| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /* | ||
| 2 | * Software License Agreement (BSD License) | ||
| 3 | * | ||
| 4 | * Copyright (c) 2011-2014, Willow Garage, Inc. | ||
| 5 | * Copyright (c) 2014-2015, Open Source Robotics Foundation | ||
| 6 | * Copyright (c) 2021, INRIA | ||
| 7 | * All rights reserved. | ||
| 8 | * | ||
| 9 | * Redistribution and use in source and binary forms, with or without | ||
| 10 | * modification, are permitted provided that the following conditions | ||
| 11 | * are met: | ||
| 12 | * | ||
| 13 | * * Redistributions of source code must retain the above copyright | ||
| 14 | * notice, this list of conditions and the following disclaimer. | ||
| 15 | * * Redistributions in binary form must reproduce the above | ||
| 16 | * copyright notice, this list of conditions and the following | ||
| 17 | * disclaimer in the documentation and/or other materials provided | ||
| 18 | * with the distribution. | ||
| 19 | * * Neither the name of Open Source Robotics Foundation nor the names of its | ||
| 20 | * contributors may be used to endorse or promote products derived | ||
| 21 | * from this software without specific prior written permission. | ||
| 22 | * | ||
| 23 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 24 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 25 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| 26 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| 27 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| 28 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| 29 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 30 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| 31 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| 32 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| 33 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| 34 | * POSSIBILITY OF SUCH DAMAGE. | ||
| 35 | */ | ||
| 36 | |||
| 37 | /** \author Jia Pan */ | ||
| 38 | |||
| 39 | #ifndef COAL_COLLISION_H | ||
| 40 | #define COAL_COLLISION_H | ||
| 41 | |||
| 42 | #include "coal/data_types.h" | ||
| 43 | #include "coal/collision_object.h" | ||
| 44 | #include "coal/collision_data.h" | ||
| 45 | #include "coal/collision_func_matrix.h" | ||
| 46 | #include "coal/timings.h" | ||
| 47 | |||
| 48 | namespace coal { | ||
| 49 | |||
| 50 | /// @brief Main collision interface: given two collision objects, and the | ||
| 51 | /// requirements for contacts, including num of max contacts, whether perform | ||
| 52 | /// exhaustive collision (i.e., returning returning all the contact points), | ||
| 53 | /// whether return detailed contact information (i.e., normal, contact point, | ||
| 54 | /// depth; otherwise only contact primitive id is returned), this function | ||
| 55 | /// performs the collision between them. | ||
| 56 | /// Return value is the number of contacts generated between the two objects. | ||
| 57 | COAL_DLLAPI std::size_t collide(const CollisionObject* o1, | ||
| 58 | const CollisionObject* o2, | ||
| 59 | const CollisionRequest& request, | ||
| 60 | CollisionResult& result); | ||
| 61 | |||
| 62 | /// @copydoc collide(const CollisionObject*, const CollisionObject*, const | ||
| 63 | /// CollisionRequest&, CollisionResult&) | ||
| 64 | COAL_DLLAPI std::size_t collide(const CollisionGeometry* o1, | ||
| 65 | const Transform3s& tf1, | ||
| 66 | const CollisionGeometry* o2, | ||
| 67 | const Transform3s& tf2, | ||
| 68 | const CollisionRequest& request, | ||
| 69 | CollisionResult& result); | ||
| 70 | |||
| 71 | /// @brief This class reduces the cost of identifying the geometry pair. | ||
| 72 | /// This is mostly useful for repeated shape-shape queries. | ||
| 73 | /// | ||
| 74 | /// \code | ||
| 75 | /// ComputeCollision calc_collision (o1, o2); | ||
| 76 | /// std::size_t ncontacts = calc_collision(tf1, tf2, request, result); | ||
| 77 | /// \endcode | ||
| 78 | class COAL_DLLAPI ComputeCollision { | ||
| 79 | public: | ||
| 80 | /// @brief Default constructor from two Collision Geometries. | ||
| 81 | ComputeCollision(const CollisionGeometry* o1, const CollisionGeometry* o2); | ||
| 82 | |||
| 83 | std::size_t operator()(const Transform3s& tf1, const Transform3s& tf2, | ||
| 84 | const CollisionRequest& request, | ||
| 85 | CollisionResult& result) const; | ||
| 86 | |||
| 87 | bool operator==(const ComputeCollision& other) const { | ||
| 88 | return o1 == other.o1 && o2 == other.o2 && solver == other.solver; | ||
| 89 | } | ||
| 90 | |||
| 91 | bool operator!=(const ComputeCollision& other) const { | ||
| 92 | return !(*this == other); | ||
| 93 | } | ||
| 94 | |||
| 95 | 6 | virtual ~ComputeCollision() {}; | |
| 96 | |||
| 97 | protected: | ||
| 98 | // These pointers are made mutable to let the derived classes to update | ||
| 99 | // their values when updating the collision geometry (e.g. creating a new | ||
| 100 | // one). This feature should be used carefully to avoid any mis usage (e.g, | ||
| 101 | // changing the type of the collision geometry should be avoided). | ||
| 102 | mutable const CollisionGeometry* o1; | ||
| 103 | mutable const CollisionGeometry* o2; | ||
| 104 | |||
| 105 | mutable GJKSolver solver; | ||
| 106 | |||
| 107 | CollisionFunctionMatrix::CollisionFunc func; | ||
| 108 | bool swap_geoms; | ||
| 109 | |||
| 110 | virtual std::size_t run(const Transform3s& tf1, const Transform3s& tf2, | ||
| 111 | const CollisionRequest& request, | ||
| 112 | CollisionResult& result) const; | ||
| 113 | |||
| 114 | public: | ||
| 115 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 116 | }; | ||
| 117 | |||
| 118 | } // namespace coal | ||
| 119 | |||
| 120 | #endif | ||
| 121 |