| Line |
Branch |
Exec |
Source |
| 1 |
|
|
// |
| 2 |
|
|
// Copyright (c) 2022 INRIA |
| 3 |
|
|
// |
| 4 |
|
|
|
| 5 |
|
|
#ifndef __pinocchio_collision_broadphase_manager_hxx__ |
| 6 |
|
|
#define __pinocchio_collision_broadphase_manager_hxx__ |
| 7 |
|
|
|
| 8 |
|
|
namespace pinocchio |
| 9 |
|
|
{ |
| 10 |
|
|
|
| 11 |
|
|
template<typename Manager> |
| 12 |
|
✗ |
void BroadPhaseManagerTpl<Manager>::update(bool compute_local_aabb) |
| 13 |
|
|
{ |
| 14 |
|
✗ |
const GeometryModel & geom_model = getGeometryModel(); |
| 15 |
|
✗ |
assert(selected_geometry_objects.size() == size_t(collision_object_inflation.size())); |
| 16 |
|
|
|
| 17 |
|
✗ |
GeometryData & geom_data = getGeometryData(); |
| 18 |
|
|
|
| 19 |
|
|
// Pass 1: check the new active geometries and list the new deactive geometries |
| 20 |
|
✗ |
std::vector<size_t> new_active, new_inactive; |
| 21 |
|
✗ |
for (size_t k = 0; k < selected_geometry_objects.size(); ++k) |
| 22 |
|
|
{ |
| 23 |
|
✗ |
const size_t geometry_object_id = selected_geometry_objects[k]; |
| 24 |
|
✗ |
const GeometryObject & geom_object = geom_model.geometryObjects[geometry_object_id]; |
| 25 |
|
|
|
| 26 |
|
✗ |
if (geom_object.geometry->aabb_local.volume() <= 0.) // degenerated geometry, we should not |
| 27 |
|
|
// consider it as an active object. |
| 28 |
|
|
{ |
| 29 |
|
✗ |
if (collision_object_is_active[k]) |
| 30 |
|
|
{ |
| 31 |
|
✗ |
collision_object_is_active[k] = false; |
| 32 |
|
✗ |
new_inactive.push_back(k); |
| 33 |
|
|
} |
| 34 |
|
|
|
| 35 |
|
✗ |
continue; // don't go further and checks the next objects |
| 36 |
|
|
} |
| 37 |
|
|
|
| 38 |
|
✗ |
if (collision_object_is_active[k] != !geom_object.disableCollision) // change state |
| 39 |
|
|
{ |
| 40 |
|
✗ |
collision_object_is_active[k] = !geom_object.disableCollision; |
| 41 |
|
✗ |
if (geom_object.disableCollision) |
| 42 |
|
✗ |
new_inactive.push_back(k); |
| 43 |
|
|
else |
| 44 |
|
✗ |
new_active.push_back(k); |
| 45 |
|
|
} |
| 46 |
|
|
} |
| 47 |
|
|
|
| 48 |
|
|
// The pass should be done over all the geometry objects composing the collision tree. |
| 49 |
|
✗ |
collision_object_inflation.setZero(); |
| 50 |
|
✗ |
for (size_t pair_id = 0; pair_id < geom_model.collisionPairs.size(); ++pair_id) |
| 51 |
|
|
{ |
| 52 |
|
|
// TODO(jcarpent): enhance the performances by collecting only the collision pairs related to |
| 53 |
|
|
// the selected_geometry_objects |
| 54 |
|
✗ |
const CollisionPair & pair = geom_model.collisionPairs[pair_id]; |
| 55 |
|
✗ |
const GeomIndex geom1_id = pair.first; |
| 56 |
|
✗ |
const GeomIndex geom2_id = pair.second; |
| 57 |
|
|
|
| 58 |
|
✗ |
const bool geom1_is_selected = |
| 59 |
|
✗ |
geometry_to_collision_index[geom1_id] != (std::numeric_limits<size_t>::max)(); |
| 60 |
|
✗ |
const bool geom2_is_selected = |
| 61 |
|
✗ |
geometry_to_collision_index[geom2_id] != (std::numeric_limits<size_t>::max)(); |
| 62 |
|
✗ |
if (!(geom1_is_selected || geom2_is_selected)) |
| 63 |
|
✗ |
continue; |
| 64 |
|
|
|
| 65 |
|
✗ |
const bool check_collision = geom_data.activeCollisionPairs[pair_id] |
| 66 |
|
✗ |
&& !( |
| 67 |
|
✗ |
geom_model.geometryObjects[geom1_id].disableCollision |
| 68 |
|
✗ |
|| geom_model.geometryObjects[geom2_id].disableCollision); |
| 69 |
|
|
|
| 70 |
|
✗ |
if (!check_collision) |
| 71 |
|
✗ |
continue; |
| 72 |
|
|
|
| 73 |
|
✗ |
const ::hpp::fcl::CollisionRequest & cr = geom_data.collisionRequests[pair_id]; |
| 74 |
|
✗ |
const double inflation = (cr.break_distance + cr.security_margin) * 0.5; |
| 75 |
|
|
|
| 76 |
|
✗ |
if (geom1_is_selected) |
| 77 |
|
|
{ |
| 78 |
|
✗ |
const Eigen::DenseIndex geom1_id_local = |
| 79 |
|
✗ |
static_cast<Eigen::DenseIndex>(geometry_to_collision_index[geom1_id]); |
| 80 |
|
✗ |
collision_object_inflation[geom1_id_local] = |
| 81 |
|
✗ |
(std::max)(inflation, collision_object_inflation[geom1_id_local]); |
| 82 |
|
|
} |
| 83 |
|
|
|
| 84 |
|
✗ |
if (geom2_is_selected) |
| 85 |
|
|
{ |
| 86 |
|
✗ |
const Eigen::DenseIndex geom2_id_local = |
| 87 |
|
✗ |
static_cast<Eigen::DenseIndex>(geometry_to_collision_index[geom2_id]); |
| 88 |
|
✗ |
collision_object_inflation[geom2_id_local] = |
| 89 |
|
✗ |
(std::max)(inflation, collision_object_inflation[geom2_id_local]); |
| 90 |
|
|
} |
| 91 |
|
|
} |
| 92 |
|
|
|
| 93 |
|
✗ |
for (size_t k = 0; k < selected_geometry_objects.size(); ++k) |
| 94 |
|
|
{ |
| 95 |
|
✗ |
if (!collision_object_is_active[k]) |
| 96 |
|
✗ |
continue; |
| 97 |
|
|
|
| 98 |
|
✗ |
const size_t geometry_object_id = selected_geometry_objects[k]; |
| 99 |
|
|
|
| 100 |
|
✗ |
const GeometryObject & geom_obj = geom_model.geometryObjects[geometry_object_id]; |
| 101 |
|
✗ |
hpp::fcl::CollisionGeometryPtr_t new_geometry = geom_obj.geometry; |
| 102 |
|
|
|
| 103 |
|
✗ |
CollisionObject & collision_obj = collision_objects[k]; |
| 104 |
|
✗ |
hpp::fcl::CollisionGeometryPtr_t geometry = collision_obj.collisionGeometry(); |
| 105 |
|
|
|
| 106 |
|
✗ |
collision_obj.setTransform(toFclTransform3f(geom_data.oMg[geometry_object_id])); |
| 107 |
|
|
|
| 108 |
|
✗ |
if (new_geometry.get() != geometry.get()) |
| 109 |
|
✗ |
collision_obj.setCollisionGeometry(new_geometry, compute_local_aabb); |
| 110 |
|
|
|
| 111 |
|
✗ |
collision_obj.computeAABB(); |
| 112 |
|
✗ |
collision_obj.getAABB().expand(collision_object_inflation[static_cast<Eigen::DenseIndex>(k)]); |
| 113 |
|
|
} |
| 114 |
|
|
|
| 115 |
|
|
// Remove deactivated collision objects |
| 116 |
|
✗ |
for (size_t k : new_inactive) |
| 117 |
|
✗ |
manager.unregisterObject(&collision_objects[k]); |
| 118 |
|
|
|
| 119 |
|
|
// Add deactivated collision objects |
| 120 |
|
✗ |
for (size_t k : new_active) |
| 121 |
|
✗ |
manager.registerObject(&collision_objects[k]); |
| 122 |
|
|
|
| 123 |
|
✗ |
manager.update(); // because the position has changed. |
| 124 |
|
✗ |
assert(check() && "The status of the BroadPhaseManager is not valid"); |
| 125 |
|
|
} |
| 126 |
|
|
|
| 127 |
|
|
template<typename Manager> |
| 128 |
|
✗ |
void BroadPhaseManagerTpl<Manager>::update(GeometryData * geom_data_ptr_new) |
| 129 |
|
|
{ |
| 130 |
|
✗ |
Base::geometry_data_ptr = geom_data_ptr_new; |
| 131 |
|
✗ |
update(false); |
| 132 |
|
|
} |
| 133 |
|
|
|
| 134 |
|
|
template<typename Manager> |
| 135 |
|
✗ |
BroadPhaseManagerTpl<Manager>::~BroadPhaseManagerTpl() |
| 136 |
|
|
{ |
| 137 |
|
|
} |
| 138 |
|
|
|
| 139 |
|
|
template<typename Manager> |
| 140 |
|
✗ |
bool BroadPhaseManagerTpl<Manager>::check() const |
| 141 |
|
|
{ |
| 142 |
|
✗ |
std::vector<hpp::fcl::CollisionObject *> collision_objects_ptr = manager.getObjects(); |
| 143 |
|
✗ |
if (collision_objects_ptr.size() > collision_objects.size()) |
| 144 |
|
✗ |
return false; |
| 145 |
|
|
|
| 146 |
|
✗ |
size_t count_active_objects = 0; |
| 147 |
|
✗ |
for (auto active : collision_object_is_active) |
| 148 |
|
✗ |
count_active_objects += active; |
| 149 |
|
|
|
| 150 |
|
✗ |
if (count_active_objects != collision_objects_ptr.size()) |
| 151 |
|
✗ |
return false; |
| 152 |
|
|
|
| 153 |
|
✗ |
const GeometryModel & geom_model = getGeometryModel(); |
| 154 |
|
✗ |
for (size_t k = 0; k < selected_geometry_objects.size(); ++k) |
| 155 |
|
|
{ |
| 156 |
|
✗ |
const size_t geometry_id = selected_geometry_objects[k]; |
| 157 |
|
|
|
| 158 |
|
✗ |
const hpp::fcl::CollisionObject & collision_obj = collision_objects[k]; |
| 159 |
|
✗ |
hpp::fcl::CollisionGeometryConstPtr_t geometry = collision_obj.collisionGeometry(); |
| 160 |
|
|
|
| 161 |
|
✗ |
if (collision_object_is_active[k]) // The collision object is active |
| 162 |
|
|
{ |
| 163 |
|
✗ |
if ( |
| 164 |
|
✗ |
std::find(collision_objects_ptr.begin(), collision_objects_ptr.end(), &collision_obj) |
| 165 |
|
✗ |
== collision_objects_ptr.end()) |
| 166 |
|
✗ |
return false; |
| 167 |
|
|
|
| 168 |
|
✗ |
if ( |
| 169 |
|
✗ |
geometry.get()->aabb_local.volume() |
| 170 |
|
✗ |
== -(std::numeric_limits<hpp::fcl::FCL_REAL>::infinity)()) |
| 171 |
|
✗ |
return false; |
| 172 |
|
|
|
| 173 |
|
✗ |
const GeometryObject & geom_obj = geom_model.geometryObjects[geometry_id]; |
| 174 |
|
✗ |
hpp::fcl::CollisionGeometryConstPtr_t geometry_of_geom_obj = geom_obj.geometry; |
| 175 |
|
|
|
| 176 |
|
✗ |
if (geometry.get() != geometry_of_geom_obj.get()) |
| 177 |
|
✗ |
return false; |
| 178 |
|
|
} |
| 179 |
|
|
else |
| 180 |
|
|
{ |
| 181 |
|
✗ |
if ( |
| 182 |
|
✗ |
std::find(collision_objects_ptr.begin(), collision_objects_ptr.end(), &collision_obj) |
| 183 |
|
✗ |
!= collision_objects_ptr.end()) |
| 184 |
|
✗ |
return false; |
| 185 |
|
|
} |
| 186 |
|
|
} |
| 187 |
|
|
|
| 188 |
|
✗ |
return true; |
| 189 |
|
|
} |
| 190 |
|
|
|
| 191 |
|
|
template<typename Manager> |
| 192 |
|
✗ |
bool BroadPhaseManagerTpl<Manager>::check(CollisionCallBackBase * callback) const |
| 193 |
|
|
{ |
| 194 |
|
✗ |
return &callback->getGeometryModel() == &getGeometryModel() |
| 195 |
|
✗ |
&& &callback->getGeometryData() == &getGeometryData(); |
| 196 |
|
|
} |
| 197 |
|
|
|
| 198 |
|
|
template<typename Manager> |
| 199 |
|
✗ |
void BroadPhaseManagerTpl<Manager>::init() |
| 200 |
|
|
{ |
| 201 |
|
✗ |
const GeometryModel & geom_model = getGeometryModel(); |
| 202 |
|
✗ |
collision_objects.reserve(selected_geometry_objects.size()); |
| 203 |
|
✗ |
for (size_t k = 0; k < selected_geometry_objects.size(); ++k) |
| 204 |
|
|
{ |
| 205 |
|
✗ |
const size_t geometry_id = selected_geometry_objects[k]; |
| 206 |
|
|
GeometryObject & geom_obj = |
| 207 |
|
✗ |
const_cast<GeometryObject &>(geom_model.geometryObjects[geometry_id]); |
| 208 |
|
✗ |
collision_objects.push_back(CollisionObject(geom_obj.geometry, geometry_id)); |
| 209 |
|
|
|
| 210 |
|
|
// Feed the base broadphase manager |
| 211 |
|
✗ |
if (collision_object_is_active[k]) |
| 212 |
|
✗ |
manager.registerObject(&collision_objects.back()); |
| 213 |
|
|
} |
| 214 |
|
|
} |
| 215 |
|
|
|
| 216 |
|
|
template<typename Manager> |
| 217 |
|
✗ |
bool BroadPhaseManagerTpl<Manager>::collide( |
| 218 |
|
|
CollisionObject & obj, CollisionCallBackBase * callback) const |
| 219 |
|
|
{ |
| 220 |
|
✗ |
manager.collide(&obj, callback); |
| 221 |
|
✗ |
return callback->collision; |
| 222 |
|
|
} |
| 223 |
|
|
|
| 224 |
|
|
template<typename Manager> |
| 225 |
|
✗ |
bool BroadPhaseManagerTpl<Manager>::collide(CollisionCallBackBase * callback) const |
| 226 |
|
|
{ |
| 227 |
|
✗ |
manager.collide(callback); |
| 228 |
|
✗ |
return callback->collision; |
| 229 |
|
|
} |
| 230 |
|
|
|
| 231 |
|
|
template<typename Manager> |
| 232 |
|
✗ |
bool BroadPhaseManagerTpl<Manager>::collide( |
| 233 |
|
|
BroadPhaseManagerTpl & other_manager, CollisionCallBackBase * callback) const |
| 234 |
|
|
{ |
| 235 |
|
✗ |
manager.collide(&other_manager.manager, callback); |
| 236 |
|
✗ |
return callback->collision; |
| 237 |
|
|
} |
| 238 |
|
|
|
| 239 |
|
|
} // namespace pinocchio |
| 240 |
|
|
|
| 241 |
|
|
#endif // ifndef __pinocchio_collision_broadphase_manager_hxx__ |
| 242 |
|
|
|