FCLCollisionDetector.hpp

Go to the documentation of this file.

/*
 * Copyright (c) 2011-2021, 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.
 */
 
#ifndef DART_COLLISION_FCL_FCLCOLLISIONDETECTOR_HPP_
#define DART_COLLISION_FCL_FCLCOLLISIONDETECTOR_HPP_
 
#include <vector>
#include "dart/collision/CollisionDetector.hpp"
#include "dart/collision/fcl/FCLTypes.hpp"
 
namespace dart {
namespace collision {
 
class FCLCollisionObject;
 
class FCLCollisionDetector : public CollisionDetector
{
public:
  using CollisionDetector::createCollisionGroup;
 
  static std::shared_ptr<FCLCollisionDetector> create();
 
  enum PrimitiveShape
  {
    PRIMITIVE = 0,
    MESH
  };
 
  enum ContactPointComputationMethod
  {
    FCL = 0,
    DART
  };
 
  virtual ~FCLCollisionDetector();
 
  // Documentation inherited
  std::shared_ptr<CollisionDetector> cloneWithoutCollisionObjects()
      const override;
 
  // Documentation inherited
  const std::string& getType() const override;
 
  static const std::string& getStaticType();
 
  // Documentation inherited
  std::unique_ptr<CollisionGroup> createCollisionGroup() override;
 
  // Documentation inherited
  bool collide(
      CollisionGroup* group,
      const CollisionOption& option = CollisionOption(false, 1u, nullptr),
      CollisionResult* result = nullptr) override;
 
  // Documentation inherited
  bool collide(
      CollisionGroup* group1,
      CollisionGroup* group2,
      const CollisionOption& option = CollisionOption(false, 1u, nullptr),
      CollisionResult* result = nullptr) override;
 
  // Documentation inherited
  double distance(
      CollisionGroup* group,
      const DistanceOption& option = DistanceOption(false, 0.0, nullptr),
      DistanceResult* result = nullptr) override;
 
  // Documentation inherited
  double distance(
      CollisionGroup* group1,
      CollisionGroup* group2,
      const DistanceOption& option = DistanceOption(false, 0.0, nullptr),
      DistanceResult* result = nullptr) override;
 
  void setPrimitiveShapeType(PrimitiveShape type);
 
  PrimitiveShape getPrimitiveShapeType() const;
 
  void setContactPointComputationMethod(ContactPointComputationMethod method);
 
  ContactPointComputationMethod getContactPointComputationMethod() const;
 
protected:
  FCLCollisionDetector();
 
  // Documentation inherited
  std::unique_ptr<CollisionObject> createCollisionObject(
      const dynamics::ShapeFrame* shapeFrame) override;
 
  void refreshCollisionObject(CollisionObject* object) override;
 
  fcl_shared_ptr<dart::collision::fcl::CollisionGeometry>
  claimFCLCollisionGeometry(const dynamics::ConstShapePtr& shape);
 
protected:
  PrimitiveShape mPrimitiveShapeType;
 
  ContactPointComputationMethod mContactPointComputationMethod;
 
private:
  class FCLCollisionGeometryDeleter final
  {
  public:
    FCLCollisionGeometryDeleter(
        FCLCollisionDetector* cd, const dynamics::ConstShapePtr& shape);
 
    void operator()(dart::collision::fcl::CollisionGeometry* geom) const;
 
  private:
    FCLCollisionDetector* mFCLCollisionDetector;
 
    dynamics::ConstShapePtr mShape;
  };
 
  struct ShapeInfo final
  {
    fcl_weak_ptr<dart::collision::fcl::CollisionGeometry> mShape;
 
    std::size_t mLastKnownVersion;
  };
 
  fcl_shared_ptr<dart::collision::fcl::CollisionGeometry>
  createFCLCollisionGeometry(
      const dynamics::ConstShapePtr& shape,
      FCLCollisionDetector::PrimitiveShape type,
      const FCLCollisionGeometryDeleter& deleter);
 
private:
  using ShapeMap = std::map<dynamics::ConstShapePtr, ShapeInfo>;
 
  ShapeMap mShapeMap;
 
  static Registrar<FCLCollisionDetector> mRegistrar;
};
 
} // namespace collision
} // namespace dart
 
#endif // DART_COLLISION_FCL_FCLCOLLISIONDETECTOR_HPP_