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 |
|
|
* All rights reserved. |
7 |
|
|
* |
8 |
|
|
* Redistribution and use in source and binary forms, with or without |
9 |
|
|
* modification, are permitted provided that the following conditions |
10 |
|
|
* are met: |
11 |
|
|
* |
12 |
|
|
* * Redistributions of source code must retain the above copyright |
13 |
|
|
* notice, this list of conditions and the following disclaimer. |
14 |
|
|
* * Redistributions in binary form must reproduce the above |
15 |
|
|
* copyright notice, this list of conditions and the following |
16 |
|
|
* disclaimer in the documentation and/or other materials provided |
17 |
|
|
* with the distribution. |
18 |
|
|
* * Neither the name of Open Source Robotics Foundation nor the names of its |
19 |
|
|
* contributors may be used to endorse or promote products derived |
20 |
|
|
* from this software without specific prior written permission. |
21 |
|
|
* |
22 |
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
23 |
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
24 |
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
25 |
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
26 |
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
27 |
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
28 |
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
29 |
|
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
30 |
|
|
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
31 |
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
32 |
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
33 |
|
|
* POSSIBILITY OF SUCH DAMAGE. |
34 |
|
|
*/ |
35 |
|
|
|
36 |
|
|
/** \author Jia Pan */ |
37 |
|
|
|
38 |
|
|
#include <hpp/fcl/collision.h> |
39 |
|
|
#include <hpp/fcl/collision_utility.h> |
40 |
|
|
#include <hpp/fcl/collision_func_matrix.h> |
41 |
|
|
#include <hpp/fcl/narrowphase/narrowphase.h> |
42 |
|
|
|
43 |
|
|
#include <iostream> |
44 |
|
|
|
45 |
|
|
namespace hpp { |
46 |
|
|
namespace fcl { |
47 |
|
|
|
48 |
|
1235473 |
CollisionFunctionMatrix& getCollisionFunctionLookTable() { |
49 |
✓✓✓✗ ✓✗✗✗
|
1235473 |
static CollisionFunctionMatrix table; |
50 |
|
1235473 |
return table; |
51 |
|
|
} |
52 |
|
|
|
53 |
|
|
// reorder collision results in the order the call has been made. |
54 |
|
20 |
void CollisionResult::swapObjects() { |
55 |
|
20 |
for (std::vector<Contact>::iterator it = contacts.begin(); |
56 |
✗✓ |
20 |
it != contacts.end(); ++it) { |
57 |
|
|
std::swap(it->o1, it->o2); |
58 |
|
|
std::swap(it->b1, it->b2); |
59 |
|
|
it->normal *= -1; |
60 |
|
|
} |
61 |
|
20 |
} |
62 |
|
|
|
63 |
|
1232447 |
std::size_t collide(const CollisionObject* o1, const CollisionObject* o2, |
64 |
|
|
const CollisionRequest& request, CollisionResult& result) { |
65 |
|
1232447 |
return collide(o1->collisionGeometryPtr(), o1->getTransform(), |
66 |
|
|
o2->collisionGeometryPtr(), o2->getTransform(), request, |
67 |
|
1232447 |
result); |
68 |
|
|
} |
69 |
|
|
|
70 |
|
1235472 |
std::size_t collide(const CollisionGeometry* o1, const Transform3f& tf1, |
71 |
|
|
const CollisionGeometry* o2, const Transform3f& tf2, |
72 |
|
|
const CollisionRequest& request, CollisionResult& result) { |
73 |
|
|
// If securit margin is set to -infinity, return that there is no collision |
74 |
✗✓ |
1235472 |
if (request.security_margin == -std::numeric_limits<FCL_REAL>::infinity()) { |
75 |
|
|
result.clear(); |
76 |
|
|
return false; |
77 |
|
|
} |
78 |
|
|
|
79 |
✓✗ |
1235472 |
GJKSolver solver(request); |
80 |
|
|
|
81 |
✓✗ |
1235472 |
const CollisionFunctionMatrix& looktable = getCollisionFunctionLookTable(); |
82 |
|
|
std::size_t res; |
83 |
✗✓ |
1235472 |
if (request.num_max_contacts == 0) { |
84 |
|
|
HPP_FCL_THROW_PRETTY("Invalid number of max contacts (current value is 0).", |
85 |
|
|
std::invalid_argument); |
86 |
|
|
res = 0; |
87 |
|
|
} else { |
88 |
✓✗ |
1235472 |
OBJECT_TYPE object_type1 = o1->getObjectType(); |
89 |
✓✗ |
1235472 |
OBJECT_TYPE object_type2 = o2->getObjectType(); |
90 |
✓✗ |
1235472 |
NODE_TYPE node_type1 = o1->getNodeType(); |
91 |
✓✗ |
1235472 |
NODE_TYPE node_type2 = o2->getNodeType(); |
92 |
|
|
|
93 |
✓✓✓✓
|
1235472 |
if (object_type1 == OT_GEOM && |
94 |
✗✓ |
1225030 |
(object_type2 == OT_BVH || object_type2 == OT_HFIELD)) { |
95 |
✗✓ |
20 |
if (!looktable.collision_matrix[node_type2][node_type1]) { |
96 |
|
|
HPP_FCL_THROW_PRETTY("Collision function between node type " |
97 |
|
|
<< std::string(get_node_type_name(node_type1)) |
98 |
|
|
<< " and node type " |
99 |
|
|
<< std::string(get_node_type_name(node_type2)) |
100 |
|
|
<< " is not yet supported.", |
101 |
|
|
std::invalid_argument); |
102 |
|
|
res = 0; |
103 |
|
|
} else { |
104 |
✓✗ |
20 |
res = looktable.collision_matrix[node_type2][node_type1]( |
105 |
|
|
o2, tf2, o1, tf1, &solver, request, result); |
106 |
✓✗ |
20 |
result.swapObjects(); |
107 |
|
20 |
} |
108 |
|
|
} else { |
109 |
✗✓ |
1235452 |
if (!looktable.collision_matrix[node_type1][node_type2]) { |
110 |
|
|
HPP_FCL_THROW_PRETTY("Collision function between node type " |
111 |
|
|
<< std::string(get_node_type_name(node_type1)) |
112 |
|
|
<< " and node type " |
113 |
|
|
<< std::string(get_node_type_name(node_type2)) |
114 |
|
|
<< " is not yet supported.", |
115 |
|
|
std::invalid_argument); |
116 |
|
|
res = 0; |
117 |
|
|
} else |
118 |
✓✗ |
1235452 |
res = looktable.collision_matrix[node_type1][node_type2]( |
119 |
|
|
o1, tf1, o2, tf2, &solver, request, result); |
120 |
|
|
} |
121 |
|
|
} |
122 |
✓✗ |
1235472 |
if (solver.gjk_initial_guess == GJKInitialGuess::CachedGuess || |
123 |
✓✓ |
1235472 |
solver.enable_cached_guess) { |
124 |
✓✗ |
2 |
result.cached_gjk_guess = solver.cached_guess; |
125 |
✓✗ |
2 |
result.cached_support_func_guess = solver.support_func_cached_guess; |
126 |
|
|
} |
127 |
|
|
|
128 |
|
1235472 |
return res; |
129 |
|
|
} |
130 |
|
|
|
131 |
|
1 |
ComputeCollision::ComputeCollision(const CollisionGeometry* o1, |
132 |
|
1 |
const CollisionGeometry* o2) |
133 |
|
1 |
: o1(o1), o2(o2) { |
134 |
|
1 |
const CollisionFunctionMatrix& looktable = getCollisionFunctionLookTable(); |
135 |
|
|
|
136 |
|
1 |
OBJECT_TYPE object_type1 = o1->getObjectType(); |
137 |
|
1 |
NODE_TYPE node_type1 = o1->getNodeType(); |
138 |
|
1 |
OBJECT_TYPE object_type2 = o2->getObjectType(); |
139 |
|
1 |
NODE_TYPE node_type2 = o2->getNodeType(); |
140 |
|
|
|
141 |
✓✗✓✗
|
2 |
swap_geoms = object_type1 == OT_GEOM && |
142 |
✗✓ |
1 |
(object_type2 == OT_BVH || object_type2 == OT_HFIELD); |
143 |
|
|
|
144 |
✗✓✗✗
|
1 |
if ((swap_geoms && !looktable.collision_matrix[node_type2][node_type1]) || |
145 |
✓✗✗✓
|
1 |
(!swap_geoms && !looktable.collision_matrix[node_type1][node_type2])) { |
146 |
|
|
HPP_FCL_THROW_PRETTY("Collision function between node type " |
147 |
|
|
<< std::string(get_node_type_name(node_type1)) |
148 |
|
|
<< " and node type " |
149 |
|
|
<< std::string(get_node_type_name(node_type2)) |
150 |
|
|
<< " is not yet supported.", |
151 |
|
|
std::invalid_argument); |
152 |
|
|
} |
153 |
✗✓ |
1 |
if (swap_geoms) |
154 |
|
|
func = looktable.collision_matrix[node_type2][node_type1]; |
155 |
|
|
else |
156 |
|
1 |
func = looktable.collision_matrix[node_type1][node_type2]; |
157 |
|
1 |
} |
158 |
|
|
|
159 |
|
2 |
std::size_t ComputeCollision::run(const Transform3f& tf1, |
160 |
|
|
const Transform3f& tf2, |
161 |
|
|
const CollisionRequest& request, |
162 |
|
|
CollisionResult& result) const { |
163 |
|
|
// If security margin is set to -infinity, return that there is no collision |
164 |
✗✓ |
2 |
if (request.security_margin == -std::numeric_limits<FCL_REAL>::infinity()) { |
165 |
|
|
result.clear(); |
166 |
|
|
return false; |
167 |
|
|
} |
168 |
|
|
std::size_t res; |
169 |
✗✓ |
2 |
if (swap_geoms) { |
170 |
|
|
res = func(o2, tf2, o1, tf1, &solver, request, result); |
171 |
|
|
result.swapObjects(); |
172 |
|
|
} else { |
173 |
|
2 |
res = func(o1, tf1, o2, tf2, &solver, request, result); |
174 |
|
|
} |
175 |
|
2 |
return res; |
176 |
|
|
} |
177 |
|
|
|
178 |
|
2 |
std::size_t ComputeCollision::operator()(const Transform3f& tf1, |
179 |
|
|
const Transform3f& tf2, |
180 |
|
|
const CollisionRequest& request, |
181 |
|
|
CollisionResult& result) const |
182 |
|
|
|
183 |
|
|
{ |
184 |
|
2 |
solver.set(request); |
185 |
|
|
|
186 |
|
|
std::size_t res; |
187 |
✗✓ |
2 |
if (request.enable_timings) { |
188 |
|
|
Timer timer; |
189 |
|
|
res = run(tf1, tf2, request, result); |
190 |
|
|
result.timings = timer.elapsed(); |
191 |
|
|
} else |
192 |
|
2 |
res = run(tf1, tf2, request, result); |
193 |
|
|
|
194 |
✓✗ |
2 |
if (solver.gjk_initial_guess == GJKInitialGuess::CachedGuess || |
195 |
✓✗ |
2 |
solver.enable_cached_guess) { |
196 |
|
2 |
result.cached_gjk_guess = solver.cached_guess; |
197 |
|
2 |
result.cached_support_func_guess = solver.support_func_cached_guess; |
198 |
|
|
} |
199 |
|
|
|
200 |
|
2 |
return res; |
201 |
|
|
} |
202 |
|
|
|
203 |
|
|
} // namespace fcl |
204 |
|
|
} // namespace hpp |