collision.cpp

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#include "fcl/collision.h"
#include "fcl/collision_func_matrix.h"
#include "fcl/narrowphase/narrowphase.h"

#include <iostream>

namespace fcl
{

template<typename GJKSolver>
CollisionFunctionMatrix<GJKSolver>& getCollisionFunctionLookTable()
{
  static CollisionFunctionMatrix<GJKSolver> table;
  return table;
};

template<typename NarrowPhaseSolver>
std::size_t collide(const CollisionObject* o1, const CollisionObject* o2,
                    const NarrowPhaseSolver* nsolver,
                    const CollisionRequest& request,
                    CollisionResult& result)
{
  return collide(o1->getCollisionGeometry(), o1->getTransform(), o2->getCollisionGeometry(), o2->getTransform(),
                 nsolver, request, result);
}

template<typename NarrowPhaseSolver>
std::size_t collide(const CollisionGeometry* o1, const Transform3f& tf1,
                    const CollisionGeometry* o2, const Transform3f& tf2,
                    const NarrowPhaseSolver* nsolver_,
                    const CollisionRequest& request,
                    CollisionResult& result)
{
  const NarrowPhaseSolver* nsolver = nsolver_;
  if(!nsolver_)
    nsolver = new NarrowPhaseSolver();

  const CollisionFunctionMatrix<NarrowPhaseSolver>& looktable = getCollisionFunctionLookTable<NarrowPhaseSolver>();

  std::size_t res; 
  if(request.num_max_contacts == 0)
  {
    std::cerr << "Warning: should stop early as num_max_contact is " << request.num_max_contacts << " !" << std::endl;
    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)
    {  
      if(!looktable.collision_matrix[node_type2][node_type1])
      {
        std::cerr << "Warning: collision function between node type " << node_type1 << " and node type " << node_type2 << " is not supported"<< std::endl;
        res = 0;
      }
      else
        res = looktable.collision_matrix[node_type2][node_type1](o2, tf2, o1, tf1, nsolver, request, result);
    }
    else
    {
      if(!looktable.collision_matrix[node_type1][node_type2])
      {
        std::cerr << "Warning: collision function between node type " << node_type1 << " and node type " << node_type2 << " is not supported"<< std::endl;
        res = 0;
      }
      else
        res = looktable.collision_matrix[node_type1][node_type2](o1, tf1, o2, tf2, nsolver, request, result);
    }
  }

  if(!nsolver_)
    delete nsolver;
  
  return res;
}

template std::size_t collide(const CollisionObject* o1, const CollisionObject* o2, const GJKSolver_libccd* nsolver, const CollisionRequest& request, CollisionResult& result);
template std::size_t collide(const CollisionObject* o1, const CollisionObject* o2, const GJKSolver_indep* nsolver, const CollisionRequest& request, CollisionResult& result);
template std::size_t collide(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const GJKSolver_libccd* nsolver, const CollisionRequest& request, CollisionResult& result);
template std::size_t collide(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const GJKSolver_indep* nsolver, const CollisionRequest& request, CollisionResult& result);


std::size_t collide(const CollisionObject* o1, const CollisionObject* o2,
                    const CollisionRequest& request, CollisionResult& result)
{
  GJKSolver_libccd solver;
  return collide<GJKSolver_libccd>(o1, o2, &solver, request, result);
}

std::size_t collide(const CollisionGeometry* o1, const Transform3f& tf1,
                    const CollisionGeometry* o2, const Transform3f& tf2,
                    const CollisionRequest& request, CollisionResult& result)
{
  GJKSolver_libccd solver;
  return collide<GJKSolver_libccd>(o1, tf1, o2, tf2, &solver, request, result);
  // GJKSolver_indep solver;
  // return collide<GJKSolver_indep>(o1, tf1, o2, tf2, &solver, request, result);
}

}