collision.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011-2014, Willow Garage, Inc.
 *  Copyright (c) 2014-2015, Open Source Robotics Foundation
 *  Copyright (c) 2021, INRIA
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Open Source Robotics Foundation nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef HPP_FCL_COLLISION_H
#define HPP_FCL_COLLISION_H
 
#include <hpp/fcl/data_types.h>
#include <hpp/fcl/collision_object.h>
#include <hpp/fcl/collision_data.h>
#include <hpp/fcl/collision_func_matrix.h>
#include <hpp/fcl/timings.h>
 
namespace hpp
{
namespace fcl
{
 
HPP_FCL_DLLAPI std::size_t collide(const CollisionObject* o1, const CollisionObject* o2,
                                   const CollisionRequest& request, CollisionResult& result);
 
HPP_FCL_DLLAPI std::size_t collide(const CollisionGeometry* o1, const Transform3f& tf1,
                                   const CollisionGeometry* o2, const Transform3f& tf2,
                                   const CollisionRequest& request, CollisionResult& result);
 
inline std::size_t collide(const CollisionObject* o1, const CollisionObject* o2,
                           CollisionRequest& request, CollisionResult& result)
{
  std::size_t res = collide(o1, o2, (const CollisionRequest&) request, result);
  request.updateGuess (result);
  return res;
}
 
inline std::size_t collide(const CollisionGeometry* o1, const Transform3f& tf1,
                           const CollisionGeometry* o2, const Transform3f& tf2,
                           CollisionRequest& request, CollisionResult& result)
{
  std::size_t res = collide(o1, tf1, o2, tf2,
      (const CollisionRequest&) request, result);
  request.updateGuess (result);
  return res;
}
 
class HPP_FCL_DLLAPI ComputeCollision {
public:
  ComputeCollision(const CollisionGeometry* o1, const CollisionGeometry* o2);
 
  std::size_t operator()(const Transform3f& tf1, const Transform3f& tf2,
                         const CollisionRequest& request, CollisionResult& result) const
  {
    bool cached = request.enable_cached_gjk_guess;
    solver.enable_cached_guess = cached;
    if (cached) {
      solver.cached_guess = request.cached_gjk_guess;
      solver.support_func_cached_guess = request.cached_support_func_guess;
    }
    
    solver.distance_upper_bound = request.distance_upper_bound;
 
    std::size_t res;
    {
      Timer timer;
      if (swap_geoms) {
        res = func(o2, tf2, o1, tf1, &solver, request, result);
        result.swapObjects();
      } else {
        res = func (o1, tf1, o2, tf2, &solver, request, result);
      }
      result.timings = timer.elapsed();
    }
 
    if (cached) {
      result.cached_gjk_guess = solver.cached_guess;
      result.cached_support_func_guess = solver.support_func_cached_guess;
    }
    return res;
  }
 
  inline std::size_t operator()(const Transform3f& tf1, const Transform3f& tf2,
                                CollisionRequest& request, CollisionResult& result) const
  {
    std::size_t res = operator()(tf1, tf2, (const CollisionRequest&) request, result);
    request.updateGuess (result);
    return res;
  }
 
private:
  CollisionGeometry const *o1, *o2;
  GJKSolver solver;
 
  CollisionFunctionMatrix::CollisionFunc func;
  bool swap_geoms;
};
 
} // namespace fcl
} // namespace hpp
 
#endif