collision_scene_fcl.h

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#ifndef EXOTICA_COLLISION_SCENE_FCL_COLLISION_SCENE_FCL_H_
#define EXOTICA_COLLISION_SCENE_FCL_COLLISION_SCENE_FCL_H_

#include <exotica_core/collision_scene.h>
#include <exotica_core/tools/conversions.h>

#include <fcl/BVH/BVH_model.h>
#include <fcl/broadphase/broadphase.h>
#include <fcl/collision.h>
#include <fcl/distance.h>
#include <fcl/narrowphase/narrowphase.h>
#include <fcl/octree.h>
#include <fcl/shape/geometric_shapes.h>

#include <geometric_shapes/mesh_operations.h>
#include <geometric_shapes/shape_operations.h>

namespace exotica
{
class CollisionSceneFCL : public CollisionScene
{
public:
    struct CollisionData
    {
        CollisionData(CollisionSceneFCL* scene_in) : scene(scene_in) {}
        fcl::CollisionRequest request;
        fcl::CollisionResult result;
        CollisionSceneFCL* scene;
        bool self = true;
        double safe_distance;
    };

    void Setup() override;

    static bool IsAllowedToCollide(fcl::CollisionObject* o1, fcl::CollisionObject* o2, bool self, CollisionSceneFCL* scene);
    static bool CollisionCallback(fcl::CollisionObject* o1, fcl::CollisionObject* o2, void* data);

    bool IsStateValid(bool self = true, double safe_distance = 0.0) override;
    bool IsCollisionFree(const std::string& o1, const std::string& o2, double safe_distance = 0.0) override;

    std::vector<std::string> GetCollisionWorldLinks() override;

    std::vector<std::string> GetCollisionRobotLinks() override;

    Eigen::Vector3d GetTranslation(const std::string& name) override;

    void UpdateCollisionObjects(const std::map<std::string, std::weak_ptr<KinematicElement>>& objects) override;

    void UpdateCollisionObjectTransforms() override;

private:
    std::shared_ptr<fcl::CollisionObject> ConstructFclCollisionObject(long i, std::shared_ptr<KinematicElement> element);
    static void CheckCollision(fcl::CollisionObject* o1, fcl::CollisionObject* o2, CollisionData* data);

    std::map<std::string, std::shared_ptr<fcl::CollisionObject>> fcl_cache_;

    std::vector<fcl::CollisionObject*> fcl_objects_;
    std::vector<std::weak_ptr<KinematicElement>> kinematic_elements_;
};
}

#endif  // EXOTICA_COLLISION_SCENE_FCL_COLLISION_SCENE_FCL_H_