frontlist.cpp
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35 
38 #define BOOST_TEST_MODULE COAL_FRONT_LIST
39 #include <boost/test/included/unit_test.hpp>
40 
41 #include "coal/internal/traversal_node_bvhs.h"
42 #include "coal/internal/traversal_node_setup.h"
43 #include <../src/collision_node.h>
44 #include "coal/internal/BV_splitter.h"
45 #include "utility.h"
46 
47 #include "fcl_resources/config.h"
48 #include <boost/filesystem.hpp>
49 
50 using namespace coal;
51 namespace utf = boost::unit_test::framework;
52 
53 template <typename BV>
54 bool collide_front_list_Test(const Transform3s& tf1, const Transform3s& tf2,
55  const std::vector<Vec3s>& vertices1,
56  const std::vector<Triangle>& triangles1,
57  const std::vector<Vec3s>& vertices2,
58  const std::vector<Triangle>& triangles2,
59  SplitMethodType split_method, bool refit_bottomup,
60  bool verbose);
61 
62 template <typename BV, typename TraversalNode>
63 bool collide_front_list_Test_Oriented(const Transform3s& tf1,
64  const Transform3s& tf2,
65  const std::vector<Vec3s>& vertices1,
66  const std::vector<Triangle>& triangles1,
67  const std::vector<Vec3s>& vertices2,
68  const std::vector<Triangle>& triangles2,
69  SplitMethodType split_method,
70  bool verbose);
71 
72 template <typename BV>
73 bool collide_Test(const Transform3s& tf, const std::vector<Vec3s>& vertices1,
74  const std::vector<Triangle>& triangles1,
75  const std::vector<Vec3s>& vertices2,
76  const std::vector<Triangle>& triangles2,
77  SplitMethodType split_method, bool verbose);
78 
79 // TODO: randomly still have some runtime error
80 BOOST_AUTO_TEST_CASE(front_list) {
81  std::vector<Vec3s> p1, p2;
82  std::vector<Triangle> t1, t2;
83  boost::filesystem::path path(TEST_RESOURCES_DIR);
84  loadOBJFile((path / "env.obj").string().c_str(), p1, t1);
85  loadOBJFile((path / "rob.obj").string().c_str(), p2, t2);
86 
87  std::vector<Transform3s> transforms; // t0
88  std::vector<Transform3s> transforms2; // t1
89  CoalScalar extents[] = {-3000, -3000, 0, 3000, 3000, 3000};
90  CoalScalar delta_trans[] = {1, 1, 1};
91 #ifndef NDEBUG // if debug mode
92  std::size_t n = 2;
93 #else
94  std::size_t n = 20;
95 #endif
96  n = getNbRun(utf::master_test_suite().argc, utf::master_test_suite().argv, n);
97  bool verbose = false;
98 
99  generateRandomTransforms(extents, delta_trans, 0.005 * 2 * 3.1415, transforms,
100  transforms2, n);
101 
102  bool res, res2;
103 
104  for (std::size_t i = 0; i < transforms.size(); ++i) {
105  res = collide_Test<AABB>(transforms2[i], p1, t1, p2, t2,
106  SPLIT_METHOD_MEDIAN, verbose);
107  res2 =
108  collide_front_list_Test<AABB>(transforms[i], transforms2[i], p1, t1, p2,
109  t2, SPLIT_METHOD_MEDIAN, false, verbose);
110  BOOST_CHECK(res == res2);
111  res = collide_Test<AABB>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN,
112  verbose);
113  res2 =
114  collide_front_list_Test<AABB>(transforms[i], transforms2[i], p1, t1, p2,
115  t2, SPLIT_METHOD_MEAN, false, verbose);
116  BOOST_CHECK(res == res2);
117  res = collide_Test<AABB>(transforms2[i], p1, t1, p2, t2,
118  SPLIT_METHOD_BV_CENTER, verbose);
119  res2 = collide_front_list_Test<AABB>(transforms[i], transforms2[i], p1, t1,
120  p2, t2, SPLIT_METHOD_BV_CENTER, false,
121  verbose);
122  BOOST_CHECK(res == res2);
123  }
124 
125  for (std::size_t i = 0; i < transforms.size(); ++i) {
126  res = collide_Test<OBB>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN,
127  verbose);
128  res2 =
129  collide_front_list_Test<OBB>(transforms[i], transforms2[i], p1, t1, p2,
130  t2, SPLIT_METHOD_MEDIAN, false, verbose);
131  BOOST_CHECK(res == res2);
132  res = collide_Test<OBB>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN,
133  verbose);
134  res2 =
135  collide_front_list_Test<OBB>(transforms[i], transforms2[i], p1, t1, p2,
136  t2, SPLIT_METHOD_MEAN, false, verbose);
137  BOOST_CHECK(res == res2);
138  res = collide_Test<OBB>(transforms2[i], p1, t1, p2, t2,
139  SPLIT_METHOD_BV_CENTER, verbose);
140  res2 = collide_front_list_Test<OBB>(transforms[i], transforms2[i], p1, t1,
141  p2, t2, SPLIT_METHOD_BV_CENTER, false,
142  verbose);
143  BOOST_CHECK(res == res2);
144  }
145 
146  for (std::size_t i = 0; i < transforms.size(); ++i) {
147  // Disabled broken test lines. Please see #25.
148  // res = collide_Test<RSS>(transforms2[i], p1, t1, p2, t2,
149  // SPLIT_METHOD_MEDIAN, verbose); res2 =
150  // collide_front_list_Test<RSS>(transforms[i], transforms2[i], p1, t1, p2,
151  // t2, SPLIT_METHOD_MEDIAN, false, verbose); BOOST_CHECK(res == res2);
152  res = collide_Test<RSS>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN,
153  verbose);
154  res2 =
155  collide_front_list_Test<RSS>(transforms[i], transforms2[i], p1, t1, p2,
156  t2, SPLIT_METHOD_MEAN, false, verbose);
157  BOOST_CHECK(res == res2);
158  res = collide_Test<RSS>(transforms2[i], p1, t1, p2, t2,
159  SPLIT_METHOD_BV_CENTER, verbose);
160  res2 = collide_front_list_Test<RSS>(transforms[i], transforms2[i], p1, t1,
161  p2, t2, SPLIT_METHOD_BV_CENTER, false,
162  verbose);
163  BOOST_CHECK(res == res2);
164  }
165 
166  for (std::size_t i = 0; i < transforms.size(); ++i) {
167  res = collide_Test<KDOP<16> >(transforms2[i], p1, t1, p2, t2,
168  SPLIT_METHOD_MEDIAN, verbose);
169  res2 = collide_front_list_Test<KDOP<16> >(transforms[i], transforms2[i], p1,
170  t1, p2, t2, SPLIT_METHOD_MEDIAN,
171  false, verbose);
172  BOOST_CHECK(res == res2);
173  res = collide_Test<KDOP<16> >(transforms2[i], p1, t1, p2, t2,
174  SPLIT_METHOD_MEAN, verbose);
175  res2 = collide_front_list_Test<KDOP<16> >(transforms[i], transforms2[i], p1,
176  t1, p2, t2, SPLIT_METHOD_MEAN,
177  false, verbose);
178  BOOST_CHECK(res == res2);
179  res = collide_Test<KDOP<16> >(transforms2[i], p1, t1, p2, t2,
180  SPLIT_METHOD_BV_CENTER, verbose);
181  res2 = collide_front_list_Test<KDOP<16> >(
182  transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER,
183  false, verbose);
184  BOOST_CHECK(res == res2);
185  }
186 
187  for (std::size_t i = 0; i < transforms.size(); ++i) {
188  res = collide_Test<KDOP<18> >(transforms2[i], p1, t1, p2, t2,
189  SPLIT_METHOD_MEDIAN, verbose);
190  res2 = collide_front_list_Test<KDOP<18> >(transforms[i], transforms2[i], p1,
191  t1, p2, t2, SPLIT_METHOD_MEDIAN,
192  false, verbose);
193  BOOST_CHECK(res == res2);
194  res = collide_Test<KDOP<18> >(transforms2[i], p1, t1, p2, t2,
195  SPLIT_METHOD_MEAN, verbose);
196  res2 = collide_front_list_Test<KDOP<18> >(transforms[i], transforms2[i], p1,
197  t1, p2, t2, SPLIT_METHOD_MEAN,
198  false, verbose);
199  BOOST_CHECK(res == res2);
200  res = collide_Test<KDOP<18> >(transforms2[i], p1, t1, p2, t2,
201  SPLIT_METHOD_BV_CENTER, verbose);
202  res2 = collide_front_list_Test<KDOP<18> >(
203  transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER,
204  false, verbose);
205  BOOST_CHECK(res == res2);
206  }
207 
208  for (std::size_t i = 0; i < transforms.size(); ++i) {
209  res = collide_Test<KDOP<24> >(transforms2[i], p1, t1, p2, t2,
210  SPLIT_METHOD_MEDIAN, verbose);
211  res2 = collide_front_list_Test<KDOP<24> >(transforms[i], transforms2[i], p1,
212  t1, p2, t2, SPLIT_METHOD_MEDIAN,
213  false, verbose);
214  BOOST_CHECK(res == res2);
215  res = collide_Test<KDOP<24> >(transforms2[i], p1, t1, p2, t2,
216  SPLIT_METHOD_MEAN, verbose);
217  res2 = collide_front_list_Test<KDOP<24> >(transforms[i], transforms2[i], p1,
218  t1, p2, t2, SPLIT_METHOD_MEAN,
219  false, verbose);
220  BOOST_CHECK(res == res2);
221  res = collide_Test<KDOP<24> >(transforms2[i], p1, t1, p2, t2,
222  SPLIT_METHOD_BV_CENTER, verbose);
223  res2 = collide_front_list_Test<KDOP<24> >(
224  transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER,
225  false, verbose);
226  BOOST_CHECK(res == res2);
227  }
228 
229  for (std::size_t i = 0; i < transforms.size(); ++i) {
230  res = collide_Test<RSS>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN,
231  verbose);
232  res2 = collide_front_list_Test_Oriented<RSS, MeshCollisionTraversalNodeRSS>(
233  transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN,
234  verbose);
235  BOOST_CHECK(res == res2);
236  res = collide_Test<RSS>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN,
237  verbose);
238  res2 = collide_front_list_Test_Oriented<RSS, MeshCollisionTraversalNodeRSS>(
239  transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN,
240  verbose);
241  BOOST_CHECK(res == res2);
242  res = collide_Test<RSS>(transforms2[i], p1, t1, p2, t2,
243  SPLIT_METHOD_BV_CENTER, verbose);
244  res2 = collide_front_list_Test_Oriented<RSS, MeshCollisionTraversalNodeRSS>(
245  transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER,
246  verbose);
247  BOOST_CHECK(res == res2);
248  }
249 
250  for (std::size_t i = 0; i < transforms.size(); ++i) {
251  res = collide_Test<OBB>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN,
252  verbose);
253  res2 = collide_front_list_Test_Oriented<OBB, MeshCollisionTraversalNodeOBB>(
254  transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN,
255  verbose);
256  BOOST_CHECK(res == res2);
257  res = collide_Test<OBB>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN,
258  verbose);
259  res2 = collide_front_list_Test_Oriented<OBB, MeshCollisionTraversalNodeOBB>(
260  transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN,
261  verbose);
262  BOOST_CHECK(res == res2);
263  res = collide_Test<OBB>(transforms2[i], p1, t1, p2, t2,
264  SPLIT_METHOD_BV_CENTER, verbose);
265  res2 = collide_front_list_Test_Oriented<OBB, MeshCollisionTraversalNodeOBB>(
266  transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER,
267  verbose);
268  BOOST_CHECK(res == res2);
269  }
270 }
271 
272 template <typename BV>
273 bool collide_front_list_Test(const Transform3s& tf1, const Transform3s& tf2,
274  const std::vector<Vec3s>& vertices1,
275  const std::vector<Triangle>& triangles1,
276  const std::vector<Vec3s>& vertices2,
277  const std::vector<Triangle>& triangles2,
278  SplitMethodType split_method, bool refit_bottomup,
279  bool verbose) {
280  BVHModel<BV> m1;
281  BVHModel<BV> m2;
282  m1.bv_splitter.reset(new BVSplitter<BV>(split_method));
283  m2.bv_splitter.reset(new BVSplitter<BV>(split_method));
284 
285  BVHFrontList front_list;
286 
287  std::vector<Vec3s> vertices1_new(vertices1.size());
288  for (std::size_t i = 0; i < vertices1_new.size(); ++i) {
289  vertices1_new[i] = tf1.transform(vertices1[i]);
290  }
291 
292  m1.beginModel();
293  m1.addSubModel(vertices1_new, triangles1);
294  m1.endModel();
295 
296  m2.beginModel();
297  m2.addSubModel(vertices2, triangles2);
298  m2.endModel();
299 
300  Transform3s pose1, pose2;
301 
302  CollisionResult local_result;
303  CollisionRequest request(NO_REQUEST, (std::numeric_limits<int>::max)());
304  MeshCollisionTraversalNode<BV> node(request);
305 
306  bool success = initialize<BV>(node, m1, pose1, m2, pose2, local_result);
307  BOOST_REQUIRE(success);
308 
309  node.enable_statistics = verbose;
310 
311  collide(&node, request, local_result, &front_list);
312 
313  if (verbose)
314  std::cout << "front list size " << front_list.size() << std::endl;
315 
316  // update the mesh
317  for (std::size_t i = 0; i < vertices1.size(); ++i) {
318  vertices1_new[i] = tf2.transform(vertices1[i]);
319  }
320 
321  m1.beginReplaceModel();
322  m1.replaceSubModel(vertices1_new);
323  m1.endReplaceModel(true, refit_bottomup);
324 
325  m2.beginReplaceModel();
326  m2.replaceSubModel(vertices2);
327  m2.endReplaceModel(true, refit_bottomup);
328 
329  local_result.clear();
330  collide(&node, request, local_result, &front_list);
331 
332  if (local_result.numContacts() > 0)
333  return true;
334  else
335  return false;
336 }
337 
338 template <typename BV, typename TraversalNode>
339 bool collide_front_list_Test_Oriented(const Transform3s& tf1,
340  const Transform3s& tf2,
341  const std::vector<Vec3s>& vertices1,
342  const std::vector<Triangle>& triangles1,
343  const std::vector<Vec3s>& vertices2,
344  const std::vector<Triangle>& triangles2,
345  SplitMethodType split_method,
346  bool verbose) {
347  BVHModel<BV> m1;
348  BVHModel<BV> m2;
349  m1.bv_splitter.reset(new BVSplitter<BV>(split_method));
350  m2.bv_splitter.reset(new BVSplitter<BV>(split_method));
351 
352  BVHFrontList front_list;
353 
354  m1.beginModel();
355  m1.addSubModel(vertices1, triangles1);
356  m1.endModel();
357 
358  m2.beginModel();
359  m2.addSubModel(vertices2, triangles2);
360  m2.endModel();
361 
362  Transform3s pose1(tf1), pose2;
363 
364  CollisionResult local_result;
365  CollisionRequest request(NO_REQUEST, (std::numeric_limits<int>::max)());
366  TraversalNode node(request);
367 
368  bool success = initialize(node, (const BVHModel<BV>&)m1, pose1,
369  (const BVHModel<BV>&)m2, pose2, local_result);
370  BOOST_REQUIRE(success);
371 
372  node.enable_statistics = verbose;
373 
374  collide(&node, request, local_result, &front_list);
375 
376  if (verbose)
377  std::cout << "front list size " << front_list.size() << std::endl;
378 
379  // update the mesh
380  pose1 = tf2;
381  success = initialize(node, (const BVHModel<BV>&)m1, pose1,
382  (const BVHModel<BV>&)m2, pose2, local_result);
383  BOOST_REQUIRE(success);
384 
385  local_result.clear();
386  collide(&node, request, local_result, &front_list);
387 
388  if (local_result.numContacts() > 0)
389  return true;
390  else
391  return false;
392 }
393 
394 template <typename BV>
395 bool collide_Test(const Transform3s& tf, const std::vector<Vec3s>& vertices1,
396  const std::vector<Triangle>& triangles1,
397  const std::vector<Vec3s>& vertices2,
398  const std::vector<Triangle>& triangles2,
399  SplitMethodType split_method, bool verbose) {
400  BVHModel<BV> m1;
401  BVHModel<BV> m2;
402  m1.bv_splitter.reset(new BVSplitter<BV>(split_method));
403  m2.bv_splitter.reset(new BVSplitter<BV>(split_method));
404 
405  m1.beginModel();
406  m1.addSubModel(vertices1, triangles1);
407  m1.endModel();
408 
409  m2.beginModel();
410  m2.addSubModel(vertices2, triangles2);
411  m2.endModel();
412 
413  Transform3s pose1(tf), pose2;
414 
415  CollisionResult local_result;
416  CollisionRequest request(NO_REQUEST, (std::numeric_limits<int>::max)());
417  MeshCollisionTraversalNode<BV> node(request);
418 
419  bool success = initialize<BV>(node, m1, pose1, m2, pose2, local_result);
420  BOOST_REQUIRE(success);
421 
422  node.enable_statistics = verbose;
423 
424  collide(&node, request, local_result);
425 
426  if (local_result.numContacts() > 0)
427  return true;
428  else
429  return false;
430 }
verbose
bool verbose
Definition: benchmark.cpp:32
coal::BVHModelBase::beginModel
int beginModel(unsigned int num_tris=0, unsigned int num_vertices=0)
Begin a new BVH model.
Definition: BVH_model.cpp:179
coal::BVHModelBase::replaceSubModel
int replaceSubModel(const std::vector< Vec3s > &ps)
Replace a set of points in the old BVH model.
Definition: BVH_model.cpp:628
coal::SplitMethodType
SplitMethodType
Three types of split algorithms are provided in FCL as default.
Definition: coal/internal/BV_splitter.h:50
coal::BVHModelBase::endModel
int endModel()
End BVH model construction, will build the bounding volume hierarchy.
Definition: BVH_model.cpp:507
traversal_node_bvhs.h
gjk.tf1
tuple tf1
Definition: test/scripts/gjk.py:27
coal::BVHModelBase::endReplaceModel
int endReplaceModel(bool refit=true, bool bottomup=true)
End BVH model replacement, will also refit or rebuild the bounding volume hierarchy.
Definition: BVH_model.cpp:645
coal
Main namespace.
Definition: coal/broadphase/broadphase_bruteforce.h:44
BOOST_AUTO_TEST_CASE
BOOST_AUTO_TEST_CASE(front_list)
Definition: frontlist.cpp:80
utility.h
coal::NO_REQUEST
@ NO_REQUEST
Definition: coal/collision_data.h:307
coal::BVHFrontList
std::list< BVHFrontNode > BVHFrontList
BVH front list is a list of front nodes.
Definition: coal/BVH/BVH_front.h:66
coal::BVSplitter
A class describing the split rule that splits each BV node.
Definition: coal/BVH/BVH_model.h:61
coal::BVHModelBase::addSubModel
int addSubModel(const std::vector< Vec3s > &ps, const std::vector< Triangle > &ts)
Add a set of triangles in the new BVH model.
Definition: BVH_model.cpp:439
coal::SPLIT_METHOD_MEAN
@ SPLIT_METHOD_MEAN
Definition: coal/internal/BV_splitter.h:51
traversal_node_setup.h
coal::Transform3s
Simple transform class used locally by InterpMotion.
Definition: coal/math/transform.h:55
res
res
collide_front_list_Test_Oriented
bool collide_front_list_Test_Oriented(const Transform3s &tf1, const Transform3s &tf2, const std::vector< Vec3s > &vertices1, const std::vector< Triangle > &triangles1, const std::vector< Vec3s > &vertices2, const std::vector< Triangle > &triangles2, SplitMethodType split_method, bool verbose)
Definition: frontlist.cpp:339
coal::CollisionResult::clear
void clear()
clear the results obtained
Definition: coal/collision_data.h:483
t2
dictionary t2
coal::SPLIT_METHOD_MEDIAN
@ SPLIT_METHOD_MEDIAN
Definition: coal/internal/BV_splitter.h:52
coal::CollisionResult
collision result
Definition: coal/collision_data.h:390
coal::CollisionRequest
request to the collision algorithm
Definition: coal/collision_data.h:311
gjk.tf2
tuple tf2
Definition: test/scripts/gjk.py:36
coal::BVHModelBase::beginReplaceModel
int beginReplaceModel()
Replace the geometry information of current frame (i.e. should have the same mesh topology with the p...
Definition: BVH_model.cpp:577
coal::BVHModel::bv_splitter
shared_ptr< BVSplitter< BV > > bv_splitter
Split rule to split one BV node into two children.
Definition: coal/BVH/BVH_model.h:322
collision.path
path
Definition: scripts/collision.py:6
coal::generateRandomTransforms
void generateRandomTransforms(CoalScalar extents[6], std::vector< Transform3s > &transforms, std::size_t n)
Generate n random transforms whose translations are constrained by extents.
Definition: utility.cpp:226
BV_splitter.h
extents
CoalScalar extents[6]
Definition: test/geometric_shapes.cpp:53
octree.p1
tuple p1
Definition: octree.py:54
coal::BVHModel
A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as ...
Definition: coal/BVH/BVH_model.h:314
collide_Test
bool collide_Test(const Transform3s &tf, const std::vector< Vec3s > &vertices1, const std::vector< Triangle > &triangles1, const std::vector< Vec3s > &vertices2, const std::vector< Triangle > &triangles2, SplitMethodType split_method, bool verbose)
Definition: frontlist.cpp:395
coal::collide
COAL_DLLAPI std::size_t collide(const CollisionObject *o1, const CollisionObject *o2, const CollisionRequest &request, CollisionResult &result)
Main collision interface: given two collision objects, and the requirements for contacts,...
Definition: src/collision.cpp:61
coal::getNbRun
std::size_t getNbRun(const int &argc, char const *const *argv, std::size_t defaultValue)
Get the argument –nb-run from argv.
Definition: utility.cpp:384
coal::CoalScalar
double CoalScalar
Definition: coal/data_types.h:76
coal::SPLIT_METHOD_BV_CENTER
@ SPLIT_METHOD_BV_CENTER
Definition: coal/internal/BV_splitter.h:53
coal::loadOBJFile
void loadOBJFile(const char *filename, std::vector< Vec3s > &points, std::vector< Triangle > &triangles)
Load an obj mesh file.
Definition: utility.cpp:97
initialize
bool initialize(MeshCollisionTraversalNode< BV, RelativeTransformationIsIdentity > &node, BVHModel< BV > &model1, Transform3s &tf1, BVHModel< BV > &model2, Transform3s &tf2, CollisionResult &result, bool use_refit=false, bool refit_bottomup=false)
Initialize traversal node for collision between two meshes, given the current transforms.
Definition: coal/internal/traversal_node_setup.h:467
collide_front_list_Test
bool collide_front_list_Test(const Transform3s &tf1, const Transform3s &tf2, const std::vector< Vec3s > &vertices1, const std::vector< Triangle > &triangles1, const std::vector< Vec3s > &vertices2, const std::vector< Triangle > &triangles2, SplitMethodType split_method, bool refit_bottomup, bool verbose)
Definition: frontlist.cpp:273
coal::CollisionResult::numContacts
size_t numContacts() const
number of contacts found
Definition: coal/collision_data.h:446

hpp-fcl
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autogenerated on Sat Nov 23 2024 03:44:58