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FCLCollisionDetector.cpp
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/*
* Copyright (c) 2011-2019, The DART development contributors
* All rights reserved.
*
* The list of contributors can be found at:
* https://github.com/dartsim/dart/blob/master/LICENSE
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#include "dart/collision/fcl/FCLCollisionDetector.hpp"
#include <assimp/scene.h>
#include "dart/collision/CollisionFilter.hpp"
#include "dart/collision/CollisionObject.hpp"
#include "dart/collision/DistanceFilter.hpp"
#include "dart/collision/fcl/FCLCollisionGroup.hpp"
#include "dart/collision/fcl/FCLCollisionObject.hpp"
#include "dart/collision/fcl/FCLTypes.hpp"
#include "dart/collision/fcl/tri_tri_intersection_test.hpp"
#include "dart/common/Console.hpp"
#include "dart/dynamics/BoxShape.hpp"
#include "dart/dynamics/CylinderShape.hpp"
#include "dart/dynamics/EllipsoidShape.hpp"
#include "dart/dynamics/MeshShape.hpp"
#include "dart/dynamics/PlaneShape.hpp"
#include "dart/dynamics/Shape.hpp"
#include "dart/dynamics/ShapeFrame.hpp"
#include "dart/dynamics/SoftMeshShape.hpp"
#include "dart/dynamics/SphereShape.hpp"
#include "dart/dynamics/VoxelGridShape.hpp"
namespace dart {
namespace collision {
namespace {
bool collisionCallback(
fcl::CollisionObject* o1, fcl::CollisionObject* o2, void* cdata);
bool distanceCallback(
fcl::CollisionObject* o1,
fcl::CollisionObject* o2,
void* cdata,
double& dist);
void postProcessFCL(
const fcl::CollisionResult& fclResult,
fcl::CollisionObject* o1,
fcl::CollisionObject* o2,
const CollisionOption& option,
CollisionResult& result);
void postProcessDART(
const fcl::CollisionResult& fclResult,
fcl::CollisionObject* o1,
fcl::CollisionObject* o2,
const CollisionOption& option,
CollisionResult& result);
void interpreteDistanceResult(
const fcl::DistanceResult& fclResult,
fcl::CollisionObject* o1,
fcl::CollisionObject* o2,
const DistanceOption& option,
DistanceResult& result);
int evalContactPosition(
const fcl::Contact& fclContact,
const ::fcl::BVHModel<fcl::OBBRSS>& mesh1,
const ::fcl::BVHModel<fcl::OBBRSS>& mesh2,
const fcl::Transform3& transform1,
const fcl::Transform3& transform2,
Eigen::Vector3d& contactPosition1,
Eigen::Vector3d& contactPosition2);
Eigen::Vector3d getDiff(const Contact& contact1, const Contact& contact2);
fcl::Vector3 getDiff(
const fcl::Contact& contact1, const fcl::Contact& contact2);
bool isColinear(
const Contact& contact1,
const Contact& contact2,
const Contact& contact3,
double tol);
bool isColinear(
const fcl::Contact& contact1,
const fcl::Contact& contact2,
const fcl::Contact& contact3,
double tol);
template <typename T>
bool isColinear(const T& pos1, const T& pos2, const T& pos3, double tol);
int FFtest(
const fcl::Vector3& r1,
const fcl::Vector3& r2,
const fcl::Vector3& r3,
const fcl::Vector3& R1,
const fcl::Vector3& R2,
const fcl::Vector3& R3,
fcl::Vector3* res1,
fcl::Vector3* res2);
double triArea(
const fcl::Vector3& p1, const fcl::Vector3& p2, const fcl::Vector3& p3);
void convertOption(
const CollisionOption& option, fcl::CollisionRequest& request);
void convertOption(const DistanceOption& option, fcl::DistanceRequest& request);
Contact convertContact(
const fcl::Contact& fclContact,
fcl::CollisionObject* o1,
fcl::CollisionObject* o2,
const CollisionOption& option);
/// Collision data stores the collision request and the result given by
/// collision algorithm.
struct FCLCollisionCallbackData
{
/// FCL collision request
fcl::CollisionRequest fclRequest;
/// FCL collision result
fcl::CollisionResult fclResult;
/// Collision option of DART
const CollisionOption& option;
/// Collision result of DART
CollisionResult* result;
/// True if at least one contact is found. This flag is used only when
/// mResult is nullptr; otherwise the actual collision result is in mResult.
bool foundCollision;
FCLCollisionDetector::PrimitiveShape primitiveShapeType;
FCLCollisionDetector::ContactPointComputationMethod
contactPointComputationMethod;
/// Whether the collision iteration can stop
bool done;
bool isCollision() const
{
if (result)
return result->isCollision();
else
return foundCollision;
}
/// Constructor
FCLCollisionCallbackData(
const CollisionOption& option,
CollisionResult* result,
FCLCollisionDetector::PrimitiveShape type = FCLCollisionDetector::MESH,
FCLCollisionDetector::ContactPointComputationMethod method
= FCLCollisionDetector::DART)
: option(option),
result(result),
foundCollision(false),
primitiveShapeType(type),
contactPointComputationMethod(method),
done(false)
{
convertOption(option, fclRequest);
fclRequest.num_max_contacts
= std::max(static_cast<std::size_t>(100u), option.maxNumContacts);
// Since some contact points can be filtered out in the post process, we ask
// more than the demend. 100 is randomly picked.
}
};
struct FCLDistanceCallbackData
{
/// FCL distance request
fcl::DistanceRequest fclRequest;
/// FCL distance result
fcl::DistanceResult fclResult;
/// Distance option of DART
const DistanceOption& option;
/// Minimum distance identical to DistanceResult::minDistnace if result is not
/// nullptr.
double unclampedMinDistance;
/// Distance result of DART
DistanceResult* result;
/// @brief Whether the distance iteration can stop
bool done;
FCLDistanceCallbackData(const DistanceOption& option, DistanceResult* result)
: option(option), result(result), done(false)
{
convertOption(option, fclRequest);
}
};
//==============================================================================
// Create a cube mesh for collision detection
template <class BV>
::fcl::BVHModel<BV>* createCube(float _sizeX, float _sizeY, float _sizeZ)
{
int faces[6][4] = {{0, 1, 2, 3},
{3, 2, 6, 7},
{7, 6, 5, 4},
{4, 5, 1, 0},
{5, 6, 2, 1},
{7, 4, 0, 3}};
float v[8][3];
v[0][0] = v[1][0] = v[2][0] = v[3][0] = -_sizeX / 2;
v[4][0] = v[5][0] = v[6][0] = v[7][0] = _sizeX / 2;
v[0][1] = v[1][1] = v[4][1] = v[5][1] = -_sizeY / 2;
v[2][1] = v[3][1] = v[6][1] = v[7][1] = _sizeY / 2;
v[0][2] = v[3][2] = v[4][2] = v[7][2] = -_sizeZ / 2;
v[1][2] = v[2][2] = v[5][2] = v[6][2] = _sizeZ / 2;
::fcl::BVHModel<BV>* model = new ::fcl::BVHModel<BV>;
fcl::Vector3 p1, p2, p3;
model->beginModel();
for (int i = 0; i < 6; i++)
{
p1 = fcl::Vector3(v[faces[i][0]][0], v[faces[i][0]][1], v[faces[i][0]][2]);
p2 = fcl::Vector3(v[faces[i][1]][0], v[faces[i][1]][1], v[faces[i][1]][2]);
p3 = fcl::Vector3(v[faces[i][2]][0], v[faces[i][2]][1], v[faces[i][2]][2]);
model->addTriangle(p1, p2, p3);
p1 = fcl::Vector3(v[faces[i][0]][0], v[faces[i][0]][1], v[faces[i][0]][2]);
p2 = fcl::Vector3(v[faces[i][2]][0], v[faces[i][2]][1], v[faces[i][2]][2]);
p3 = fcl::Vector3(v[faces[i][3]][0], v[faces[i][3]][1], v[faces[i][3]][2]);
model->addTriangle(p1, p2, p3);
}
model->endModel();
return model;
}
//==============================================================================
template <class BV>
::fcl::BVHModel<BV>* createEllipsoid(float _sizeX, float _sizeY, float _sizeZ)
{
float v[59][3] = {{0, 0, 0},
{0.135299, -0.461940, -0.135299},
{0.000000, -0.461940, -0.191342},
{-0.135299, -0.461940, -0.135299},
{-0.191342, -0.461940, 0.000000},
{-0.135299, -0.461940, 0.135299},
{0.000000, -0.461940, 0.191342},
{0.135299, -0.461940, 0.135299},
{0.191342, -0.461940, 0.000000},
{0.250000, -0.353553, -0.250000},
{0.000000, -0.353553, -0.353553},
{-0.250000, -0.353553, -0.250000},
{-0.353553, -0.353553, 0.000000},
{-0.250000, -0.353553, 0.250000},
{0.000000, -0.353553, 0.353553},
{0.250000, -0.353553, 0.250000},
{0.353553, -0.353553, 0.000000},
{0.326641, -0.191342, -0.326641},
{0.000000, -0.191342, -0.461940},
{-0.326641, -0.191342, -0.326641},
{-0.461940, -0.191342, 0.000000},
{-0.326641, -0.191342, 0.326641},
{0.000000, -0.191342, 0.461940},
{0.326641, -0.191342, 0.326641},
{0.461940, -0.191342, 0.000000},
{0.353553, 0.000000, -0.353553},
{0.000000, 0.000000, -0.500000},
{-0.353553, 0.000000, -0.353553},
{-0.500000, 0.000000, 0.000000},
{-0.353553, 0.000000, 0.353553},
{0.000000, 0.000000, 0.500000},
{0.353553, 0.000000, 0.353553},
{0.500000, 0.000000, 0.000000},
{0.326641, 0.191342, -0.326641},
{0.000000, 0.191342, -0.461940},
{-0.326641, 0.191342, -0.326641},
{-0.461940, 0.191342, 0.000000},
{-0.326641, 0.191342, 0.326641},
{0.000000, 0.191342, 0.461940},
{0.326641, 0.191342, 0.326641},
{0.461940, 0.191342, 0.000000},
{0.250000, 0.353553, -0.250000},
{0.000000, 0.353553, -0.353553},
{-0.250000, 0.353553, -0.250000},
{-0.353553, 0.353553, 0.000000},
{-0.250000, 0.353553, 0.250000},
{0.000000, 0.353553, 0.353553},
{0.250000, 0.353553, 0.250000},
{0.353553, 0.353553, 0.000000},
{0.135299, 0.461940, -0.135299},
{0.000000, 0.461940, -0.191342},
{-0.135299, 0.461940, -0.135299},
{-0.191342, 0.461940, 0.000000},
{-0.135299, 0.461940, 0.135299},
{0.000000, 0.461940, 0.191342},
{0.135299, 0.461940, 0.135299},
{0.191342, 0.461940, 0.000000},
{0.000000, -0.500000, 0.000000},
{0.000000, 0.500000, 0.000000}};
int f[112][3]
= {{1, 2, 9}, {9, 2, 10}, {2, 3, 10}, {10, 3, 11}, {3, 4, 11},
{11, 4, 12}, {4, 5, 12}, {12, 5, 13}, {5, 6, 13}, {13, 6, 14},
{6, 7, 14}, {14, 7, 15}, {7, 8, 15}, {15, 8, 16}, {8, 1, 16},
{16, 1, 9}, {9, 10, 17}, {17, 10, 18}, {10, 11, 18}, {18, 11, 19},
{11, 12, 19}, {19, 12, 20}, {12, 13, 20}, {20, 13, 21}, {13, 14, 21},
{21, 14, 22}, {14, 15, 22}, {22, 15, 23}, {15, 16, 23}, {23, 16, 24},
{16, 9, 24}, {24, 9, 17}, {17, 18, 25}, {25, 18, 26}, {18, 19, 26},
{26, 19, 27}, {19, 20, 27}, {27, 20, 28}, {20, 21, 28}, {28, 21, 29},
{21, 22, 29}, {29, 22, 30}, {22, 23, 30}, {30, 23, 31}, {23, 24, 31},
{31, 24, 32}, {24, 17, 32}, {32, 17, 25}, {25, 26, 33}, {33, 26, 34},
{26, 27, 34}, {34, 27, 35}, {27, 28, 35}, {35, 28, 36}, {28, 29, 36},
{36, 29, 37}, {29, 30, 37}, {37, 30, 38}, {30, 31, 38}, {38, 31, 39},
{31, 32, 39}, {39, 32, 40}, {32, 25, 40}, {40, 25, 33}, {33, 34, 41},
{41, 34, 42}, {34, 35, 42}, {42, 35, 43}, {35, 36, 43}, {43, 36, 44},
{36, 37, 44}, {44, 37, 45}, {37, 38, 45}, {45, 38, 46}, {38, 39, 46},
{46, 39, 47}, {39, 40, 47}, {47, 40, 48}, {40, 33, 48}, {48, 33, 41},
{41, 42, 49}, {49, 42, 50}, {42, 43, 50}, {50, 43, 51}, {43, 44, 51},
{51, 44, 52}, {44, 45, 52}, {52, 45, 53}, {45, 46, 53}, {53, 46, 54},
{46, 47, 54}, {54, 47, 55}, {47, 48, 55}, {55, 48, 56}, {48, 41, 56},
{56, 41, 49}, {2, 1, 57}, {3, 2, 57}, {4, 3, 57}, {5, 4, 57},
{6, 5, 57}, {7, 6, 57}, {8, 7, 57}, {1, 8, 57}, {49, 50, 58},
{50, 51, 58}, {51, 52, 58}, {52, 53, 58}, {53, 54, 58}, {54, 55, 58},
{55, 56, 58}, {56, 49, 58}};
::fcl::BVHModel<BV>* model = new ::fcl::BVHModel<BV>;
fcl::Vector3 p1, p2, p3;
model->beginModel();
for (int i = 0; i < 112; i++)
{
p1 = fcl::Vector3(
v[f[i][0]][0] * _sizeX, v[f[i][0]][1] * _sizeY, v[f[i][0]][2] * _sizeZ);
p2 = fcl::Vector3(
v[f[i][1]][0] * _sizeX, v[f[i][1]][1] * _sizeY, v[f[i][1]][2] * _sizeZ);
p3 = fcl::Vector3(
v[f[i][2]][0] * _sizeX, v[f[i][2]][1] * _sizeY, v[f[i][2]][2] * _sizeZ);
model->addTriangle(p1, p2, p3);
}
model->endModel();
return model;
}
//==============================================================================
template <class BV>
::fcl::BVHModel<BV>* createCylinder(
double _baseRadius,
double _topRadius,
double _height,
int _slices,
int _stacks)
{
const int CACHE_SIZE = 240;
int i, j;
float sinCache[CACHE_SIZE];
float cosCache[CACHE_SIZE];
float angle;
float zBase;
float zLow, zHigh;
float sintemp, costemp;
float deltaRadius;
float radiusLow, radiusHigh;
if (_slices >= CACHE_SIZE)
_slices = CACHE_SIZE - 1;
if (_slices < 2 || _stacks < 1 || _baseRadius < 0.0 || _topRadius < 0.0
|| _height < 0.0)
{
return nullptr;
}
/* Center at CoM */
zBase = -_height / 2;
/* Compute delta */
deltaRadius = _baseRadius - _topRadius;
/* Cache is the vertex locations cache */
for (i = 0; i < _slices; i++)
{
angle = 2 * math::constantsd::pi() * i / _slices;
sinCache[i] = sin(angle);
cosCache[i] = cos(angle);
}
sinCache[_slices] = sinCache[0];
cosCache[_slices] = cosCache[0];
::fcl::BVHModel<BV>* model = new ::fcl::BVHModel<BV>;
fcl::Vector3 p1, p2, p3, p4;
model->beginModel();
/* Base of cylinder */
sintemp = sinCache[0];
costemp = cosCache[0];
radiusLow = _baseRadius;
zLow = zBase;
p1 = fcl::Vector3(radiusLow * sintemp, radiusLow * costemp, zLow);
for (i = 1; i < _slices; i++)
{
p2 = fcl::Vector3(radiusLow * sinCache[i], radiusLow * cosCache[i], zLow);
p3 = fcl::Vector3(
radiusLow * sinCache[i + 1], radiusLow * cosCache[i + 1], zLow);
model->addTriangle(p1, p2, p3);
}
/* Body of cylinder */
for (i = 0; i < _slices; i++)
{
for (j = 0; j < _stacks; j++)
{
zLow = j * _height / _stacks + zBase;
zHigh = (j + 1) * _height / _stacks + zBase;
radiusLow = _baseRadius - deltaRadius * (static_cast<float>(j) / _stacks);
radiusHigh
= _baseRadius - deltaRadius * (static_cast<float>(j + 1) / _stacks);
p1 = fcl::Vector3(radiusLow * sinCache[i], radiusLow * cosCache[i], zLow);
p2 = fcl::Vector3(
radiusLow * sinCache[i + 1], radiusLow * cosCache[i + 1], zLow);
p3 = fcl::Vector3(
radiusHigh * sinCache[i], radiusHigh * cosCache[i], zHigh);
p4 = fcl::Vector3(
radiusHigh * sinCache[i + 1], radiusHigh * cosCache[i + 1], zHigh);
model->addTriangle(p1, p2, p3);
model->addTriangle(p2, p3, p4);
}
}
/* Top of cylinder */
sintemp = sinCache[0];
costemp = cosCache[0];
radiusLow = _topRadius;
zLow = zBase + _height;
p1 = fcl::Vector3(radiusLow * sintemp, radiusLow * costemp, zLow);
for (i = 1; i < _slices; i++)
{
p2 = fcl::Vector3(radiusLow * sinCache[i], radiusLow * cosCache[i], zLow);
p3 = fcl::Vector3(
radiusLow * sinCache[i + 1], radiusLow * cosCache[i + 1], zLow);
model->addTriangle(p1, p2, p3);
}
model->endModel();
return model;
}
//==============================================================================
template <class BV>
::fcl::BVHModel<BV>* createMesh(
float _scaleX, float _scaleY, float _scaleZ, const aiScene* _mesh)
{
// Create FCL mesh from Assimp mesh
assert(_mesh);
::fcl::BVHModel<BV>* model = new ::fcl::BVHModel<BV>;
model->beginModel();
for (std::size_t i = 0; i < _mesh->mNumMeshes; i++)
{
for (std::size_t j = 0; j < _mesh->mMeshes[i]->mNumFaces; j++)
{
fcl::Vector3 vertices[3];
for (std::size_t k = 0; k < 3; k++)
{
const aiVector3D& vertex
= _mesh->mMeshes[i]
->mVertices[_mesh->mMeshes[i]->mFaces[j].mIndices[k]];
vertices[k] = fcl::Vector3(
vertex.x * _scaleX, vertex.y * _scaleY, vertex.z * _scaleZ);
}
model->addTriangle(vertices[0], vertices[1], vertices[2]);
}
}
model->endModel();
return model;
}
//==============================================================================
template <class BV>
::fcl::BVHModel<BV>* createSoftMesh(const aiMesh* _mesh)
{
// Create FCL mesh from Assimp mesh
assert(_mesh);
::fcl::BVHModel<BV>* model = new ::fcl::BVHModel<BV>;
model->beginModel();
for (std::size_t i = 0; i < _mesh->mNumFaces; i++)
{
fcl::Vector3 vertices[3];
for (std::size_t j = 0; j < 3; j++)
{
const aiVector3D& vertex = _mesh->mVertices[_mesh->mFaces[i].mIndices[j]];
vertices[j] = fcl::Vector3(vertex.x, vertex.y, vertex.z);
}
model->addTriangle(vertices[0], vertices[1], vertices[2]);
}
model->endModel();
return model;
}
} // anonymous namespace
//==============================================================================
FCLCollisionDetector::Registrar<FCLCollisionDetector>
FCLCollisionDetector::mRegistrar{
FCLCollisionDetector::getStaticType(),
[]() -> std::shared_ptr<FCLCollisionDetector> {
return FCLCollisionDetector::create();
}};
//==============================================================================
std::shared_ptr<FCLCollisionDetector> FCLCollisionDetector::create()
{
return std::shared_ptr<FCLCollisionDetector>(new FCLCollisionDetector());
}
//==============================================================================
FCLCollisionDetector::~FCLCollisionDetector()
{
assert(mShapeMap.empty());
}
//==============================================================================
std::shared_ptr<CollisionDetector>
FCLCollisionDetector::cloneWithoutCollisionObjects() const
{
return FCLCollisionDetector::create();
}
//==============================================================================
const std::string& FCLCollisionDetector::getType() const
{
return getStaticType();
}
//==============================================================================
const std::string& FCLCollisionDetector::getStaticType()
{
static const std::string type = "fcl";
return type;
}
//==============================================================================
std::unique_ptr<CollisionGroup> FCLCollisionDetector::createCollisionGroup()
{
return std::make_unique<FCLCollisionGroup>(shared_from_this());
}
//==============================================================================
static bool checkGroupValidity(FCLCollisionDetector* cd, CollisionGroup* group)
{
if (cd != group->getCollisionDetector().get())
{
dterr << "[FCLCollisionDetector::collide] Attempting to check collision "
<< "for a collision group that is created from a different collision "
<< "detector instance.\n";
return false;
}
return true;
}
//==============================================================================
bool FCLCollisionDetector::collide(
CollisionGroup* group,
const CollisionOption& option,
CollisionResult* result)
{
if (result)
result->clear();
if (0u == option.maxNumContacts)
return false;
if (!checkGroupValidity(this, group))
return false;
auto casted = static_cast<FCLCollisionGroup*>(group);
casted->updateEngineData();
FCLCollisionCallbackData collData(
option, result, mPrimitiveShapeType, mContactPointComputationMethod);
const auto* collMgr = casted->getFCLCollisionManager();
assert(collMgr);
collMgr->collide(&collData, collisionCallback);
return collData.isCollision();
}
//==============================================================================
bool FCLCollisionDetector::collide(
CollisionGroup* group1,
CollisionGroup* group2,
const CollisionOption& option,
CollisionResult* result)
{
if (result)
result->clear();
if (0u == option.maxNumContacts)
return false;
if (!checkGroupValidity(this, group1))
return false;
if (!checkGroupValidity(this, group2))
return false;
auto casted1 = static_cast<FCLCollisionGroup*>(group1);
auto casted2 = static_cast<FCLCollisionGroup*>(group2);
casted1->updateEngineData();
casted2->updateEngineData();
FCLCollisionCallbackData collData(
option, result, mPrimitiveShapeType, mContactPointComputationMethod);
auto broadPhaseAlg1 = casted1->getFCLCollisionManager();
auto broadPhaseAlg2 = casted2->getFCLCollisionManager();
broadPhaseAlg1->collide(broadPhaseAlg2, &collData, collisionCallback);
return collData.isCollision();
}
//==============================================================================
double FCLCollisionDetector::distance(
CollisionGroup* group, const DistanceOption& option, DistanceResult* result)
{
if (result)
result->clear();
if (!checkGroupValidity(this, group))
return 0.0;
auto casted = static_cast<FCLCollisionGroup*>(group);
casted->updateEngineData();
FCLDistanceCallbackData distData(option, result);
casted->getFCLCollisionManager()->distance(&distData, distanceCallback);
return std::max(distData.unclampedMinDistance, option.distanceLowerBound);
}
//==============================================================================
double FCLCollisionDetector::distance(
CollisionGroup* group1,
CollisionGroup* group2,
const DistanceOption& option,
DistanceResult* result)
{
if (result)
result->clear();
if (!checkGroupValidity(this, group1))
return 0.0;
if (!checkGroupValidity(this, group2))
return 0.0;
auto casted1 = static_cast<FCLCollisionGroup*>(group1);
auto casted2 = static_cast<FCLCollisionGroup*>(group2);
casted1->updateEngineData();
casted2->updateEngineData();
FCLDistanceCallbackData distData(option, result);
auto broadPhaseAlg1 = casted1->getFCLCollisionManager();
auto broadPhaseAlg2 = casted2->getFCLCollisionManager();
broadPhaseAlg1->distance(broadPhaseAlg2, &distData, distanceCallback);
return std::max(distData.unclampedMinDistance, option.distanceLowerBound);
}
//==============================================================================
void FCLCollisionDetector::setPrimitiveShapeType(
FCLCollisionDetector::PrimitiveShape type)
{
if (type == PRIMITIVE)
{
dtwarn << "[FCLCollisionDetector::setPrimitiveShapeType] You chose to use "
<< "FCL's primitive shape collision feature while it's not complete "
<< "(at least until 0.4.0) especially in use of dynamics "
<< "simulation. It's recommended to use mesh even for primitive "
<< "shapes by settting "
<< "FCLCollisionDetector::setPrimitiveShapeType(MESH).\n";
}
mPrimitiveShapeType = type;
}
//==============================================================================
FCLCollisionDetector::PrimitiveShape
FCLCollisionDetector::getPrimitiveShapeType() const
{
return mPrimitiveShapeType;
}
//==============================================================================
void FCLCollisionDetector::setContactPointComputationMethod(
FCLCollisionDetector::ContactPointComputationMethod method)
{
if (method == FCL)
{
dtwarn << "[FCLCollisionDetector::setContactPointComputationMethod] You "
<< "chose to use FCL's built in contact point computation while"
<< "it's buggy (see https://github.com/flexible-collision-library/"
<< "fcl/issues/106) at least until 0.4.0. It's recommended to use "
<< "DART's implementation for the contact point computation by "
<< "setting "
<< "FCLCollisionDetector::setContactPointComputationMethod(DART).\n";
}
mContactPointComputationMethod = method;
}
//==============================================================================
FCLCollisionDetector::ContactPointComputationMethod
FCLCollisionDetector::getContactPointComputationMethod() const
{
return mContactPointComputationMethod;
}
//==============================================================================
FCLCollisionDetector::FCLCollisionDetector()
: CollisionDetector(),
mPrimitiveShapeType(MESH),
mContactPointComputationMethod(DART)
{
mCollisionObjectManager.reset(new ManagerForSharableCollisionObjects(this));
}
//==============================================================================
std::unique_ptr<CollisionObject> FCLCollisionDetector::createCollisionObject(
const dynamics::ShapeFrame* shapeFrame)
{
auto fclCollGeom = claimFCLCollisionGeometry(shapeFrame->getShape());
return std::unique_ptr<FCLCollisionObject>(
new FCLCollisionObject(this, shapeFrame, fclCollGeom));
}
//==============================================================================
void FCLCollisionDetector::refreshCollisionObject(CollisionObject* const object)
{
FCLCollisionObject* fcl = static_cast<FCLCollisionObject*>(object);
fcl->mFCLCollisionObject = std::unique_ptr<fcl::CollisionObject>(
new fcl::CollisionObject(claimFCLCollisionGeometry(object->getShape())));
}
//==============================================================================
fcl_shared_ptr<fcl::CollisionGeometry>
FCLCollisionDetector::claimFCLCollisionGeometry(
const dynamics::ConstShapePtr& shape)
{
const std::size_t currentVersion = shape->getVersion();
const auto search = mShapeMap.insert(std::make_pair(shape, ShapeInfo()));
const bool inserted = search.second;
ShapeInfo& info = search.first->second;
if (!inserted && currentVersion == info.mLastKnownVersion)
{
const auto& fclCollGeom = info.mShape;
assert(fclCollGeom.lock());
// Ensure all the collision geometry in the map should be alive pointers.
return fclCollGeom.lock();
}
auto newfclCollGeom = createFCLCollisionGeometry(
shape, mPrimitiveShapeType, FCLCollisionGeometryDeleter(this, shape));
info.mShape = newfclCollGeom;
info.mLastKnownVersion = currentVersion;
return newfclCollGeom;
}
//==============================================================================
fcl_shared_ptr<fcl::CollisionGeometry>
FCLCollisionDetector::createFCLCollisionGeometry(
const dynamics::ConstShapePtr& shape,
FCLCollisionDetector::PrimitiveShape type,
const FCLCollisionGeometryDeleter& deleter)
{
using dynamics::BoxShape;
using dynamics::CylinderShape;
using dynamics::EllipsoidShape;
using dynamics::MeshShape;
using dynamics::PlaneShape;
using dynamics::Shape;
using dynamics::SoftMeshShape;
using dynamics::SphereShape;
#if HAVE_OCTOMAP
using dynamics::VoxelGridShape;
#endif // HAVE_OCTOMAP
fcl::CollisionGeometry* geom = nullptr;
const auto& shapeType = shape->getType();
if (SphereShape::getStaticType() == shapeType)
{
assert(dynamic_cast<const SphereShape*>(shape.get()));
auto* sphere = static_cast<const SphereShape*>(shape.get());
const auto radius = sphere->getRadius();
if (FCLCollisionDetector::PRIMITIVE == type)
geom = new fcl::Sphere(radius);
else
geom = createEllipsoid<fcl::OBBRSS>(
radius * 2.0, radius * 2.0, radius * 2.0);
}
else if (BoxShape::getStaticType() == shapeType)
{
assert(dynamic_cast<const BoxShape*>(shape.get()));
auto box = static_cast<const BoxShape*>(shape.get());
const Eigen::Vector3d& size = box->getSize();
if (FCLCollisionDetector::PRIMITIVE == type)
geom = new fcl::Box(size[0], size[1], size[2]);
else
geom = createCube<fcl::OBBRSS>(size[0], size[1], size[2]);
}
else if (EllipsoidShape::getStaticType() == shapeType)
{
assert(dynamic_cast<const EllipsoidShape*>(shape.get()));
auto ellipsoid = static_cast<const EllipsoidShape*>(shape.get());
const Eigen::Vector3d& radii = ellipsoid->getRadii();
if (FCLCollisionDetector::PRIMITIVE == type)
{
#if FCL_VERSION_AT_LEAST(0, 4, 0)
geom = new fcl::Ellipsoid(FCLTypes::convertVector3(radii));
#else
geom = createEllipsoid<fcl::OBBRSS>(
radii[0] * 2.0, radii[1] * 2.0, radii[2] * 2.0);
#endif
}
else
{
geom = createEllipsoid<fcl::OBBRSS>(
radii[0] * 2.0, radii[1] * 2.0, radii[2] * 2.0);
}
}
else if (CylinderShape::getStaticType() == shapeType)
{
assert(dynamic_cast<const CylinderShape*>(shape.get()));
const auto cylinder = static_cast<const CylinderShape*>(shape.get());
const auto radius = cylinder->getRadius();
const auto height = cylinder->getHeight();
if (FCLCollisionDetector::PRIMITIVE == type)
{
geom = createCylinder<fcl::OBBRSS>(radius, radius, height, 16, 16);
// TODO(JS): We still need to use mesh for cylinder because FCL 0.4.0
// returns single contact point for cylinder yet. Once FCL support
// multiple contact points then above code will be replaced by:
// fclCollGeom.reset(new fcl::Cylinder(radius, height));
}
else
{
geom = createCylinder<fcl::OBBRSS>(radius, radius, height, 16, 16);
}
}
else if (PlaneShape::getStaticType() == shapeType)
{
if (FCLCollisionDetector::PRIMITIVE == type)
{
assert(dynamic_cast<const PlaneShape*>(shape.get()));
auto plane = static_cast<const PlaneShape*>(shape.get());
const Eigen::Vector3d normal = plane->getNormal();
const double offset = plane->getOffset();
geom = new fcl::Halfspace(FCLTypes::convertVector3(normal), offset);
}
else
{
geom = createCube<fcl::OBBRSS>(1000.0, 0.0, 1000.0);
dtwarn << "[FCLCollisionDetector] PlaneShape is not supported by "
<< "FCLCollisionDetector. We create a thin box mesh insted, where "
<< "the size is [1000 0 1000].\n";
}
}
else if (MeshShape::getStaticType() == shapeType)
{
assert(dynamic_cast<const MeshShape*>(shape.get()));
auto shapeMesh = static_cast<const MeshShape*>(shape.get());
const Eigen::Vector3d& scale = shapeMesh->getScale();
auto aiScene = shapeMesh->getMesh();
geom = createMesh<fcl::OBBRSS>(scale[0], scale[1], scale[2], aiScene);
}
else if (SoftMeshShape::getStaticType() == shapeType)
{
assert(dynamic_cast<const SoftMeshShape*>(shape.get()));
auto softMeshShape = static_cast<const SoftMeshShape*>(shape.get());
auto aiMesh = softMeshShape->getAssimpMesh();
geom = createSoftMesh<fcl::OBBRSS>(aiMesh);
}
#if HAVE_OCTOMAP
else if (VoxelGridShape::getStaticType() == shapeType)
{
# if FCL_HAVE_OCTOMAP
assert(dynamic_cast<const VoxelGridShape*>(shape.get()));
auto octreeShape = static_cast<const VoxelGridShape*>(shape.get());
auto octree = octreeShape->getOctree();
geom = new fcl::OcTree(octree);
# else
dterr << "[FCLCollisionDetector::createFCLCollisionGeometry] "
<< "Attempting to create an collision geometry for VoxelGridShape, "
<< "but the installed FCL isn't built with Octomap support. "
<< "Creating a sphere with 0.1 radius instead.\n";
geom = createEllipsoid<fcl::OBBRSS>(0.1, 0.1, 0.1);
# endif // FCL_HAVE_OCTOMAP
}
#endif // HAVE_OCTOMAP
else
{
dterr << "[FCLCollisionDetector::createFCLCollisionGeometry] "
<< "Attempting to create an unsupported shape type [" << shapeType
<< "]. Creating a sphere with 0.1 radius "
<< "instead.\n";
geom = createEllipsoid<fcl::OBBRSS>(0.1, 0.1, 0.1);
}
return fcl_shared_ptr<fcl::CollisionGeometry>(geom, deleter);
}
//==============================================================================
FCLCollisionDetector::FCLCollisionGeometryDeleter::FCLCollisionGeometryDeleter(
FCLCollisionDetector* cd, const dynamics::ConstShapePtr& shape)
: mFCLCollisionDetector(cd), mShape(shape)
{
assert(cd);
assert(shape);
}
//==============================================================================
void FCLCollisionDetector::FCLCollisionGeometryDeleter::operator()(
fcl::CollisionGeometry* geom) const
{
mFCLCollisionDetector->mShapeMap.erase(mShape);