hpp-fcl: include/hpp/fcl/collision_data.h Source File

hpp-fcl 1.6.0 HPP fork of FCL -- The Flexible Collision Library

collision_data.h
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35
39 #ifndef HPP_FCL_COLLISION_DATA_H
40 #define HPP_FCL_COLLISION_DATA_H
41
42 #include <vector>
43 #include <set>
44 #include <limits>
45
46 #include <hpp/fcl/collision_object.h>
47 #include <hpp/fcl/config.hh>
48 #include <hpp/fcl/data_types.h>
49
50
51 namespace hpp
52 {
53 namespace fcl
54 {
55
57 struct HPP_FCL_DLLAPI Contact
58 {
60 const CollisionGeometry* o1;
61
63 const CollisionGeometry* o2;
64
69 int b1;
70
71
76 int b2;
77
79 Vec3f normal;
80
82 Vec3f pos;
83
85 FCL_REAL penetration_depth;
86
87
89 static const int NONE = -1;
90
91 Contact() : o1(NULL),
92 o2(NULL),
93 b1(NONE),
94 b2(NONE)
95 {}
96
97 Contact(const CollisionGeometry* o1_, const CollisionGeometry* o2_, int b1_, int b2_) : o1(o1_),
98 o2(o2_),
99 b1(b1_),
100 b2(b2_)
101 {}
102
103 Contact(const CollisionGeometry* o1_, const CollisionGeometry* o2_, int b1_, int b2_,
104 const Vec3f& pos_, const Vec3f& normal_, FCL_REAL depth_) : o1(o1_),
105 o2(o2_),
106 b1(b1_),
107 b2(b2_),
108 normal(normal_),
109 pos(pos_),
110 penetration_depth(depth_)
111 {}
112
113 bool operator < (const Contact& other) const
114 {
115 if(b1 == other.b1)
116 return b2 < other.b2;
117 return b1 < other.b1;
118 }
119
120 bool operator == (const Contact& other) const
121 {
122 return o1 == other.o1
123 && o2 == other.o2
124 && b1 == other.b1
125 && b2 == other.b2
126 && normal == other.normal
127 && pos == other.pos
128 && penetration_depth == other.penetration_depth;
129 }
130
131 bool operator != (const Contact& other) const
132 {
133 return !(*this == other);
134 }
135 };
136
137 struct QueryResult;
138
140 struct HPP_FCL_DLLAPI QueryRequest
141 {
143 bool enable_cached_gjk_guess;
144
146 Vec3f cached_gjk_guess;
147
149 support_func_guess_t cached_support_func_guess;
150
151 QueryRequest () :
152 enable_cached_gjk_guess (false),
153 cached_gjk_guess (1,0,0),
154 cached_support_func_guess(support_func_guess_t::Zero())
155 {}
156
157 void updateGuess(const QueryResult& result);
158
160 inline bool operator ==(const QueryRequest& other) const
161 {
162 return enable_cached_gjk_guess == other.enable_cached_gjk_guess
163 && cached_gjk_guess == other.cached_gjk_guess
164 && cached_support_func_guess == other.cached_support_func_guess;
165 }
166 };
167
169 struct HPP_FCL_DLLAPI QueryResult
170 {
172 Vec3f cached_gjk_guess;
173
175 support_func_guess_t cached_support_func_guess;
176 };
177
178 inline void QueryRequest::updateGuess(const QueryResult& result)
179 {
180 if (enable_cached_gjk_guess) {
181 cached_gjk_guess = result.cached_gjk_guess;
182 cached_support_func_guess = result.cached_support_func_guess;
183 }
184 }
185
186 struct CollisionResult;
187
189 enum CollisionRequestFlag
190 {
191 CONTACT = 0x00001,
192 DISTANCE_LOWER_BOUND = 0x00002,
193 NO_REQUEST = 0x01000
194 };
195
197 struct HPP_FCL_DLLAPI CollisionRequest : QueryRequest
198 {
200 size_t num_max_contacts;
201
203 bool enable_contact;
204
206 bool enable_distance_lower_bound;
207
210 FCL_REAL security_margin;
211
214 FCL_REAL break_distance;
215
216 explicit CollisionRequest(const CollisionRequestFlag flag, size_t num_max_contacts_) :
217 num_max_contacts(num_max_contacts_),
218 enable_contact(flag & CONTACT),
219 enable_distance_lower_bound (flag & DISTANCE_LOWER_BOUND),
220 security_margin (0),
221 break_distance (1e-3)
222 {
223 }
224
225 CollisionRequest() :
226 num_max_contacts(1),
227 enable_contact(false),
228 enable_distance_lower_bound (false),
229 security_margin (0),
230 break_distance (1e-3)
231 {
232 }
233
234 bool isSatisfied(const CollisionResult& result) const;
235
237 inline bool operator ==(const CollisionRequest& other) const
238 {
239 return QueryRequest::operator==(other)
240 && num_max_contacts == other.num_max_contacts
241 && enable_contact == other.enable_contact
242 && enable_distance_lower_bound == other.enable_distance_lower_bound
243 && security_margin == other.security_margin
244 && break_distance == other.break_distance;
245 }
246 };
247
249 struct HPP_FCL_DLLAPI CollisionResult : QueryResult
250 {
251 private:
253 std::vector<Contact> contacts;
254
255 public:
260 FCL_REAL distance_lower_bound;
261
262 public:
263 CollisionResult()
264 : distance_lower_bound ((std::numeric_limits<FCL_REAL>::max)())
265 {
266 }
267
269 inline void updateDistanceLowerBound (const FCL_REAL& distance_lower_bound_)
270 {
271 if (distance_lower_bound_ < distance_lower_bound)
272 distance_lower_bound = distance_lower_bound_;
273 }
274
276 inline void addContact(const Contact& c)
277 {
278 contacts.push_back(c);
279 }
280
282 inline bool operator ==(const CollisionResult& other) const
283 {
284 return contacts == other.contacts
285 && distance_lower_bound == other.distance_lower_bound;
286 }
287
289 bool isCollision() const
290 {
291 return contacts.size() > 0;
292 }
293
295 size_t numContacts() const
296 {
297 return contacts.size();
298 }
299
301 const Contact& getContact(size_t i) const
302 {
303 if(contacts.size() == 0)
304 throw std::invalid_argument("The number of contacts is zero. No Contact can be returned.");
305
306 if(i < contacts.size())
307 return contacts[i];
308 else
309 return contacts.back();
310 }
311
313 void getContacts(std::vector<Contact>& contacts_) const
314 {
315 contacts_.resize(contacts.size());
316 std::copy(contacts.begin(), contacts.end(), contacts_.begin());
317 }
318
320 void clear()
321 {
322 contacts.clear();
323 }
324
327 void swapObjects();
328 };
329
330 struct DistanceResult;
331
333 struct HPP_FCL_DLLAPI DistanceRequest : QueryRequest
334 {
336 bool enable_nearest_points;
337
339 FCL_REAL rel_err; // relative error, between 0 and 1
340 FCL_REAL abs_err; // absoluate error
341
345 DistanceRequest(bool enable_nearest_points_ = false,
346 FCL_REAL rel_err_ = 0.0,
347 FCL_REAL abs_err_ = 0.0) :
348 enable_nearest_points(enable_nearest_points_),
349 rel_err(rel_err_),
350 abs_err(abs_err_)
351 {
352 }
353
354 bool isSatisfied(const DistanceResult& result) const;
355
357 inline bool operator ==(const DistanceRequest& other) const
358 {
359 return QueryRequest::operator==(other)
360 && enable_nearest_points == other.enable_nearest_points
361 && rel_err == other.rel_err
362 && abs_err == other.abs_err;
363 }
364 };
365
367 struct HPP_FCL_DLLAPI DistanceResult : QueryResult
368 {
369
370 public:
371
373 FCL_REAL min_distance;
374
376 Vec3f nearest_points[2];
377
379 Vec3f normal;
380
382 const CollisionGeometry* o1;
383
385 const CollisionGeometry* o2;
386
391 int b1;
392
397 int b2;
398
400 static const int NONE = -1;
401
402 DistanceResult(FCL_REAL min_distance_ =
403 (std::numeric_limits<FCL_REAL>::max)()):
404 min_distance(min_distance_), o1(NULL), o2(NULL), b1(NONE), b2(NONE)
405 {
406 Vec3f nan (Vec3f::Constant(std::numeric_limits<FCL_REAL>::quiet_NaN()));
407 nearest_points [0] = nearest_points [1] = normal = nan;
408 }
409
410
412 void update(FCL_REAL distance, const CollisionGeometry* o1_, const CollisionGeometry* o2_, int b1_, int b2_)
413 {
414 if(min_distance > distance)
415 {
416 min_distance = distance;
417 o1 = o1_;
418 o2 = o2_;
419 b1 = b1_;
420 b2 = b2_;
421 }
422 }
423
425 void update(FCL_REAL distance, const CollisionGeometry* o1_,
426 const CollisionGeometry* o2_, int b1_, int b2_,
427 const Vec3f& p1, const Vec3f& p2, const Vec3f& normal_)
428 {
429 if(min_distance > distance)
430 {
431 min_distance = distance;
432 o1 = o1_;
433 o2 = o2_;
434 b1 = b1_;
435 b2 = b2_;
436 nearest_points[0] = p1;
437 nearest_points[1] = p2;
438 normal = normal_;
439 }
440 }
441
443 void update(const DistanceResult& other_result)
444 {
445 if(min_distance > other_result.min_distance)
446 {
447 min_distance = other_result.min_distance;
448 o1 = other_result.o1;
449 o2 = other_result.o2;
450 b1 = other_result.b1;
451 b2 = other_result.b2;
452 nearest_points[0] = other_result.nearest_points[0];
453 nearest_points[1] = other_result.nearest_points[1];
454 normal = other_result.normal;
455 }
456 }
457
459 void clear()
460 {
461 min_distance = (std::numeric_limits<FCL_REAL>::max)();
462 o1 = NULL;
463 o2 = NULL;
464 b1 = NONE;
465 b2 = NONE;
466 }
467
469 inline bool operator ==(const DistanceResult& other) const
470 {
471 bool is_same = min_distance == other.min_distance
472 && nearest_points[0] == other.nearest_points[0]
473 && nearest_points[1] == other.nearest_points[1]
474 && o1 == other.o1
475 && o2 == other.o2
476 && b1 == other.b1
477 && b2 == other.b2;
478
479 // TODO: check also that two GeometryObject are indeed equal.
480 if ((o1 != NULL) ^ (other.o1 != NULL)) return false;
481 is_same &= (o1 == other.o1);
482 // else if (o1 != NULL and other.o1 != NULL) is_same &= *o1 == *other.o1;
483
484 if ((o2 != NULL) ^ (other.o2 != NULL)) return false;
485 is_same &= (o2 == other.o2);
486 // else if (o2 != NULL and other.o2 != NULL) is_same &= *o2 == *other.o2;
487
488 return is_same;
489 }
490
491 };
492
493 inline CollisionRequestFlag operator~(CollisionRequestFlag a)
494 {return static_cast<CollisionRequestFlag>(~static_cast<const int>(a));}
495
496 inline CollisionRequestFlag operator|(CollisionRequestFlag a, CollisionRequestFlag b)
497 {return static_cast<CollisionRequestFlag>(static_cast<const int>(a) | static_cast<const int>(b));}
498
499 inline CollisionRequestFlag operator&(CollisionRequestFlag a, CollisionRequestFlag b)
500 {return static_cast<CollisionRequestFlag>(static_cast<const int>(a) & static_cast<const int>(b));}
501
502 inline CollisionRequestFlag operator^(CollisionRequestFlag a, CollisionRequestFlag b)
503 {return static_cast<CollisionRequestFlag>(static_cast<const int>(a) ^ static_cast<const int>(b));}
504
505 inline CollisionRequestFlag& operator|=(CollisionRequestFlag& a, CollisionRequestFlag b)
506 {return (CollisionRequestFlag&)((int&)(a) |= static_cast<const int>(b));}
507
508 inline CollisionRequestFlag& operator&=(CollisionRequestFlag& a, CollisionRequestFlag b)
509 {return (CollisionRequestFlag&)((int&)(a) &= static_cast<const int>(b));}
510
511 inline CollisionRequestFlag& operator^=(CollisionRequestFlag& a, CollisionRequestFlag b)
512 {return (CollisionRequestFlag&)((int&)(a) ^= static_cast<const int>(b));}
513
514 }
515
516 } // namespace hpp
517
518 #endif
hpp::fcl::DistanceResult::update
void update(FCL_REAL distance, const CollisionGeometry *o1_, const CollisionGeometry *o2_, int b1_, int b2_, const Vec3f &p1, const Vec3f &p2, const Vec3f &normal_)
add distance information into the result
Definition: collision_data.h:425
hpp::fcl::operator&=
CollisionRequestFlag & operator&=(CollisionRequestFlag &a, CollisionRequestFlag b)
Definition: collision_data.h:508
hpp::fcl::QueryRequest::operator==
bool operator==(const QueryRequest &other) const
whether two QueryRequest are the same or not
Definition: collision_data.h:160
data_types.h
hpp::fcl::Contact::Contact
Contact()
Definition: collision_data.h:91
hpp::fcl::Vec3f
Eigen::Matrix< FCL_REAL, 3, 1 > Vec3f
Definition: data_types.h:67
hpp::fcl::operator|
CollisionRequestFlag operator|(CollisionRequestFlag a, CollisionRequestFlag b)
Definition: collision_data.h:496
collision_object.h
hpp::fcl::Contact::Contact
Contact(const CollisionGeometry *o1_, const CollisionGeometry *o2_, int b1_, int b2_)
Definition: collision_data.h:97
hpp::fcl::CollisionResult::isCollision
bool isCollision() const
return binary collision result
Definition: collision_data.h:289
hpp::fcl::DistanceResult::b1
int b1
information about the nearest point in object 1 if object 1 is mesh or point cloud,...
Definition: collision_data.h:391
hpp::fcl::CollisionResult::numContacts
size_t numContacts() const
number of contacts found
Definition: collision_data.h:295
hpp::fcl::CollisionRequest::isSatisfied
bool isSatisfied(const CollisionResult &result) const
hpp::fcl::DistanceRequest::enable_nearest_points
bool enable_nearest_points
whether to return the nearest points
Definition: collision_data.h:336
hpp::fcl::CollisionResult::clear
void clear()
clear the results obtained
Definition: collision_data.h:320
hpp::fcl::DistanceResult::update
void update(const DistanceResult &other_result)
add distance information into the result
Definition: collision_data.h:443
hpp::fcl::QueryRequest
base class for all query requests
Definition: collision_data.h:141
hpp::fcl::CollisionRequest::num_max_contacts
size_t num_max_contacts
The maximum number of contacts will return.
Definition: collision_data.h:200
hpp::fcl::Contact::penetration_depth
FCL_REAL penetration_depth
penetration depth
Definition: collision_data.h:85
hpp::fcl::CONTACT
@ CONTACT
Definition: collision_data.h:191
hpp::fcl::CollisionRequest
request to the collision algorithm
Definition: collision_data.h:198
hpp::fcl::CollisionRequest::break_distance
FCL_REAL break_distance
Distance below which bounding volumes are broken down. See Collision detection and distance lower bou...
Definition: collision_data.h:214
hpp::fcl::DistanceResult::b2
int b2
information about the nearest point in object 2 if object 2 is mesh or point cloud,...
Definition: collision_data.h:397
hpp::fcl::Contact
Contact information returned by collision.
Definition: collision_data.h:58
hpp::fcl::CollisionResult::getContact
const Contact & getContact(size_t i) const
get the i-th contact calculated
Definition: collision_data.h:301
hpp::fcl::DistanceResult::nearest_points
Vec3f nearest_points[2]
nearest points
Definition: collision_data.h:376
hpp::fcl::operator|=
CollisionRequestFlag & operator|=(CollisionRequestFlag &a, CollisionRequestFlag b)
Definition: collision_data.h:505
hpp::fcl::QueryRequest::cached_support_func_guess
support_func_guess_t cached_support_func_guess
the support function intial guess set by user
Definition: collision_data.h:149
hpp::fcl::QueryRequest::cached_gjk_guess
Vec3f cached_gjk_guess
the gjk intial guess set by user
Definition: collision_data.h:146
hpp::fcl::CollisionResult::swapObjects
void swapObjects()
reposition Contact objects when fcl inverts them during their construction.
hpp::fcl::DistanceResult::clear
void clear()
clear the result
Definition: collision_data.h:459
hpp::fcl::DistanceRequest::rel_err
FCL_REAL rel_err
error threshold for approximate distance
Definition: collision_data.h:339
hpp::fcl::FCL_REAL
double FCL_REAL
Definition: data_types.h:66
hpp::fcl::QueryResult
base class for all query results
Definition: collision_data.h:170
hpp::fcl::Contact::normal
Vec3f normal
contact normal, pointing from o1 to o2
Definition: collision_data.h:79
hpp::fcl::CollisionRequest::enable_contact
bool enable_contact
whether the contact information (normal, penetration depth and contact position) will return
Definition: collision_data.h:203
hpp::fcl::CollisionRequestFlag
CollisionRequestFlag
flag declaration for specifying required params in CollisionResult
Definition: collision_data.h:190
hpp::fcl::CollisionRequest::CollisionRequest
CollisionRequest(const CollisionRequestFlag flag, size_t num_max_contacts_)
Definition: collision_data.h:216
hpp::fcl::Contact::b1
int b1
contact primitive in object 1 if object 1 is mesh or point cloud, it is the triangle or point id if o...
Definition: collision_data.h:69
hpp::fcl::DistanceRequest::DistanceRequest
DistanceRequest(bool enable_nearest_points_=false, FCL_REAL rel_err_=0.0, FCL_REAL abs_err_=0.0)
Definition: collision_data.h:345
hpp::fcl::Contact::pos
Vec3f pos
contact position, in world space
Definition: collision_data.h:82
hpp::fcl::support_func_guess_t
Eigen::Vector2i support_func_guess_t
Definition: data_types.h:69
hpp::fcl::DistanceRequest::isSatisfied
bool isSatisfied(const DistanceResult &result) const
hpp::fcl::CollisionRequest::security_margin
FCL_REAL security_margin
Distance below which objects are considered in collision. See Collision detection and distance lower ...
Definition: collision_data.h:210
hpp
Main namespace.
Definition: AABB.h:44
hpp::fcl::CollisionResult::addContact
void addContact(const Contact &c)
add one contact into result structure
Definition: collision_data.h:276
hpp::fcl::DistanceResult::min_distance
FCL_REAL min_distance
minimum distance between two objects. if two objects are in collision, min_distance <= 0.
Definition: collision_data.h:373
hpp::fcl::DistanceResult::DistanceResult
DistanceResult(FCL_REAL min_distance_=(std::numeric_limits< FCL_REAL >::max)())
Definition: collision_data.h:402
hpp::fcl::DistanceResult::o2
const CollisionGeometry * o2
collision object 2
Definition: collision_data.h:385
hpp::fcl::QueryRequest::QueryRequest
QueryRequest()
Definition: collision_data.h:151
hpp::fcl::DistanceRequest::abs_err
FCL_REAL abs_err
Definition: collision_data.h:340
hpp::fcl::CollisionResult::updateDistanceLowerBound
void updateDistanceLowerBound(const FCL_REAL &distance_lower_bound_)
Update the lower bound only if the distance in inferior.
Definition: collision_data.h:269
hpp::fcl::DistanceResult::o1
const CollisionGeometry * o1
collision object 1
Definition: collision_data.h:382
hpp::fcl::CollisionGeometry
The geometry for the object for collision or distance computation.
Definition: collision_object.h:64
hpp::fcl::operator^
CollisionRequestFlag operator^(CollisionRequestFlag a, CollisionRequestFlag b)
Definition: collision_data.h:502
hpp::fcl::distance
FCL_REAL distance(const Matrix3f &R0, const Vec3f &T0, const kIOS &b1, const kIOS &b2, Vec3f *P=NULL, Vec3f *Q=NULL)
Approximate distance between two kIOS bounding volumes.
hpp::fcl::DistanceResult::update
void update(FCL_REAL distance, const CollisionGeometry *o1_, const CollisionGeometry *o2_, int b1_, int b2_)
add distance information into the result
Definition: collision_data.h:412
hpp::fcl::CollisionResult::distance_lower_bound
FCL_REAL distance_lower_bound
Definition: collision_data.h:260
hpp::fcl::operator&
CollisionRequestFlag operator&(CollisionRequestFlag a, CollisionRequestFlag b)
Definition: collision_data.h:499
hpp::fcl::CollisionRequest::CollisionRequest
CollisionRequest()
Definition: collision_data.h:225
hpp::fcl::QueryResult::cached_gjk_guess
Vec3f cached_gjk_guess
stores the last GJK ray when relevant.
Definition: collision_data.h:172
hpp::fcl::CollisionRequest::enable_distance_lower_bound
bool enable_distance_lower_bound
Whether a lower bound on distance is returned when objects are disjoint.
Definition: collision_data.h:206
hpp::fcl::operator~
CollisionRequestFlag operator~(CollisionRequestFlag a)
Definition: collision_data.h:493
hpp::fcl::operator^=
CollisionRequestFlag & operator^=(CollisionRequestFlag &a, CollisionRequestFlag b)
Definition: collision_data.h:511
hpp::fcl::Contact::b2
int b2
contact primitive in object 2 if object 2 is mesh or point cloud, it is the triangle or point id if o...
Definition: collision_data.h:76
hpp::fcl::Contact::o1
const CollisionGeometry * o1
collision object 1
Definition: collision_data.h:60
hpp::fcl::QueryResult::cached_support_func_guess
support_func_guess_t cached_support_func_guess
stores the last support function vertex index, when relevant.
Definition: collision_data.h:175
hpp::fcl::QueryRequest::enable_cached_gjk_guess
bool enable_cached_gjk_guess
whether enable gjk intial guess
Definition: collision_data.h:143
hpp::fcl::Contact::o2
const CollisionGeometry * o2
collision object 2
Definition: collision_data.h:63
hpp::fcl::CollisionResult::getContacts
void getContacts(std::vector< Contact > &contacts_) const
get all the contacts
Definition: collision_data.h:313
hpp::fcl::CollisionResult::CollisionResult
CollisionResult()
Definition: collision_data.h:263
hpp::fcl::CollisionResult
collision result
Definition: collision_data.h:250
hpp::fcl::DistanceResult::normal
Vec3f normal
In case both objects are in collision, store the normal.
Definition: collision_data.h:379
hpp::fcl::DistanceRequest
request to the distance computation
Definition: collision_data.h:334
hpp::fcl::DISTANCE_LOWER_BOUND
@ DISTANCE_LOWER_BOUND
Definition: collision_data.h:192
hpp::fcl::Contact::Contact
Contact(const CollisionGeometry *o1_, const CollisionGeometry *o2_, int b1_, int b2_, const Vec3f &pos_, const Vec3f &normal_, FCL_REAL depth_)
Definition: collision_data.h:103
hpp::fcl::QueryRequest::updateGuess
void updateGuess(const QueryResult &result)
Definition: collision_data.h:178
hpp::fcl::NO_REQUEST
@ NO_REQUEST
Definition: collision_data.h:193
hpp::fcl::DistanceResult
distance result
Definition: collision_data.h:368