src/collision.cpp

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#include "coal/collision.h"
#include "coal/collision_utility.h"
#include "coal/collision_func_matrix.h"
#include "coal/narrowphase/narrowphase.h"
 
namespace coal {
 
CollisionFunctionMatrix& getCollisionFunctionLookTable() {
  static CollisionFunctionMatrix table;
  return table;
}
 
// reorder collision results in the order the call has been made.
void CollisionResult::swapObjects() {
  for (std::vector<Contact>::iterator it = contacts.begin();
       it != contacts.end(); ++it) {
    std::swap(it->o1, it->o2);
    std::swap(it->b1, it->b2);
    it->nearest_points[0].swap(it->nearest_points[1]);
    it->normal *= -1;
  }
}
 
std::size_t collide(const CollisionObject* o1, const CollisionObject* o2,
                    const CollisionRequest& request, CollisionResult& result) {
  return collide(o1->collisionGeometryPtr(), o1->getTransform(),
                 o2->collisionGeometryPtr(), o2->getTransform(), request,
                 result);
}
 
std::size_t collide(const CollisionGeometry* o1, const Transform3s& tf1,
                    const CollisionGeometry* o2, const Transform3s& tf2,
                    const CollisionRequest& request, CollisionResult& result) {
  // If security margin is set to -infinity, return that there is no collision
  if (request.security_margin == -std::numeric_limits<CoalScalar>::infinity()) {
    result.clear();
    return false;
  }
 
  GJKSolver solver(request);
 
  const CollisionFunctionMatrix& looktable = getCollisionFunctionLookTable();
  std::size_t res;
  if (request.num_max_contacts == 0) {
    COAL_THROW_PRETTY("Invalid number of max contacts (current value is 0).",
                      std::invalid_argument);
    res = 0;
  } else {
    OBJECT_TYPE object_type1 = o1->getObjectType();
    OBJECT_TYPE object_type2 = o2->getObjectType();
    NODE_TYPE node_type1 = o1->getNodeType();
    NODE_TYPE node_type2 = o2->getNodeType();
 
    if (object_type1 == OT_GEOM &&
        (object_type2 == OT_BVH || object_type2 == OT_HFIELD)) {
      if (!looktable.collision_matrix[node_type2][node_type1]) {
        COAL_THROW_PRETTY("Collision function between node type "
                              << std::string(get_node_type_name(node_type1))
                              << " and node type "
                              << std::string(get_node_type_name(node_type2))
                              << " is not yet supported.",
                          std::invalid_argument);
        res = 0;
      } else {
        res = looktable.collision_matrix[node_type2][node_type1](
            o2, tf2, o1, tf1, &solver, request, result);
        result.swapObjects();
        result.nearest_points[0].swap(result.nearest_points[1]);
        result.normal *= -1;
      }
    } else {
      if (!looktable.collision_matrix[node_type1][node_type2]) {
        COAL_THROW_PRETTY("Collision function between node type "
                              << std::string(get_node_type_name(node_type1))
                              << " and node type "
                              << std::string(get_node_type_name(node_type2))
                              << " is not yet supported.",
                          std::invalid_argument);
        res = 0;
      } else
        res = looktable.collision_matrix[node_type1][node_type2](
            o1, tf1, o2, tf2, &solver, request, result);
    }
  }
  // Cache narrow phase solver result. If the option in the request is selected,
  // also store the solver result in the request for the next call.
  result.cached_gjk_guess = solver.cached_guess;
  result.cached_support_func_guess = solver.support_func_cached_guess;
  request.updateGuess(result);
 
  return res;
}
 
ComputeCollision::ComputeCollision(const CollisionGeometry* o1,
                                   const CollisionGeometry* o2)
    : o1(o1), o2(o2) {
  const CollisionFunctionMatrix& looktable = getCollisionFunctionLookTable();
 
  OBJECT_TYPE object_type1 = o1->getObjectType();
  NODE_TYPE node_type1 = o1->getNodeType();
  OBJECT_TYPE object_type2 = o2->getObjectType();
  NODE_TYPE node_type2 = o2->getNodeType();
 
  swap_geoms = object_type1 == OT_GEOM &&
               (object_type2 == OT_BVH || object_type2 == OT_HFIELD);
 
  if ((swap_geoms && !looktable.collision_matrix[node_type2][node_type1]) ||
      (!swap_geoms && !looktable.collision_matrix[node_type1][node_type2])) {
    COAL_THROW_PRETTY("Collision function between node type "
                          << std::string(get_node_type_name(node_type1))
                          << " and node type "
                          << std::string(get_node_type_name(node_type2))
                          << " is not yet supported.",
                      std::invalid_argument);
  }
  if (swap_geoms)
    func = looktable.collision_matrix[node_type2][node_type1];
  else
    func = looktable.collision_matrix[node_type1][node_type2];
}
 
std::size_t ComputeCollision::run(const Transform3s& tf1,
                                  const Transform3s& tf2,
                                  const CollisionRequest& request,
                                  CollisionResult& result) const {
  // If security margin is set to -infinity, return that there is no collision
  if (request.security_margin == -std::numeric_limits<CoalScalar>::infinity()) {
    result.clear();
    return false;
  }
  std::size_t res;
  if (swap_geoms) {
    res = func(o2, tf2, o1, tf1, &solver, request, result);
    result.swapObjects();
    result.nearest_points[0].swap(result.nearest_points[1]);
    result.normal *= -1;
  } else {
    res = func(o1, tf1, o2, tf2, &solver, request, result);
  }
  // Cache narrow phase solver result. If the option in the request is selected,
  // also store the solver result in the request for the next call.
  result.cached_gjk_guess = solver.cached_guess;
  result.cached_support_func_guess = solver.support_func_cached_guess;
  request.updateGuess(result);
 
  return res;
}
 
std::size_t ComputeCollision::operator()(const Transform3s& tf1,
                                         const Transform3s& tf2,
                                         const CollisionRequest& request,
                                         CollisionResult& result) const
 
{
  solver.set(request);
 
  std::size_t res;
  if (request.enable_timings) {
    Timer timer;
    res = run(tf1, tf2, request, result);
    result.timings = timer.elapsed();
  } else
    res = run(tf1, tf2, request, result);
 
  return res;
}
 
}  // namespace coal