BackwardCompatibility.hpp

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/*
 * Copyright (c) 2011-2022, The DART development contributors
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 *   without modification, are permitted provided that the following
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 *     notice, this list of conditions and the following disclaimer.
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 */
 
#ifndef DART_COLLISION_FCL_BACKWARDCOMPATIBILITY_HPP_
#define DART_COLLISION_FCL_BACKWARDCOMPATIBILITY_HPP_
 
#include <Eigen/Dense>
 
#include "dart/common/Deprecated.hpp"
#include "dart/config.hpp"
 
// clang-format off
#define FCL_VERSION_AT_LEAST(x,y,z)                                            \
  (FCL_MAJOR_VERSION > x || (FCL_MAJOR_VERSION >= x &&                         \
  (FCL_MINOR_VERSION > y || (FCL_MINOR_VERSION >= y &&                         \
  FCL_PATCH_VERSION >= z))))
 
#define FCL_MAJOR_MINOR_VERSION_AT_MOST(x,y)                                   \
  (FCL_MAJOR_VERSION < x || (FCL_MAJOR_VERSION <= x &&                         \
  (FCL_MINOR_VERSION < y || (FCL_MINOR_VERSION <= y))))
// clang-format on
 
#include <fcl/config.h>
 
#if FCL_VERSION_AT_LEAST(0, 6, 0)
 
  #include <fcl/geometry/bvh/BVH_model.h>
  #include <fcl/geometry/geometric_shape_to_BVH_model.h>
  #include <fcl/math/bv/OBBRSS.h>
  #include <fcl/math/bv/utility.h>
  #include <fcl/math/geometry.h>
  #include <fcl/narrowphase/collision.h>
  #include <fcl/narrowphase/collision_object.h>
  #include <fcl/narrowphase/distance.h>
 
#else
 
  #include <fcl/BV/OBBRSS.h>
  #include <fcl/BVH/BVH_model.h>
  #include <fcl/collision.h>
  #include <fcl/collision_data.h>
  #include <fcl/collision_object.h>
  #include <fcl/distance.h>
  #include <fcl/math/matrix_3f.h>
  #include <fcl/math/transform.h>
  #include <fcl/math/vec_3f.h>
  #include <fcl/shape/geometric_shape_to_BVH_model.h>
 
#endif // FCL_VERSION_AT_LEAST(0,6,0)
 
#include <fcl/broadphase/broadphase_dynamic_AABB_tree.h>
 
#if HAVE_OCTOMAP && FCL_HAVE_OCTOMAP
  #if FCL_VERSION_AT_LEAST(0, 6, 0)
    #include <fcl/geometry/octree/octree.h>
  #else
    #include <fcl/octree.h>
  #endif // FCL_VERSION_AT_LEAST(0,6,0)
#endif   // HAVE_OCTOMAP && FCL_HAVE_OCTOMAP
 
#include <memory>
 
template <class T>
using fcl_shared_ptr = std::shared_ptr<T>;
 
template <class T>
using fcl_weak_ptr = std::weak_ptr<T>;
 
template <class T, class... Args>
DART_DEPRECATED(6.13)
std::shared_ptr<T> fcl_make_shared(Args&&... args)
{
  return std::make_shared<T>(std::forward<Args>(args)...);
}
 
namespace dart {
namespace collision {
namespace fcl {
 
#if FCL_VERSION_AT_LEAST(0, 6, 0)
// Geometric fundamentals
using Vector3 = ::fcl::Vector3<double>;
using Matrix3 = ::fcl::Matrix3<double>;
using Transform3 = ::fcl::Transform3<double>;
// Geometric primitives
using Box = ::fcl::Box<double>;
using Cylinder = ::fcl::Cylinder<double>;
using Cone = ::fcl::Cone<double>;
using Ellipsoid = ::fcl::Ellipsoid<double>;
using Halfspace = ::fcl::Halfspace<double>;
using Sphere = ::fcl::Sphere<double>;
  #if HAVE_OCTOMAP && FCL_HAVE_OCTOMAP
using OcTree = ::fcl::OcTree<double>;
  #endif // HAVE_OCTOMAP && FCL_HAVE_OCTOMAP
// Collision objects
using CollisionObject = ::fcl::CollisionObject<double>;
using CollisionGeometry = ::fcl::CollisionGeometry<double>;
using DynamicAABBTreeCollisionManager
    = ::fcl::DynamicAABBTreeCollisionManager<double>;
using OBBRSS = ::fcl::OBBRSS<double>;
using CollisionRequest = ::fcl::CollisionRequest<double>;
using CollisionResult = ::fcl::CollisionResult<double>;
using DistanceRequest = ::fcl::DistanceRequest<double>;
using DistanceResult = ::fcl::DistanceResult<double>;
using Contact = ::fcl::Contact<double>;
#else
// Geometric fundamentals
using Vector3 = ::fcl::Vec3f;
using Matrix3 = ::fcl::Matrix3f;
using Transform3 = ::fcl::Transform3f;
// Geometric primitives
using Box = ::fcl::Box;
using Cylinder = ::fcl::Cylinder;
using Cone = ::fcl::Cone;
using Halfspace = ::fcl::Halfspace;
using Sphere = ::fcl::Sphere;
  #if HAVE_OCTOMAP && FCL_HAVE_OCTOMAP
using OcTree = ::fcl::OcTree;
  #endif // HAVE_OCTOMAP && FCL_HAVE_OCTOMAP
// Collision objects
using CollisionObject = ::fcl::CollisionObject;
using CollisionGeometry = ::fcl::CollisionGeometry;
using DynamicAABBTreeCollisionManager = ::fcl::DynamicAABBTreeCollisionManager;
using OBBRSS = ::fcl::OBBRSS;
using CollisionRequest = ::fcl::CollisionRequest;
using CollisionResult = ::fcl::CollisionResult;
using DistanceRequest = ::fcl::DistanceRequest;
using DistanceResult = ::fcl::DistanceResult;
using Contact = ::fcl::Contact;
#endif
 
#if !FCL_VERSION_AT_LEAST(0, 6, 0)
using Ellipsoid = ::fcl::Ellipsoid;
#endif
 
double length(const dart::collision::fcl::Vector3& t);
 
double length2(const dart::collision::fcl::Vector3& t);
 
[[nodiscard]] inline dart::collision::fcl::Transform3 getTransform3Identity()
{
#if FCL_VERSION_AT_LEAST(0, 6, 0)
  return dart::collision::fcl::Transform3::Identity();
#else
  return dart::collision::fcl::Transform3();
#endif
}
 
dart::collision::fcl::Vector3 getTranslation(
    const dart::collision::fcl::Transform3& T);
 
void setTranslation(
    dart::collision::fcl::Transform3& T,
    const dart::collision::fcl::Vector3& t);
 
dart::collision::fcl::Matrix3 getRotation(
    const dart::collision::fcl::Transform3& T);
 
void setRotation(
    dart::collision::fcl::Transform3& T,
    const dart::collision::fcl::Matrix3& R);
 
void setEulerZYX(
    dart::collision::fcl::Matrix3& rot,
    double eulerX,
    double eulerY,
    double eulerZ);
 
dart::collision::fcl::Vector3 transform(
    const dart::collision::fcl::Transform3& t,
    const dart::collision::fcl::Vector3& v);
 
} // namespace fcl
} // namespace collision
} // namespace dart
 
#endif // DART_COLLISION_FCL_BACKWARDCOMPATIBILITY_HPP_