To avoid error messages during compilation due to the absence of the

intersectionWith method for some shapes, I added an exception returning 'Intersection line capsule isn't supported'.
ihmcrobotics · May 1, 2024 · 66a1ca1 · 66a1ca1
1 parent 095823e
commit 66a1ca1
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diff --git a/...java/us/ihmc/euclid/referenceFrame/polytope/interfaces/FrameConvexPolytope3DReadOnly.java b/...java/us/ihmc/euclid/referenceFrame/polytope/interfaces/FrameConvexPolytope3DReadOnly.java
@@ -16,6 +16,7 @@
 import us.ihmc.euclid.shape.convexPolytope.interfaces.ConvexPolytope3DReadOnly;
 import us.ihmc.euclid.shape.convexPolytope.interfaces.Vertex3DReadOnly;
 import us.ihmc.euclid.tools.EuclidCoreIOTools;
+import us.ihmc.euclid.tuple3D.interfaces.Point3DBasics;
 import us.ihmc.euclid.tuple3D.interfaces.Point3DReadOnly;
 import us.ihmc.euclid.tuple3D.interfaces.Vector3DReadOnly;
 
@@ -92,6 +93,15 @@ default FrameVertex3DReadOnly getVertex(int index)
    {
       return getVertices().get(index);
    }
+
+   @Override
+   default int intersectionWith(Point3DReadOnly pointOnLine,
+                                Vector3DReadOnly lineDirection,
+                                Point3DBasics firstIntersectionToPack,
+                                Point3DBasics secondIntersectionToPack)
+   {
+      throw new UnsupportedOperationException("Intersection line capsule isn't supported.");
+   }
 
    /** {@inheritDoc} */
    @Override

diff --git a/...ame-shape/java/us/ihmc/euclid/referenceFrame/polytope/interfaces/FrameFace3DReadOnly.java b/...ame-shape/java/us/ihmc/euclid/referenceFrame/polytope/interfaces/FrameFace3DReadOnly.java
@@ -334,6 +334,8 @@ default FrameHalfEdge3DReadOnly getClosestEdge(FramePoint3DReadOnly query)
       checkReferenceFrameMatch(query);
       return (FrameHalfEdge3DReadOnly) Face3DReadOnly.super.getClosestEdge(query);
    }
+
+
 
    /** {@inheritDoc} */
    @Override
@@ -507,4 +509,6 @@ default String toString(String format)
    {
       return EuclidFrameShapeIOTools.getFrameFace3DString(format, this);
    }
+
+
 }
diff --git a/src/shape/java/us/ihmc/euclid/shape/convexPolytope/interfaces/ConvexPolytope3DReadOnly.java b/src/shape/java/us/ihmc/euclid/shape/convexPolytope/interfaces/ConvexPolytope3DReadOnly.java
@@ -154,6 +154,17 @@ default void getBoundingBox(BoundingBox3DBasics boundingBoxToPack)
    double getConstructionEpsilon();
 
    /** {@inheritDoc} */
+
+   @Override
+   default int intersectionWith(Point3DReadOnly pointOnLine,
+                                Vector3DReadOnly lineDirection,
+                                Point3DBasics firstIntersectionToPack,
+                                Point3DBasics secondIntersectionToPack)
+   {
+      throw new UnsupportedOperationException("Intersection line capsule isn't supported.");
+   }
+
+
    @Override
    default boolean containsNaN()
    {

diff --git a/src/shape/java/us/ihmc/euclid/shape/primitives/interfaces/Box3DReadOnly.java b/src/shape/java/us/ihmc/euclid/shape/primitives/interfaces/Box3DReadOnly.java
@@ -127,6 +127,9 @@ default boolean evaluatePoint3DCollision(Point3DReadOnly pointToCheck, Point3DBa
 
       return distance <= 0.0;
    }
+
+
+
 
    /** {@inheritDoc} */
    @Override

diff --git a/src/shape/java/us/ihmc/euclid/shape/primitives/interfaces/BoxPolytope3DView.java b/src/shape/java/us/ihmc/euclid/shape/primitives/interfaces/BoxPolytope3DView.java
@@ -4,7 +4,9 @@
 import us.ihmc.euclid.geometry.interfaces.BoundingBox3DReadOnly;
 import us.ihmc.euclid.shape.convexPolytope.interfaces.ConvexPolytope3DReadOnly;
 import us.ihmc.euclid.shape.convexPolytope.interfaces.Face3DReadOnly;
+import us.ihmc.euclid.tuple3D.interfaces.Point3DBasics;
 import us.ihmc.euclid.tuple3D.interfaces.Point3DReadOnly;
+import us.ihmc.euclid.tuple3D.interfaces.Vector3DReadOnly;
 
 /**
  * Provides a {@link ConvexPolytope3DReadOnly} view backed by a {@link Box3DReadOnly}.
@@ -125,6 +127,7 @@ default Box3DBasics copy()
    {
       return getOwner().copy();
    }
+
 
    /** {@inheritDoc} */
    @Override

diff --git a/src/shape/java/us/ihmc/euclid/shape/primitives/interfaces/Capsule3DReadOnly.java b/src/shape/java/us/ihmc/euclid/shape/primitives/interfaces/Capsule3DReadOnly.java
@@ -133,6 +133,15 @@ default boolean evaluatePoint3DCollision(Point3DReadOnly pointToCheck, Point3DBa
                                                                 normalAtClosestPointToPack) <= 0.0;
    }
 
+   @Override
+   default int intersectionWith(Point3DReadOnly pointOnLine,
+                                Vector3DReadOnly lineDirection,
+                                Point3DBasics firstIntersectionToPack,
+                                Point3DBasics secondIntersectionToPack)
+   {
+      throw new UnsupportedOperationException("Intersection line capsule isn't supported.");
+   }
+
    /** {@inheritDoc} */
    @Override
    default boolean getSupportingVertex(Vector3DReadOnly supportDirection, Point3DBasics supportingVertexToPack)

diff --git a/src/shape/java/us/ihmc/euclid/shape/primitives/interfaces/PointShape3DReadOnly.java b/src/shape/java/us/ihmc/euclid/shape/primitives/interfaces/PointShape3DReadOnly.java
@@ -67,6 +67,15 @@ default boolean evaluatePoint3DCollision(Point3DReadOnly pointToCheck, Point3DBa
       return false;
    }
 
+   @Override
+   default int intersectionWith(Point3DReadOnly pointOnLine,
+                                Vector3DReadOnly lineDirection,
+                                Point3DBasics firstIntersectionToPack,
+                                Point3DBasics secondIntersectionToPack)
+   {
+      throw new UnsupportedOperationException("Intersection line capsule isn't supported.");
+   }
+
    /** {@inheritDoc} */
    @Override
    default boolean getSupportingVertex(Vector3DReadOnly supportDirection, Point3DBasics supportingVertexToPack)

diff --git a/src/shape/java/us/ihmc/euclid/shape/primitives/interfaces/Ramp3DReadOnly.java b/src/shape/java/us/ihmc/euclid/shape/primitives/interfaces/Ramp3DReadOnly.java
@@ -122,6 +122,17 @@ default boolean evaluatePoint3DCollision(Point3DReadOnly pointToCheck, Point3DBa
       return distance <= 0.0;
    }
 
+
+   @Override
+   default int intersectionWith(Point3DReadOnly pointOnLine,
+                                Vector3DReadOnly lineDirection,
+                                Point3DBasics firstIntersectionToPack,
+                                Point3DBasics secondIntersectionToPack)
+   {
+      throw new UnsupportedOperationException("Intersection line capsule isn't supported.");
+   }
+
+
    /** {@inheritDoc} */
    @Override
    default boolean getSupportingVertex(Vector3DReadOnly supportDirection, Point3DBasics supportingVertexToPack)

diff --git a/src/shape/java/us/ihmc/euclid/shape/primitives/interfaces/Shape3DReadOnly.java b/src/shape/java/us/ihmc/euclid/shape/primitives/interfaces/Shape3DReadOnly.java
@@ -3,12 +3,14 @@
 import us.ihmc.euclid.geometry.BoundingBox3D;
 import us.ihmc.euclid.geometry.interfaces.BoundingBox3DBasics;
 import us.ihmc.euclid.geometry.interfaces.BoundingBox3DReadOnly;
+import us.ihmc.euclid.geometry.interfaces.Line3DReadOnly;
 import us.ihmc.euclid.interfaces.EuclidGeometry;
 import us.ihmc.euclid.shape.collision.interfaces.SupportingVertexHolder;
 import us.ihmc.euclid.tuple3D.Point3D;
 import us.ihmc.euclid.tuple3D.interfaces.Point3DBasics;
 import us.ihmc.euclid.tuple3D.interfaces.Point3DReadOnly;
 import us.ihmc.euclid.tuple3D.interfaces.Vector3DBasics;
+import us.ihmc.euclid.tuple3D.interfaces.Vector3DReadOnly;
 
 /**
  * Read-only interface for representing a 3D shape.
@@ -51,6 +53,16 @@ public interface Shape3DReadOnly extends SupportingVertexHolder, EuclidGeometry
     */
    boolean evaluatePoint3DCollision(Point3DReadOnly pointToCheck, Point3DBasics closestPointOnSurfaceToPack, Vector3DBasics normalAtClosestPointToPack);
 
+   default int intersectionWith(Line3DReadOnly line, Point3DBasics firstIntersectionToPack, Point3DBasics secondIntersectionToPack)
+   {
+      return intersectionWith(line.getPoint(), line.getDirection(), firstIntersectionToPack, secondIntersectionToPack);
+   }
+
+   int intersectionWith(Point3DReadOnly pointOnLine,
+                        Vector3DReadOnly lineDirection,
+                        Point3DBasics firstIntersectionToPack,
+                        Point3DBasics secondIntersectionToPack);
+
    /**
     * Calculates the minimum distance between a point and this shape.
     * <p>

diff --git a/src/shape/java/us/ihmc/euclid/shape/primitives/interfaces/Torus3DReadOnly.java b/src/shape/java/us/ihmc/euclid/shape/primitives/interfaces/Torus3DReadOnly.java
@@ -90,6 +90,15 @@ default boolean evaluatePoint3DCollision(Point3DReadOnly pointToCheck, Point3DBa
                                                               closestPointOnSurfaceToPack,
                                                               normalAtClosestPointToPack) <= 0.0;
    }
+
+   @Override
+   default int intersectionWith(Point3DReadOnly pointOnLine,
+                                Vector3DReadOnly lineDirection,
+                                Point3DBasics firstIntersectionToPack,
+                                Point3DBasics secondIntersectionToPack)
+   {
+      throw new UnsupportedOperationException("Intersection line capsule isn't supported.");
+   }
 
    /** {@inheritDoc} */
    @Override
-Original file line number
+Diff line change
@@ Expand Up @@
           return distance <= 0.0;
        }
        /** {@inheritDoc} */
        @Override
@@ Expand Down @@