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File: | include/hpp/core/collision-pair.hh |
Date: | 2024-08-10 11:29:48 |
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1 | // | ||
2 | // Copyright (c) 2021 CNRS | ||
3 | // Authors: Joseph Mirabel | ||
4 | // | ||
5 | |||
6 | // Redistribution and use in source and binary forms, with or without | ||
7 | // modification, are permitted provided that the following conditions are | ||
8 | // met: | ||
9 | // | ||
10 | // 1. Redistributions of source code must retain the above copyright | ||
11 | // notice, this list of conditions and the following disclaimer. | ||
12 | // | ||
13 | // 2. Redistributions in binary form must reproduce the above copyright | ||
14 | // notice, this list of conditions and the following disclaimer in the | ||
15 | // documentation and/or other materials provided with the distribution. | ||
16 | // | ||
17 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
18 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
19 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | ||
20 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
21 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
22 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
23 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
24 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | ||
25 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
26 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
27 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | ||
28 | // DAMAGE. | ||
29 | |||
30 | #ifndef HPP_CORE_COLLISION_PAIR_HH | ||
31 | #define HPP_CORE_COLLISION_PAIR_HH | ||
32 | |||
33 | #include <hpp/fcl/collision.h> | ||
34 | |||
35 | #include <hpp/core/fwd.hh> | ||
36 | #include <hpp/pinocchio/collision-object.hh> | ||
37 | #include <hpp/pinocchio/device-data.hh> | ||
38 | #include <pinocchio/spatial/fcl-pinocchio-conversions.hpp> | ||
39 | |||
40 | namespace hpp { | ||
41 | namespace core { | ||
42 | |||
43 | typedef std::vector<fcl::CollisionRequest> CollisionRequests_t; | ||
44 | |||
45 | struct CollisionPair { | ||
46 | CollisionObjectConstPtr_t first; | ||
47 | CollisionObjectConstPtr_t second; | ||
48 | fcl::ComputeCollision computeCollision; | ||
49 | |||
50 | 5283 | inline CollisionPair(CollisionObjectConstPtr_t f, CollisionObjectConstPtr_t s) | |
51 | 5283 | : first(f), | |
52 | 5283 | second(s), | |
53 |
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5283 | computeCollision(f->geometry().get(), s->geometry().get()) {} |
54 | |||
55 | ✗ | inline auto collide(fcl::CollisionRequest& request, | |
56 | fcl::CollisionResult& result) const | ||
57 | // decltype(computeCollision(tf1,tf2,request,result)) | ||
58 | { | ||
59 | ✗ | assert(!first->getTransform().translation().hasNaN()); | |
60 | ✗ | assert(!first->getTransform().rotation().hasNaN()); | |
61 | ✗ | assert(!second->getTransform().translation().hasNaN()); | |
62 | ✗ | assert(!second->getTransform().rotation().hasNaN()); | |
63 | ✗ | return computeCollision(first->getFclTransform(), second->getFclTransform(), | |
64 | ✗ | request, result); | |
65 | } | ||
66 | |||
67 | 286323 | inline auto collide(const pinocchio::DeviceData& d, | |
68 | fcl::CollisionRequest& request, | ||
69 | fcl::CollisionResult& result) const | ||
70 | // decltype(computeCollision(tf1,tf2,request,result)) | ||
71 | { | ||
72 | using ::pinocchio::toFclTransform3f; | ||
73 |
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286323 | assert(!first->getTransform(d).translation().hasNaN()); |
74 |
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286338 | assert(!first->getTransform(d).rotation().hasNaN()); |
75 |
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286366 | assert(!second->getTransform(d).translation().hasNaN()); |
76 |
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286319 | assert(!second->getTransform(d).rotation().hasNaN()); |
77 |
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286358 | return computeCollision(toFclTransform3f(first->getTransform(d)), |
78 | 572682 | toFclTransform3f(second->getTransform(d)), request, | |
79 | 572644 | result); | |
80 | } | ||
81 | }; | ||
82 | |||
83 | } // namespace core | ||
84 | } // namespace hpp | ||
85 | #endif // HPP_CORE_COLLISION_PAIR_HH | ||
86 |