#include <FCLCollisionDetector.hpp>

Inheritance diagram for dart::collision::FCLCollisionDetector:

Classes
class	FCLCollisionGeometryDeleter
	This deleter is responsible for deleting fcl::CollisionGeometry and removing it from mShapeMap when it is not shared by any CollisionObjects. More...

struct	ShapeInfo
	Information for a shape that was generated by this collision detector. More...

Public Types
enum	PrimitiveShape { PRIMITIVE = 0 , MESH }
	Whether to use analytic collision checking for primitive shapes. More...

enum	ContactPointComputationMethod { FCL = 0 , DART }
	Whether to use FCL's contact point computation. More...

using	Factory = common::Factory< std::string, CollisionDetector, std::shared_ptr< CollisionDetector > >

using	SingletonFactory = common::Singleton< Factory >

template<typename Derived >
using	Registrar = common::FactoryRegistrar< std::string, CollisionDetector, Derived, std::shared_ptr< CollisionDetector > >

Public Member Functions
virtual	~FCLCollisionDetector ()
	Constructor. More...

std::shared_ptr< CollisionDetector >	cloneWithoutCollisionObjects () const override
	Create a clone of this CollisionDetector. More...

const std::string &	getType () const override
	Return collision detection engine type as a std::string. More...

std::unique_ptr< CollisionGroup >	createCollisionGroup () override
	Create a collision group. More...

bool	collide (CollisionGroup group, const CollisionOption &option=CollisionOption(false, 1u, nullptr), CollisionResult result=nullptr) override
	Perform collision check for a single group. More...

bool	collide (CollisionGroup group1, CollisionGroup group2, const CollisionOption &option=CollisionOption(false, 1u, nullptr), CollisionResult *result=nullptr) override
	Perform collision check for two groups. More...

double	distance (CollisionGroup group, const DistanceOption &option=DistanceOption(false, 0.0, nullptr), DistanceResult result=nullptr) override
	Get the minimum signed distance between the Shape pairs in the given CollisionGroup. More...

double	distance (CollisionGroup group1, CollisionGroup group2, const DistanceOption &option=DistanceOption(false, 0.0, nullptr), DistanceResult *result=nullptr) override
	Get the minimum signed distance between the Shape pairs where a pair consist of two shapes from each groups (one from group1 and one from group2). More...

void	setPrimitiveShapeType (PrimitiveShape type)
	Set primitive shape type. More...

PrimitiveShape	getPrimitiveShapeType () const
	Get primitive shape type. More...

void	setContactPointComputationMethod (ContactPointComputationMethod method)
	Set contact point computation method. More...

ContactPointComputationMethod	getContactPointComputationMethod () const
	Get contact point computation method. More...

virtual std::unique_ptr< CollisionGroup >	createCollisionGroup ()=0
	Create a collision group. More...

template<typename... Args>
std::unique_ptr< CollisionGroup >	createCollisionGroup (const Args &... args)
	Create a collision group from any objects that are supported by CollisionGroup::addShapeFramesOf(). More...

template<typename... Args>
std::unique_ptr< CollisionGroup >	createCollisionGroup (const Args &... args)
	Create a collision group from any objects that are supported by CollisionGroup::addShapeFramesOf(). More...

std::shared_ptr< CollisionGroup >	createCollisionGroupAsSharedPtr ()
	Helper function that creates and returns CollisionGroup as a shared_ptr. More...

template<typename... Args>
std::shared_ptr< CollisionGroup >	createCollisionGroupAsSharedPtr (const Args &... args)
	Helper function that creates and returns CollisionGroup as shared_ptr. More...

virtual bool	raycast (CollisionGroup group, const Eigen::Vector3d &from, const Eigen::Vector3d &to, const RaycastOption &option=RaycastOption(), RaycastResult result=nullptr)
	Performs raycast to a collision group. More...

Static Public Member Functions
static std::shared_ptr< FCLCollisionDetector >	create ()

static const std::string &	getStaticType ()
	Get collision detector type for this class. More...

static Factory *	getFactory ()
	Returns the singleton factory. More...

Protected Member Functions
	FCLCollisionDetector ()
	Constructor. More...

std::unique_ptr< CollisionObject >	createCollisionObject (const dynamics::ShapeFrame *shapeFrame) override
	Create CollisionObject. More...

void	refreshCollisionObject (CollisionObject *object) override
	Update the collision geometry of a ShapeFrame. More...

fcl_shared_ptr< dart::collision::fcl::CollisionGeometry >	claimFCLCollisionGeometry (const dynamics::ConstShapePtr &shape)
	Return fcl::CollisionGeometry associated with give Shape. More...

std::shared_ptr< CollisionObject >	claimCollisionObject (const dynamics::ShapeFrame *shapeFrame)
	Claim CollisionObject associated with shapeFrame. More...

virtual void	notifyCollisionObjectDestroying (CollisionObject *object)
	Notify that a CollisionObject is destroying. Do nothing by default. More...

Protected Attributes
PrimitiveShape	mPrimitiveShapeType

ContactPointComputationMethod	mContactPointComputationMethod

std::unique_ptr< CollisionObjectManager >	mCollisionObjectManager

Private Types
using	ShapeMap = std::map< dynamics::ConstShapePtr, ShapeInfo >

Private Member Functions
fcl_shared_ptr< dart::collision::fcl::CollisionGeometry >	createFCLCollisionGeometry (const dynamics::ConstShapePtr &shape, FCLCollisionDetector::PrimitiveShape type, const FCLCollisionGeometryDeleter &deleter)
	Create fcl::CollisionGeometry with the custom deleter FCLCollisionGeometryDeleter. More...

Private Attributes
ShapeMap	mShapeMap

Static Private Attributes
static Registrar< FCLCollisionDetector >	mRegistrar

Member Typedef Documentation

◆ Factory

using dart::collision::CollisionDetector::Factory = common::Factory< std::string, CollisionDetector, std::shared_ptr<CollisionDetector> >

inherited

◆ Registrar

template<typename Derived >

using dart::collision::CollisionDetector::Registrar = common::FactoryRegistrar< std::string, CollisionDetector, Derived, std::shared_ptr<CollisionDetector> >

inherited

◆ ShapeMap

using dart::collision::FCLCollisionDetector::ShapeMap = std::map<dynamics::ConstShapePtr, ShapeInfo>

private

◆ SingletonFactory

using dart::collision::CollisionDetector::SingletonFactory = common::Singleton<Factory>

inherited

Member Enumeration Documentation

◆ ContactPointComputationMethod

enum dart::collision::FCLCollisionDetector::ContactPointComputationMethod

Whether to use FCL's contact point computation.

FCL: Use FCL's contact point computation. DART: Use DART's own contact point computation

Warning: FCL's contact computation is not correct. See: https://github.com/flexible-collision-library/fcl/issues/106 We recommend using DART until it's fixed in FCL.

Enumerator
FCL
DART

◆ PrimitiveShape

enum dart::collision::FCLCollisionDetector::PrimitiveShape

Whether to use analytic collision checking for primitive shapes.

PRIMITIVE: Use FCL's analytic collision checking for primitive shapes. MESH: Don't use it. Instead, use approximate mesh shapes for the primitive shapes. The contact result is probably less accurate than the analytic result.

Warning: FCL's primitive shape support is not complete. FCL 0.4.0 improved the support alot, but it still returns single contact point for a shape pair except for box-box collision. For this reason, we recommend using MESH until FCL fully supports primitive shapes.

Enumerator
PRIMITIVE
MESH

Constructor & Destructor Documentation

◆ ~FCLCollisionDetector()

dart::collision::FCLCollisionDetector::~FCLCollisionDetector ( )

virtual

Constructor.

◆ FCLCollisionDetector()

dart::collision::FCLCollisionDetector::FCLCollisionDetector ( )

protected

Constructor.

Member Function Documentation

◆ claimCollisionObject()

std::shared_ptr< CollisionObject > dart::collision::CollisionDetector::claimCollisionObject ( const dynamics::ShapeFrame * shapeFrame )

protectedinherited

Claim CollisionObject associated with shapeFrame.

New CollisionObject will be created if it hasn't created yet for shapeFrame.

◆ claimFCLCollisionGeometry()

fcl_shared_ptr< fcl::CollisionGeometry > dart::collision::FCLCollisionDetector::claimFCLCollisionGeometry ( const dynamics::ConstShapePtr & shape )

protected

Return fcl::CollisionGeometry associated with give Shape.

New fcl::CollisionGeome will be created if it hasn't created yet.

◆ cloneWithoutCollisionObjects()

std::shared_ptr< CollisionDetector > dart::collision::FCLCollisionDetector::cloneWithoutCollisionObjects ( ) const

overridevirtual

Create a clone of this CollisionDetector.

All the properties will be copied over, but not collision objects.

Implements dart::collision::CollisionDetector.

◆ collide() [1/2]

bool dart::collision::FCLCollisionDetector::collide	(	CollisionGroup *	group,
		const CollisionOption &	option = `CollisionOption(false, 1u, nullptr)`,
		CollisionResult *	result = `nullptr`
	)

overridevirtual

Perform collision check for a single group.

If nullptr is passed to result, then the this returns only simple information whether there is a collision of not.

Implements dart::collision::CollisionDetector.

◆ collide() [2/2]

bool dart::collision::FCLCollisionDetector::collide	(	CollisionGroup *	group1,
		CollisionGroup *	group2,
		const CollisionOption &	option = `CollisionOption(false, 1u, nullptr)`,
		CollisionResult *	result = `nullptr`
	)

overridevirtual

Perform collision check for two groups.

If nullptr is passed to result, then the this returns only simple information whether there is a collision of not.

Implements dart::collision::CollisionDetector.

◆ create()

std::shared_ptr< FCLCollisionDetector > dart::collision::FCLCollisionDetector::create ( )

static

◆ createCollisionGroup() [1/4]

std::unique_ptr< CollisionGroup > dart::collision::FCLCollisionDetector::createCollisionGroup ( )

overridevirtual

Create a collision group.

Implements dart::collision::CollisionDetector.

◆ createCollisionGroup() [2/4]

virtual std::unique_ptr<CollisionGroup> dart::collision::CollisionDetector::createCollisionGroup

virtual

Create a collision group.

Implements dart::collision::CollisionDetector.

◆ createCollisionGroup() [3/4]

template<typename... Args>

std::unique_ptr< CollisionGroup > dart::collision::CollisionDetector::createCollisionGroup ( const Args &... args )

inherited

Create a collision group from any objects that are supported by CollisionGroup::addShapeFramesOf().

The objects can be any of ShapeFrame, std::vector<ShapeFrame>, CollisionGroup, BodyNode, and Skeleton.

Note that this function adds only the ShapeFrames of each object at the moment that this function is called. Any later addition to or removal of the ShapeFrames that are attached to these objects will NOT be noticed.

◆ createCollisionGroup() [4/4]

template<typename... Args>

std::unique_ptr< CollisionGroup > dart::collision::CollisionDetector::createCollisionGroup ( typename... Args )

Create a collision group from any objects that are supported by CollisionGroup::addShapeFramesOf().

The objects can be any of ShapeFrame, std::vector<ShapeFrame>, CollisionGroup, BodyNode, and Skeleton.

Note that this function adds only the ShapeFrames of each object at the moment that this function is called. Any later addition to or removal of the ShapeFrames that are attached to these objects will NOT be noticed.

◆ createCollisionGroupAsSharedPtr() [1/2]

std::shared_ptr< CollisionGroup > dart::collision::CollisionDetector::createCollisionGroupAsSharedPtr ( )

inherited

Helper function that creates and returns CollisionGroup as a shared_ptr.

Internally, this function creates a shared_ptr from unique_ptr returned from createCollisionGroup() so the performance would be slighly worse than using std::make_unique.

◆ createCollisionGroupAsSharedPtr() [2/2]

template<typename... Args>

std::shared_ptr< CollisionGroup > dart::collision::CollisionDetector::createCollisionGroupAsSharedPtr ( const Args &... args )

inherited

Helper function that creates and returns CollisionGroup as shared_ptr.

◆ createCollisionObject()

std::unique_ptr< CollisionObject > dart::collision::FCLCollisionDetector::createCollisionObject ( const dynamics::ShapeFrame * shapeFrame )

overrideprotectedvirtual

Create CollisionObject.

Implements dart::collision::CollisionDetector.

◆ createFCLCollisionGeometry()

fcl_shared_ptr< fcl::CollisionGeometry > dart::collision::FCLCollisionDetector::createFCLCollisionGeometry	(	const dynamics::ConstShapePtr &	shape,
		FCLCollisionDetector::PrimitiveShape	type,
		const FCLCollisionGeometryDeleter &	deleter
	)

private

Create fcl::CollisionGeometry with the custom deleter FCLCollisionGeometryDeleter.

◆ distance() [1/2]

double dart::collision::FCLCollisionDetector::distance	(	CollisionGroup *	group,
		const DistanceOption &	option = `DistanceOption(false, 0.0, nullptr)`,
		DistanceResult *	result = `nullptr`
	)

overridevirtual

Get the minimum signed distance between the Shape pairs in the given CollisionGroup.

The detailed results are stored in the given DistanceResult if provided.

The results can be different by DistanceOption. By default, non-negative minimum distance (distance >= 0) is returned for all the shape pairs without computing nearest points.

Implements dart::collision::CollisionDetector.

◆ distance() [2/2]

double dart::collision::FCLCollisionDetector::distance	(	CollisionGroup *	group1,
		CollisionGroup *	group2,
		const DistanceOption &	option = `DistanceOption(false, 0.0, nullptr)`,
		DistanceResult *	result = `nullptr`
	)

overridevirtual

Get the minimum signed distance between the Shape pairs where a pair consist of two shapes from each groups (one from group1 and one from group2).

Note that the distance between shapes within the same CollisionGroup are not accounted.

The detailed results are stored in the given DistanceResult if provided.

The results can be different by DistanceOption. By default, non-negative minimum distance (distance >= 0) is returned for all the shape pairs without computing nearest points.

Implements dart::collision::CollisionDetector.

◆ getContactPointComputationMethod()

FCLCollisionDetector::ContactPointComputationMethod dart::collision::FCLCollisionDetector::getContactPointComputationMethod ( ) const

Get contact point computation method.

◆ getFactory()

CollisionDetector::Factory * dart::collision::CollisionDetector::getFactory ( )

staticinherited

Returns the singleton factory.

◆ getPrimitiveShapeType()

FCLCollisionDetector::PrimitiveShape dart::collision::FCLCollisionDetector::getPrimitiveShapeType ( ) const

Get primitive shape type.

◆ getStaticType()

const std::string & dart::collision::FCLCollisionDetector::getStaticType ( )

static

Get collision detector type for this class.

◆ getType()

const std::string & dart::collision::FCLCollisionDetector::getType ( ) const

overridevirtual

Return collision detection engine type as a std::string.

Implements dart::collision::CollisionDetector.

◆ notifyCollisionObjectDestroying()

void dart::collision::CollisionDetector::notifyCollisionObjectDestroying ( CollisionObject * object )

protectedvirtualinherited

Notify that a CollisionObject is destroying. Do nothing by default.

Reimplemented in dart::collision::BulletCollisionDetector.

◆ raycast()

bool dart::collision::CollisionDetector::raycast	(	CollisionGroup *	group,
		const Eigen::Vector3d &	from,
		const Eigen::Vector3d &	to,
		const RaycastOption &	option = `RaycastOption()`,
		RaycastResult *	result = `nullptr`
	)

virtualinherited

Performs raycast to a collision group.

Parameters

[in]	group	The collision group the ray will be casted onto.
[in]	from	The start point of the ray in world coordinates.
[in]	to	The end point of the ray in world coordinates.
[in]	option	The raycast option.
[in]	result	The raycast result.

Returns: True if the ray hit an collision object.

Reimplemented in dart::collision::BulletCollisionDetector.

◆ refreshCollisionObject()

void dart::collision::FCLCollisionDetector::refreshCollisionObject ( CollisionObject * object )

overrideprotectedvirtual

Update the collision geometry of a ShapeFrame.

Implements dart::collision::CollisionDetector.

◆ setContactPointComputationMethod()

void dart::collision::FCLCollisionDetector::setContactPointComputationMethod ( FCLCollisionDetector::ContactPointComputationMethod method )

Set contact point computation method.

◆ setPrimitiveShapeType()

void dart::collision::FCLCollisionDetector::setPrimitiveShapeType ( FCLCollisionDetector::PrimitiveShape type )

Set primitive shape type.

Member Data Documentation

◆ mCollisionObjectManager

std::unique_ptr<CollisionObjectManager> dart::collision::CollisionDetector::mCollisionObjectManager

protectedinherited

◆ mContactPointComputationMethod

ContactPointComputationMethod dart::collision::FCLCollisionDetector::mContactPointComputationMethod

protected

◆ mPrimitiveShapeType

PrimitiveShape dart::collision::FCLCollisionDetector::mPrimitiveShapeType

protected

◆ mRegistrar

FCLCollisionDetector::Registrar< FCLCollisionDetector > dart::collision::FCLCollisionDetector::mRegistrar

staticprivate

Initial value:

{
        FCLCollisionDetector::getStaticType(),
        []() -> std::shared_ptr<FCLCollisionDetector> {
          return FCLCollisionDetector::create();
        }}

◆ mShapeMap

ShapeMap dart::collision::FCLCollisionDetector::mShapeMap

private

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Member Typedef Documentation

◆ Factory

◆ Registrar

◆ ShapeMap

◆ SingletonFactory

Member Enumeration Documentation

◆ ContactPointComputationMethod

◆ PrimitiveShape

Constructor & Destructor Documentation

◆ ~FCLCollisionDetector()

◆ FCLCollisionDetector()

Member Function Documentation

◆ claimCollisionObject()

◆ claimFCLCollisionGeometry()

◆ cloneWithoutCollisionObjects()

◆ collide() [1/2]

◆ collide() [2/2]

◆ create()

◆ createCollisionGroup() [1/4]

◆ createCollisionGroup() [2/4]

◆ createCollisionGroup() [3/4]

◆ createCollisionGroup() [4/4]

◆ createCollisionGroupAsSharedPtr() [1/2]

◆ createCollisionGroupAsSharedPtr() [2/2]

◆ createCollisionObject()

◆ createFCLCollisionGeometry()

◆ distance() [1/2]

◆ distance() [2/2]

◆ getContactPointComputationMethod()

◆ getFactory()

◆ getPrimitiveShapeType()

◆ getStaticType()

◆ getType()

◆ notifyCollisionObjectDestroying()

◆ raycast()

◆ refreshCollisionObject()

◆ setContactPointComputationMethod()

◆ setPrimitiveShapeType()

Member Data Documentation

◆ mCollisionObjectManager

◆ mContactPointComputationMethod

◆ mPrimitiveShapeType

◆ mRegistrar

◆ mShapeMap