determine if two convex | ||
| /// polygons intersect. If projections overlap on all tested axes, the function returns `true`; | ||
| /// otherwise, it returns `false`. Note that touching polygons (e.g., at a point or along an edge) | ||
| /// will be considered as not intersecting. | ||
| bool intersects(const Polygon2d & convex_polygon1, const Polygon2d & convex_polygon2) | ||
| { | ||
| return has_no_separating_axis(convex_polygon1, convex_polygon2) && | ||
| has_no_separating_axis(convex_polygon2, convex_polygon1); | ||
| } | ||
|
|
||
| } // namespace autoware::universe_utils::sat |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters