contact_patch_solver.h

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#ifndef HPP_FCL_CONTACT_PATCH_SOLVER_H
#define HPP_FCL_CONTACT_PATCH_SOLVER_H
 
#include "hpp/fcl/collision_data.h"
#include "hpp/fcl/logging.h"
#include "hpp/fcl/narrowphase/gjk.h"
 
namespace hpp {
namespace fcl {
 
struct HPP_FCL_DLLAPI ContactPatchSolver {
  // Note: `ContactPatch` is an alias for `SupportSet`.
  // The two can be used interchangeably.
  using ShapeSupportData = details::ShapeSupportData;
  using SupportSetDirection = SupportSet::PatchDirection;
 
  typedef void (*SupportSetFunction)(const ShapeBase* shape,
                                     SupportSet& support_set, int& hint,
                                     ShapeSupportData& support_data,
                                     size_t num_sampled_supports, FCL_REAL tol);
 
  static constexpr size_t default_num_preallocated_supports = 16;
 
  size_t num_samples_curved_shapes;
 
  FCL_REAL patch_tolerance;
 
  mutable SupportSetFunction supportFuncShape1;
 
  mutable SupportSetFunction supportFuncShape2;
 
  mutable std::array<ShapeSupportData, 2> supports_data;
 
  mutable support_func_guess_t support_guess;
 
  mutable SupportSet support_set_shape1;
 
  mutable SupportSet support_set_shape2;
 
  mutable SupportSet support_set_buffer;
 
  mutable std::vector<bool> added_to_patch;
 
  explicit ContactPatchSolver() {
    const size_t num_contact_patch = 1;
    const size_t preallocated_patch_size =
        ContactPatch::default_preallocated_size;
    const FCL_REAL patch_tolerance = 1e-3;
    const ContactPatchRequest request(num_contact_patch,
                                      preallocated_patch_size, patch_tolerance);
    this->set(request);
  }
 
  explicit ContactPatchSolver(const ContactPatchRequest& request) {
    this->set(request);
  }
 
  void set(const ContactPatchRequest& request);
 
  void setSupportGuess(const support_func_guess_t guess) const {
    this->support_guess = guess;
  }
 
  template <typename ShapeType1, typename ShapeType2>
  void computePatch(const ShapeType1& s1, const Transform3f& tf1,
                    const ShapeType2& s2, const Transform3f& tf2,
                    const Contact& contact, ContactPatch& contact_patch) const;
 
  template <typename ShapeType1, typename ShapeType2>
  void reset(const ShapeType1& shape1, const Transform3f& tf1,
             const ShapeType2& shape2, const Transform3f& tf2,
             const ContactPatch& contact_patch) const;
 
  void getResult(const Contact& contact, const ContactPatch::Polygon* result,
                 ContactPatch& contact_patch) const;
 
  static Vec2f computeLineSegmentIntersection(const Vec2f& a, const Vec2f& b,
                                              const Vec2f& c, const Vec2f& d);
 
  static SupportSetFunction makeSupportSetFunction(
      const ShapeBase* shape, ShapeSupportData& support_data);
 
  bool operator==(const ContactPatchSolver& other) const {
    return this->num_samples_curved_shapes == other.num_samples_curved_shapes &&
           this->patch_tolerance == other.patch_tolerance &&
           this->support_guess == other.support_guess &&
           this->support_set_shape1 == other.support_set_shape1 &&
           this->support_set_shape2 == other.support_set_shape2 &&
           this->support_set_buffer == other.support_set_buffer &&
           this->added_to_patch == other.added_to_patch &&
           this->supportFuncShape1 == other.supportFuncShape1 &&
           this->supportFuncShape2 == other.supportFuncShape2;
  }
 
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
}  // namespace fcl
}  // namespace hpp
 
#include "hpp/fcl/contact_patch/contact_patch_solver.hxx"
 
#endif  // HPP_FCL_CONTACT_PATCH_SOLVER_H