fcl.hpp

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//
// Copyright (c) 2015-2023 CNRS INRIA
//
 
#ifndef __pinocchio_multibody_fcl_hpp__
#define __pinocchio_multibody_fcl_hpp__
 
#include "pinocchio/spatial/se3.hpp"
#include "pinocchio/multibody/fwd.hpp"
#include "pinocchio/container/aligned-vector.hpp"
 
#include <boost/variant.hpp>
 
#ifdef PINOCCHIO_WITH_HPP_FCL
 
  #if(WIN32)
    // It appears that std::snprintf is missing for Windows.
    #if !(( defined(_MSC_VER) && _MSC_VER < 1900 ) || ( defined(__MINGW32__) && !defined(__MINGW64_VERSION_MAJOR) ))
      #include <cstdio>
      #include <stdarg.h>
      namespace std
      {
        inline int _snprintf(char* buffer, std::size_t buf_size, const char* format, ...)
        {
          int res;
          
          va_list args;
          va_start(args, format);
          res = vsnprintf(buffer, buf_size, format, args);
          va_end(args);
          
          return res;
        }
      }
    #endif
  #endif
  
  #include <hpp/fcl/collision_object.h>
  #include <hpp/fcl/collision.h>
  #include <hpp/fcl/distance.h>
  #include <hpp/fcl/shape/geometric_shapes.h>
  #include "pinocchio/spatial/fcl-pinocchio-conversions.hpp"
#endif
 
#include <iostream>
#include <map>
#include <vector>
#include <utility>
#include <limits>
#include <assert.h>
 
#include <memory>
 
#include <boost/foreach.hpp>
 
namespace pinocchio
{
  using std::shared_ptr;
  using std::make_shared;
  
  struct CollisionPair
  : public std::pair<GeomIndex, GeomIndex>
  {
 
    typedef std::pair<GeomIndex, GeomIndex> Base;
   
    CollisionPair();
    
    CollisionPair(const GeomIndex co1, const GeomIndex co2);
    bool                  operator == (const CollisionPair& rhs) const;
    bool                  operator != (const CollisionPair& rhs) const;
    void                  disp        (std::ostream & os)        const;
    friend std::ostream & operator << (std::ostream & os,const CollisionPair & X);
 
  }; // struct CollisionPair
 
#ifndef PINOCCHIO_WITH_HPP_FCL  
 
  namespace fcl
  {
 
    struct FakeCollisionGeometry
    {
      FakeCollisionGeometry(){};
      
      bool operator==(const FakeCollisionGeometry &) const
      {
        return true;
      }
    };
 
    struct AABB
    {
      AABB(): min_(0), max_(1){};
 
      int min_;
      int max_;
    };
  
    typedef FakeCollisionGeometry CollisionGeometry;
 
  }
 
#else
 
  namespace fcl = hpp::fcl;
 
#endif // PINOCCHIO_WITH_HPP_FCL
 
enum GeometryType
{
  VISUAL,
  COLLISION
};
 
struct GeometryNoMaterial
{
};
 
struct GeometryPhongMaterial
{
  GeometryPhongMaterial() = default;
  GeometryPhongMaterial(const Eigen::Vector4d& meshEmissionColor,
                        const Eigen::Vector4d& meshSpecularColor,
                        double meshShininess)
    : meshEmissionColor(meshEmissionColor)
    , meshSpecularColor(meshSpecularColor)
    , meshShininess(meshShininess)
  {}
 
  Eigen::Vector4d meshEmissionColor{Eigen::Vector4d(0., 0., 0., 1.)};
 
  Eigen::Vector4d meshSpecularColor{Eigen::Vector4d(0., 0., 0., 1.)};
 
  double meshShininess{0.};
};
 
typedef boost::variant<GeometryNoMaterial, GeometryPhongMaterial> GeometryMaterial;
 
struct GeometryObject
{
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  
  typedef shared_ptr<fcl::CollisionGeometry> CollisionGeometryPtr;
  
  std::string name;
 
  FrameIndex parentFrame;
 
  JointIndex parentJoint;
 
  CollisionGeometryPtr geometry;
 
  PINOCCHIO_DEPRECATED CollisionGeometryPtr & fcl;
 
  SE3 placement;
 
  std::string meshPath;
 
  Eigen::Vector3d meshScale;
 
  bool overrideMaterial;
 
  Eigen::Vector4d meshColor;
 
  GeometryMaterial meshMaterial;
 
  std::string meshTexturePath;
  
  bool disableCollision;
 
PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
  GeometryObject(const std::string & name,
                 const FrameIndex parent_frame,
                 const JointIndex parent_joint,
                 const CollisionGeometryPtr & collision_geometry,
                 const SE3 & placement,
                 const std::string & meshPath = "",
                 const Eigen::Vector3d & meshScale = Eigen::Vector3d::Ones(),
                 const bool overrideMaterial = false,
                 const Eigen::Vector4d & meshColor = Eigen::Vector4d(0,0,0,1),
                 const std::string & meshTexturePath = "",
                 const GeometryMaterial& meshMaterial = GeometryNoMaterial())
  : name(name)
  , parentFrame(parent_frame)
  , parentJoint(parent_joint)
  , geometry(collision_geometry)
  , fcl(geometry)
  , placement(placement)
  , meshPath(meshPath)
  , meshScale(meshScale)
  , overrideMaterial(overrideMaterial)
  , meshColor(meshColor)
  , meshMaterial(meshMaterial)
  , meshTexturePath(meshTexturePath)
  , disableCollision(false)
  {}
PINOCCHIO_COMPILER_DIAGNOSTIC_POP
 
PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
  GeometryObject(const std::string & name,
                 const JointIndex parent_joint,
                 const CollisionGeometryPtr & collision_geometry,
                 const SE3 & placement,
                 const std::string & meshPath = "",
                 const Eigen::Vector3d & meshScale = Eigen::Vector3d::Ones(),
                 const bool overrideMaterial = false,
                 const Eigen::Vector4d & meshColor = Eigen::Vector4d::Ones(),
                 const std::string & meshTexturePath = "",
                 const GeometryMaterial& meshMaterial = GeometryNoMaterial())
  : name(name)
  , parentFrame(std::numeric_limits<FrameIndex>::max())
  , parentJoint(parent_joint)
  , geometry(collision_geometry)
  , fcl(geometry)
  , placement(placement)
  , meshPath(meshPath)
  , meshScale(meshScale)
  , overrideMaterial(overrideMaterial)
  , meshColor(meshColor)
  , meshMaterial(meshMaterial)
  , meshTexturePath(meshTexturePath)
  , disableCollision(false)
  {}
PINOCCHIO_COMPILER_DIAGNOSTIC_POP
 
PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
  GeometryObject(const GeometryObject & other)
  : fcl(geometry)
  {
    *this = other;
    
  }
PINOCCHIO_COMPILER_DIAGNOSTIC_POP
 
  GeometryObject & operator=(const GeometryObject & other)
  {
    name                = other.name;
    parentFrame         = other.parentFrame;
    parentJoint         = other.parentJoint;
    geometry            = other.geometry;
    placement           = other.placement;
    meshPath            = other.meshPath;
    meshScale           = other.meshScale;
    overrideMaterial    = other.overrideMaterial;
    meshColor           = other.meshColor;
    meshMaterial        = other.meshMaterial;
    meshTexturePath     = other.meshTexturePath;
    disableCollision   = other.disableCollision;
    return *this;
  }
 
  friend std::ostream & operator<< (std::ostream & os, const GeometryObject & geomObject);
};
 
#ifdef PINOCCHIO_WITH_HPP_FCL
 
  struct ComputeCollision
  : ::hpp::fcl::ComputeCollision
  {
    typedef ::hpp::fcl::ComputeCollision Base;
    typedef shared_ptr<const fcl::CollisionGeometry> ConstCollisionGeometryPtr;
    
    ComputeCollision(const GeometryObject & o1, const GeometryObject & o2)
    : Base(o1.geometry.get(),o2.geometry.get())
    , o1(o1.geometry)
    , o2(o2.geometry)
    {}
    
    virtual ~ComputeCollision() {};
    
  protected:
    ConstCollisionGeometryPtr o1;
    ConstCollisionGeometryPtr o2;
    
    virtual std::size_t run(const fcl::Transform3f& tf1, const fcl::Transform3f& tf2,
                            const fcl::CollisionRequest& request, fcl::CollisionResult& result) const
    {
      typedef ::hpp::fcl::CollisionGeometry const * Pointer;
      const_cast<Pointer&>(Base::o1) = o1.get();
      const_cast<Pointer&>(Base::o2) = o2.get();
      return Base::run(tf1, tf2, request, result);
    }
  };
 
  struct ComputeDistance
  : ::hpp::fcl::ComputeDistance
  {
    typedef ::hpp::fcl::ComputeDistance Base;
    typedef shared_ptr<fcl::CollisionGeometry> ConstCollisionGeometryPtr;
    
    ComputeDistance(const GeometryObject & o1, const GeometryObject & o2)
    : Base(o1.geometry.get(),o2.geometry.get())
    , o1(o1.geometry)
    , o2(o2.geometry)
    {}
    
    virtual ~ComputeDistance() {};
    
  protected:
    ConstCollisionGeometryPtr o1;
    ConstCollisionGeometryPtr o2;
    
    virtual hpp::fcl::FCL_REAL run(const fcl::Transform3f& tf1, const fcl::Transform3f& tf2,
                                   const fcl::DistanceRequest& request, fcl::DistanceResult& result) const
    {
      typedef ::hpp::fcl::CollisionGeometry const * Pointer;
      const_cast<Pointer&>(Base::o1) = o1.get();
      const_cast<Pointer&>(Base::o2) = o2.get();
      return Base::run(tf1, tf2, request, result);
    }
  };
  
#endif
 
} // namespace pinocchio
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "pinocchio/multibody/fcl.hxx"
 
#endif // ifndef __pinocchio_multibody_fcl_hpp__