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/* |
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* Software License Agreement (BSD License) |
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* |
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* Copyright (c) 2024, INRIA |
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* All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* * Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* * Redistributions in binary form must reproduce the above |
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* copyright notice, this list of conditions and the following |
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* disclaimer in the documentation and/or other materials provided |
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* with the distribution. |
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* * Neither the name of INRIA nor the names of its |
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* contributors may be used to endorse or promote products derived |
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* from this software without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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*/ |
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/** \author Louis Montaut */ |
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#ifndef COAL_CONTACT_PATCH_H |
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#define COAL_CONTACT_PATCH_H |
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#include "coal/data_types.h" |
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#include "coal/collision_data.h" |
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#include "coal/contact_patch/contact_patch_solver.h" |
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#include "coal/contact_patch_func_matrix.h" |
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namespace coal { |
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/// @brief Main contact patch computation interface. |
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/// @note Please see @ref ContactPatchRequest and @ref ContactPatchResult for |
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/// more info on the content of the input/output of this function. Also, please |
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/// read @ref ContactPatch if you want to fully understand what is meant by |
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/// "contact patch". |
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COAL_DLLAPI void computeContactPatch(const CollisionGeometry* o1, |
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const Transform3s& tf1, |
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const CollisionGeometry* o2, |
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const Transform3s& tf2, |
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const CollisionResult& collision_result, |
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const ContactPatchRequest& request, |
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ContactPatchResult& result); |
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/// @copydoc computeContactPatch(const CollisionGeometry*, const Transform3s&, |
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// const CollisionGeometry*, const Transform3s&, const CollisionResult&, const |
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// ContactPatchRequest&, ContactPatchResult&); |
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COAL_DLLAPI void computeContactPatch(const CollisionObject* o1, |
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const CollisionObject* o2, |
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const CollisionResult& collision_result, |
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const ContactPatchRequest& request, |
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ContactPatchResult& result); |
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/// @brief This class reduces the cost of identifying the geometry pair. |
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/// This is usefull for repeated shape-shape queries. |
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/// @note This needs to be called after `collide` or after `ComputeCollision`. |
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/// |
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/// \code |
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/// ComputeContactPatch calc_patch (o1, o2); |
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/// calc_patch(tf1, tf2, collision_result, patch_request, patch_result); |
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/// \endcode |
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class COAL_DLLAPI ComputeContactPatch { |
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public: |
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/// @brief Default constructor from two Collision Geometries. |
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ComputeContactPatch(const CollisionGeometry* o1, const CollisionGeometry* o2); |
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void operator()(const Transform3s& tf1, const Transform3s& tf2, |
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const CollisionResult& collision_result, |
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const ContactPatchRequest& request, |
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ContactPatchResult& result) const; |
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bool operator==(const ComputeContactPatch& other) const { |
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return this->o1 == other.o1 && this->o2 == other.o2 && |
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this->csolver == other.csolver; |
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} |
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bool operator!=(const ComputeContactPatch& other) const { |
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return !(*this == other); |
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} |
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virtual ~ComputeContactPatch() = default; |
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protected: |
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// These pointers are made mutable to let the derived classes to update |
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// their values when updating the collision geometry (e.g. creating a new |
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// one). This feature should be used carefully to avoid any mis usage (e.g, |
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// changing the type of the collision geometry should be avoided). |
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mutable const CollisionGeometry* o1; |
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mutable const CollisionGeometry* o2; |
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mutable ContactPatchSolver csolver; |
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ContactPatchFunctionMatrix::ContactPatchFunc func; |
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bool swap_geoms; |
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virtual void run(const Transform3s& tf1, const Transform3s& tf2, |
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const CollisionResult& collision_result, |
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const ContactPatchRequest& request, |
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ContactPatchResult& result) const; |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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}; |
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} // namespace coal |
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#endif |
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