| Directory: | ./ |
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| File: | src/contact_patch.cpp |
| Date: | 2025-04-13 14:25:19 |
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| Lines: | 19 | 57 | 33.3% |
| Branches: | 21 | 204 | 10.3% |
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| 1 | /* | ||
| 2 | * Software License Agreement (BSD License) | ||
| 3 | * | ||
| 4 | * Copyright (c) 2024, INRIA | ||
| 5 | * All rights reserved. | ||
| 6 | * | ||
| 7 | * Redistribution and use in source and binary forms, with or without | ||
| 8 | * modification, are permitted provided that the following conditions | ||
| 9 | * are met: | ||
| 10 | * | ||
| 11 | * * Redistributions of source code must retain the above copyright | ||
| 12 | * notice, this list of conditions and the following disclaimer. | ||
| 13 | * * Redistributions in binary form must reproduce the above | ||
| 14 | * copyright notice, this list of conditions and the following | ||
| 15 | * disclaimer in the documentation and/or other materials provided | ||
| 16 | * with the distribution. | ||
| 17 | * * Neither the name of INRIA nor the names of its | ||
| 18 | * contributors may be used to endorse or promote products derived | ||
| 19 | * from this software without specific prior written permission. | ||
| 20 | * | ||
| 21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| 24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| 25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| 26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| 27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| 29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| 30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| 31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| 32 | * POSSIBILITY OF SUCH DAMAGE. | ||
| 33 | */ | ||
| 34 | |||
| 35 | /** \author Louis Montaut */ | ||
| 36 | |||
| 37 | #include "coal/contact_patch.h" | ||
| 38 | #include "coal/collision_utility.h" | ||
| 39 | |||
| 40 | #include "coal/tracy.hh" | ||
| 41 | |||
| 42 | namespace coal { | ||
| 43 | |||
| 44 | 24 | ContactPatchFunctionMatrix& getContactPatchFunctionLookTable() { | |
| 45 |
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24 | static ContactPatchFunctionMatrix table; |
| 46 | 24 | return table; | |
| 47 | } | ||
| 48 | |||
| 49 | 25 | void computeContactPatch(const CollisionGeometry* o1, const Transform3s& tf1, | |
| 50 | const CollisionGeometry* o2, const Transform3s& tf2, | ||
| 51 | const CollisionResult& collision_result, | ||
| 52 | const ContactPatchRequest& request, | ||
| 53 | ContactPatchResult& result) { | ||
| 54 | COAL_TRACY_ZONE_SCOPED_N("coal::computeContactPatch"); | ||
| 55 |
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25 | if (!collision_result.isCollision() || request.max_num_patch == 0) { |
| 56 | // do nothing | ||
| 57 | 1 | return; | |
| 58 | } | ||
| 59 | |||
| 60 | // Before doing any computation, we initialize and clear the input result. | ||
| 61 |
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24 | result.set(request); |
| 62 |
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24 | ContactPatchSolver csolver(request); |
| 63 | |||
| 64 |
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24 | OBJECT_TYPE object_type1 = o1->getObjectType(); |
| 65 |
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24 | OBJECT_TYPE object_type2 = o2->getObjectType(); |
| 66 |
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24 | NODE_TYPE node_type1 = o1->getNodeType(); |
| 67 |
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24 | NODE_TYPE node_type2 = o2->getNodeType(); |
| 68 | |||
| 69 | const ContactPatchFunctionMatrix& looktable = | ||
| 70 |
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24 | getContactPatchFunctionLookTable(); |
| 71 | |||
| 72 |
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24 | if (object_type1 == OT_GEOM && |
| 73 |
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24 | (object_type2 == OT_BVH || object_type2 == OT_HFIELD)) { |
| 74 | ✗ | if (!looktable.contact_patch_matrix[node_type2][node_type1]) { | |
| 75 | ✗ | COAL_THROW_PRETTY("Computing contact patches between node type " | |
| 76 | << std::string(get_node_type_name(node_type1)) | ||
| 77 | << " and node type " | ||
| 78 | << std::string(get_node_type_name(node_type2)) | ||
| 79 | << " is not yet supported.", | ||
| 80 | std::invalid_argument); | ||
| 81 | } | ||
| 82 | ✗ | looktable.contact_patch_matrix[node_type2][node_type1]( | |
| 83 | o2, tf2, o1, tf1, collision_result, &csolver, request, result); | ||
| 84 | ✗ | result.swapObjects(); | |
| 85 | ✗ | return; | |
| 86 | } | ||
| 87 | |||
| 88 |
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24 | if (!looktable.contact_patch_matrix[node_type1][node_type2]) { |
| 89 | ✗ | COAL_THROW_PRETTY("Contact patch computation between node type " | |
| 90 | << std::string(get_node_type_name(node_type1)) | ||
| 91 | << " and node type " | ||
| 92 | << std::string(get_node_type_name(node_type2)) | ||
| 93 | << " is not yet supported.", | ||
| 94 | std::invalid_argument); | ||
| 95 | } | ||
| 96 | |||
| 97 |
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24 | return looktable.contact_patch_matrix[node_type1][node_type2]( |
| 98 | 24 | o1, tf1, o2, tf2, collision_result, &csolver, request, result); | |
| 99 | 24 | } | |
| 100 | |||
| 101 | ✗ | void computeContactPatch(const CollisionObject* o1, const CollisionObject* o2, | |
| 102 | const CollisionResult& collision_result, | ||
| 103 | const ContactPatchRequest& request, | ||
| 104 | ContactPatchResult& result) { | ||
| 105 | ✗ | return computeContactPatch(o1->collisionGeometryPtr(), o1->getTransform(), | |
| 106 | o2->collisionGeometryPtr(), o2->getTransform(), | ||
| 107 | ✗ | collision_result, request, result); | |
| 108 | } | ||
| 109 | |||
| 110 | ✗ | ComputeContactPatch::ComputeContactPatch(const CollisionGeometry* o1, | |
| 111 | ✗ | const CollisionGeometry* o2) | |
| 112 | ✗ | : o1(o1), o2(o2) { | |
| 113 | const ContactPatchFunctionMatrix& looktable = | ||
| 114 | ✗ | getContactPatchFunctionLookTable(); | |
| 115 | |||
| 116 | ✗ | OBJECT_TYPE object_type1 = this->o1->getObjectType(); | |
| 117 | ✗ | NODE_TYPE node_type1 = this->o1->getNodeType(); | |
| 118 | ✗ | OBJECT_TYPE object_type2 = this->o2->getObjectType(); | |
| 119 | ✗ | NODE_TYPE node_type2 = this->o2->getNodeType(); | |
| 120 | |||
| 121 | ✗ | this->swap_geoms = object_type1 == OT_GEOM && | |
| 122 | ✗ | (object_type2 == OT_BVH || object_type2 == OT_HFIELD); | |
| 123 | ✗ | if ((this->swap_geoms && | |
| 124 | ✗ | !looktable.contact_patch_matrix[node_type2][node_type1]) || | |
| 125 | ✗ | (!this->swap_geoms && | |
| 126 | ✗ | !looktable.contact_patch_matrix[node_type1][node_type2])) { | |
| 127 | ✗ | COAL_THROW_PRETTY("Collision function between node type " | |
| 128 | << std::string(get_node_type_name(node_type1)) | ||
| 129 | << " and node type " | ||
| 130 | << std::string(get_node_type_name(node_type2)) | ||
| 131 | << " is not yet supported.", | ||
| 132 | std::invalid_argument); | ||
| 133 | } | ||
| 134 | |||
| 135 | ✗ | if (this->swap_geoms) { | |
| 136 | ✗ | this->func = looktable.contact_patch_matrix[node_type2][node_type1]; | |
| 137 | } else { | ||
| 138 | ✗ | this->func = looktable.contact_patch_matrix[node_type1][node_type2]; | |
| 139 | } | ||
| 140 | } | ||
| 141 | |||
| 142 | ✗ | void ComputeContactPatch::run(const Transform3s& tf1, const Transform3s& tf2, | |
| 143 | const CollisionResult& collision_result, | ||
| 144 | const ContactPatchRequest& request, | ||
| 145 | ContactPatchResult& result) const { | ||
| 146 | COAL_TRACY_ZONE_SCOPED_N("coal::ComputeContactPatch::run"); | ||
| 147 | ✗ | if (!collision_result.isCollision() || request.max_num_patch == 0) { | |
| 148 | // do nothing | ||
| 149 | ✗ | return; | |
| 150 | } | ||
| 151 | |||
| 152 | // Before doing any computation, we initialize and clear the input result. | ||
| 153 | ✗ | result.set(request); | |
| 154 | ✗ | if (this->swap_geoms) { | |
| 155 | ✗ | this->func(this->o2, tf2, this->o1, tf1, collision_result, &(this->csolver), | |
| 156 | request, result); | ||
| 157 | ✗ | result.swapObjects(); | |
| 158 | } else { | ||
| 159 | ✗ | this->func(this->o1, tf1, this->o2, tf2, collision_result, &(this->csolver), | |
| 160 | request, result); | ||
| 161 | } | ||
| 162 | } | ||
| 163 | |||
| 164 | ✗ | void ComputeContactPatch::operator()(const Transform3s& tf1, | |
| 165 | const Transform3s& tf2, | ||
| 166 | const CollisionResult& collision_result, | ||
| 167 | const ContactPatchRequest& request, | ||
| 168 | ContactPatchResult& result) const | ||
| 169 | |||
| 170 | { | ||
| 171 | ✗ | this->csolver.set(request); | |
| 172 | ✗ | this->run(tf1, tf2, collision_result, request, result); | |
| 173 | } | ||
| 174 | |||
| 175 | } // namespace coal | ||
| 176 |