tesseract_compound_compound_collision_algorithm.cpp

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org
 
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
 
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If
you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not
required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original
software.
3. This notice may not be removed or altered from any source distribution.
 
*/
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <LinearMath/btQuickprof.h>
#include <BulletCollision/CollisionDispatch/btCollisionObject.h>
#include <BulletCollision/CollisionShapes/btCompoundShape.h>
#include <BulletCollision/CollisionShapes/btCollisionShape.h>
#include <BulletCollision/BroadphaseCollision/btDbvt.h>
#include <BulletCollision/NarrowPhaseCollision/btPersistentManifold.h>
#include <LinearMath/btIDebugDraw.h>
#include <LinearMath/btAabbUtil2.h>
#include <BulletCollision/CollisionDispatch/btManifoldResult.h>
#include <BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
// USE_LOCAL_STACK will avoid most (often all) dynamic memory allocations due to resizing in processCollision and
// MycollideTT
#define USE_LOCAL_STACK 1
 
#include <tesseract_collision/bullet/tesseract_compound_compound_collision_algorithm.h>
#include <tesseract_collision/core/types.h>
 
// LCOV_EXCL_START
// See tesseract issue: https://github.com/tesseract-robotics/tesseract/issues/934
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
namespace tesseract_collision::tesseract_collision_bullet
{
TesseractCompoundCompoundCollisionAlgorithm::TesseractCompoundCompoundCollisionAlgorithm(
    const btCollisionAlgorithmConstructionInfo& ci,
    const btCollisionObjectWrapper* body0Wrap,
    const btCollisionObjectWrapper* body1Wrap,
    bool isSwapped)
  : TesseractCompoundCollisionAlgorithm(ci, body0Wrap, body1Wrap, isSwapped)
{
  void* ptr = btAlignedAlloc(sizeof(btHashedSimplePairCache), 16);
  m_childCollisionAlgorithmCache = new (ptr) btHashedSimplePairCache();  // NOLINT
 
  const btCollisionObjectWrapper* col0ObjWrap = body0Wrap;
  btAssert(col0ObjWrap->getCollisionShape()->isCompound());
 
  const btCollisionObjectWrapper* col1ObjWrap = body1Wrap;
  btAssert(col1ObjWrap->getCollisionShape()->isCompound());
 
  const auto* compoundShape0 = static_cast<const btCompoundShape*>(col0ObjWrap->getCollisionShape());  // NOLINT
  m_compoundShapeRevision0 = compoundShape0->getUpdateRevision();
 
  const auto* compoundShape1 = static_cast<const btCompoundShape*>(col1ObjWrap->getCollisionShape());  // NOLINT
  m_compoundShapeRevision1 = compoundShape1->getUpdateRevision();
}
 
TesseractCompoundCompoundCollisionAlgorithm::~TesseractCompoundCompoundCollisionAlgorithm()
{
  removeChildAlgorithms();
  m_childCollisionAlgorithmCache->~btHashedSimplePairCache();
  btAlignedFree(m_childCollisionAlgorithmCache);
}
 
void TesseractCompoundCompoundCollisionAlgorithm::getAllContactManifolds(btManifoldArray& manifoldArray)
{
  btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
  for (int i = 0; i < pairs.size(); i++)
  {
    if (pairs[i].m_userPointer != nullptr)
    {
      ((btCollisionAlgorithm*)pairs[i].m_userPointer)->getAllContactManifolds(manifoldArray);  // NOLINT
    }
  }
}
 
void TesseractCompoundCompoundCollisionAlgorithm::removeChildAlgorithms()
{
  btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
 
  int numChildren = pairs.size();
  for (int i = 0; i < numChildren; i++)
  {
    if (pairs[i].m_userPointer != nullptr)
    {
      auto* algo = (btCollisionAlgorithm*)pairs[i].m_userPointer;  // NOLINT
      algo->~btCollisionAlgorithm();
      m_dispatcher->freeCollisionAlgorithm(algo);
    }
  }
  m_childCollisionAlgorithmCache->removeAllPairs();
}
 
struct TesseractCompoundCompoundLeafCallback : btDbvt::ICollide
{
  int m_numOverlapPairs{ 0 };
 
  const btCollisionObjectWrapper* m_compound0ColObjWrap;
  const btCollisionObjectWrapper* m_compound1ColObjWrap;
  btDispatcher* m_dispatcher;
  const btDispatcherInfo& m_dispatchInfo;  // NOLINT
  btManifoldResult* m_resultOut;
 
  class btHashedSimplePairCache* m_childCollisionAlgorithmCache;
 
  btPersistentManifold* m_sharedManifold;
 
  ContactTestData* m_contact_test_data;
 
  TesseractCompoundCompoundLeafCallback(const btCollisionObjectWrapper* compound1ObjWrap,
                                        const btCollisionObjectWrapper* compound0ObjWrap,
                                        btDispatcher* dispatcher,
                                        const btDispatcherInfo& dispatchInfo,
                                        btManifoldResult* resultOut,
                                        btHashedSimplePairCache* childAlgorithmsCache,
                                        btPersistentManifold* sharedManifold)
    : m_compound0ColObjWrap(compound1ObjWrap)
    , m_compound1ColObjWrap(compound0ObjWrap)
    , m_dispatcher(dispatcher)
    , m_dispatchInfo(dispatchInfo)
    , m_resultOut(resultOut)
    , m_childCollisionAlgorithmCache(childAlgorithmsCache)
    , m_sharedManifold(sharedManifold)
    , m_contact_test_data(static_cast<ContactTestData*>(compound1ObjWrap->m_collisionObject->getUserPointer()))
  {
  }
 
  void Process(const btDbvtNode* leaf0, const btDbvtNode* leaf1)  // NOLINT
  {
    BT_PROFILE("TesseractCompoundCompoundLeafCallback::Process");
    m_numOverlapPairs++;
 
    int childIndex0 = leaf0->dataAsInt;
    int childIndex1 = leaf1->dataAsInt;
 
    btAssert(childIndex0 >= 0);
    btAssert(childIndex1 >= 0);
 
    const auto* compoundShape0 = static_cast<const btCompoundShape*>(m_compound0ColObjWrap->getCollisionShape());
    btAssert(childIndex0 < compoundShape0->getNumChildShapes());
 
    const auto* compoundShape1 = static_cast<const btCompoundShape*>(m_compound1ColObjWrap->getCollisionShape());
    btAssert(childIndex1 < compoundShape1->getNumChildShapes());
 
    const btCollisionShape* childShape0 = compoundShape0->getChildShape(childIndex0);
    const btCollisionShape* childShape1 = compoundShape1->getChildShape(childIndex1);
 
    // backup
    btTransform orgTrans0 = m_compound0ColObjWrap->getWorldTransform();
    const btTransform& childTrans0 = compoundShape0->getChildTransform(childIndex0);
    btTransform newChildWorldTrans0 = orgTrans0 * childTrans0;
 
    btTransform orgTrans1 = m_compound1ColObjWrap->getWorldTransform();
    const btTransform& childTrans1 = compoundShape1->getChildTransform(childIndex1);
    btTransform newChildWorldTrans1 = orgTrans1 * childTrans1;
 
    // perform an AABB check first
    btVector3 aabbMin0, aabbMax0, aabbMin1, aabbMax1;
    childShape0->getAabb(newChildWorldTrans0, aabbMin0, aabbMax0);
    childShape1->getAabb(newChildWorldTrans1, aabbMin1, aabbMax1);
 
    btVector3 thresholdVec(m_resultOut->m_closestPointDistanceThreshold,
                           m_resultOut->m_closestPointDistanceThreshold,
                           m_resultOut->m_closestPointDistanceThreshold);
 
    aabbMin0 -= thresholdVec;
    aabbMax0 += thresholdVec;
 
    if (m_contact_test_data->done)
      return;
 
    if (TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1))
    {
      btCollisionObjectWrapper compoundWrap0(this->m_compound0ColObjWrap,
                                             childShape0,
                                             m_compound0ColObjWrap->getCollisionObject(),
                                             newChildWorldTrans0,
                                             -1,
                                             childIndex0);
      btCollisionObjectWrapper compoundWrap1(this->m_compound1ColObjWrap,
                                             childShape1,
                                             m_compound1ColObjWrap->getCollisionObject(),
                                             newChildWorldTrans1,
                                             -1,
                                             childIndex1);
 
      btSimplePair* pair = m_childCollisionAlgorithmCache->findPair(childIndex0, childIndex1);
      bool removePair = false;
      btCollisionAlgorithm* colAlgo = nullptr;
      if (m_resultOut->m_closestPointDistanceThreshold > 0)
      {
        colAlgo = m_dispatcher->findAlgorithm(&compoundWrap0, &compoundWrap1, nullptr, BT_CLOSEST_POINT_ALGORITHMS);
        removePair = true;
      }
      else
      {
        if (pair != nullptr)
        {
          colAlgo = (btCollisionAlgorithm*)pair->m_userPointer;  // NOLINT
        }
        else
        {
          colAlgo = m_dispatcher->findAlgorithm(
              &compoundWrap0, &compoundWrap1, m_sharedManifold, BT_CONTACT_POINT_ALGORITHMS);
          pair = m_childCollisionAlgorithmCache->addOverlappingPair(childIndex0, childIndex1);
          btAssert(pair);
          pair->m_userPointer = colAlgo;
        }
      }
 
      btAssert(colAlgo);
 
      const btCollisionObjectWrapper* tmpWrap0 = nullptr;
      const btCollisionObjectWrapper* tmpWrap1 = nullptr;
 
      tmpWrap0 = m_resultOut->getBody0Wrap();
      tmpWrap1 = m_resultOut->getBody1Wrap();
 
      m_resultOut->setBody0Wrap(&compoundWrap0);
      m_resultOut->setBody1Wrap(&compoundWrap1);
 
      m_resultOut->setShapeIdentifiersA(-1, childIndex0);
      m_resultOut->setShapeIdentifiersB(-1, childIndex1);
 
      colAlgo->processCollision(&compoundWrap0, &compoundWrap1, m_dispatchInfo, m_resultOut);
 
      m_resultOut->setBody0Wrap(tmpWrap0);
      m_resultOut->setBody1Wrap(tmpWrap1);
 
      if (removePair)
      {
        colAlgo->~btCollisionAlgorithm();
        m_dispatcher->freeCollisionAlgorithm(colAlgo);
      }
    }
  }
};
 
static DBVT_INLINE bool
MyIntersect(const btDbvtAabbMm& a, const btDbvtAabbMm& b, const btTransform& xform, btScalar distanceThreshold)
{
  btVector3 newmin, newmax;
  btTransformAabb(b.Mins(), b.Maxs(), btScalar(0), xform, newmin, newmax);
  newmin -= btVector3(distanceThreshold, distanceThreshold, distanceThreshold);
  newmax += btVector3(distanceThreshold, distanceThreshold, distanceThreshold);
  btDbvtAabbMm newb = btDbvtAabbMm::FromMM(newmin, newmax);
  return Intersect(a, newb);
}
 
static inline void MycollideTT(const btDbvtNode* root0,
                               const btDbvtNode* root1,
                               const btTransform& xform,
                               TesseractCompoundCompoundLeafCallback* callback,
                               btScalar distanceThreshold)
{
  if (root0 != nullptr && root1 != nullptr)
  {
    int depth = 1;
    int treshold = btDbvt::DOUBLE_STACKSIZE - 4;
    btAlignedObjectArray<btDbvt::sStkNN> stkStack;
#ifdef USE_LOCAL_STACK
    ATTRIBUTE_ALIGNED16(btDbvt::sStkNN localStack[btDbvt::DOUBLE_STACKSIZE]);  // NOLINT
    stkStack.initializeFromBuffer(&localStack, btDbvt::DOUBLE_STACKSIZE, btDbvt::DOUBLE_STACKSIZE);
#else
    stkStack.resize(btDbvt::DOUBLE_STACKSIZE);
#endif
    stkStack[0] = btDbvt::sStkNN(root0, root1);
    do  // NOLINT(cppcoreguidelines-avoid-do-while)
    {
      btDbvt::sStkNN p = stkStack[--depth];
      if (MyIntersect(p.a->volume, p.b->volume, xform, distanceThreshold))
      {
        if (depth > treshold)
        {
          stkStack.resize(stkStack.size() * 2);
          treshold = stkStack.size() - 4;
        }
        if (p.a->isinternal())
        {
          if (p.b->isinternal())
          {
            stkStack[depth++] = btDbvt::sStkNN(p.a->childs[0], p.b->childs[0]);
            stkStack[depth++] = btDbvt::sStkNN(p.a->childs[1], p.b->childs[0]);
            stkStack[depth++] = btDbvt::sStkNN(p.a->childs[0], p.b->childs[1]);
            stkStack[depth++] = btDbvt::sStkNN(p.a->childs[1], p.b->childs[1]);
          }
          else
          {
            stkStack[depth++] = btDbvt::sStkNN(p.a->childs[0], p.b);
            stkStack[depth++] = btDbvt::sStkNN(p.a->childs[1], p.b);
          }
        }
        else
        {
          if (p.b->isinternal())
          {
            stkStack[depth++] = btDbvt::sStkNN(p.a, p.b->childs[0]);
            stkStack[depth++] = btDbvt::sStkNN(p.a, p.b->childs[1]);
          }
          else
          {
            callback->Process(p.a, p.b);
          }
        }
      }
    } while (depth != 0);
  }
}
 
void TesseractCompoundCompoundCollisionAlgorithm::processCollision(const btCollisionObjectWrapper* body0Wrap,
                                                                   const btCollisionObjectWrapper* body1Wrap,
                                                                   const btDispatcherInfo& dispatchInfo,
                                                                   btManifoldResult* resultOut)
{
  const btCollisionObjectWrapper* col0ObjWrap = body0Wrap;
  const btCollisionObjectWrapper* col1ObjWrap = body1Wrap;
 
  btAssert(col0ObjWrap->getCollisionShape()->isCompound());
  btAssert(col1ObjWrap->getCollisionShape()->isCompound());
  const auto* compoundShape0 = static_cast<const btCompoundShape*>(col0ObjWrap->getCollisionShape());
  const auto* compoundShape1 = static_cast<const btCompoundShape*>(col1ObjWrap->getCollisionShape());
 
  const btDbvt* tree0 = compoundShape0->getDynamicAabbTree();
  const btDbvt* tree1 = compoundShape1->getDynamicAabbTree();
  if (tree0 == nullptr || tree1 == nullptr)
  {
    TesseractCompoundCollisionAlgorithm::processCollision(body0Wrap, body1Wrap, dispatchInfo, resultOut);
    return;
  }
  if ((compoundShape0->getUpdateRevision() != m_compoundShapeRevision0) ||
      (compoundShape1->getUpdateRevision() != m_compoundShapeRevision1))
  {
    removeChildAlgorithms();
    m_compoundShapeRevision0 = compoundShape0->getUpdateRevision();
    m_compoundShapeRevision1 = compoundShape1->getUpdateRevision();
  }
 
  {
    btManifoldArray manifoldArray;
#ifdef USE_LOCAL_STACK
    btPersistentManifold localManifolds[4];  // NOLINT
    manifoldArray.initializeFromBuffer(&localManifolds, 0, 4);
#endif
    btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
    for (int i = 0; i < pairs.size(); i++)
    {
      if (pairs[i].m_userPointer != nullptr)
      {
        auto* algo = (btCollisionAlgorithm*)pairs[i].m_userPointer;  // NOLINT
        algo->getAllContactManifolds(manifoldArray);
        for (int m = 0; m < manifoldArray.size(); m++)
        {
          if (manifoldArray[m]->getNumContacts() != 0)
          {
            resultOut->setPersistentManifold(manifoldArray[m]);
            resultOut->refreshContactPoints();
            resultOut->setPersistentManifold(nullptr);
          }
        }
        manifoldArray.resize(0);
      }
    }
  }
 
  TesseractCompoundCompoundLeafCallback callback(col0ObjWrap,
                                                 col1ObjWrap,
                                                 this->m_dispatcher,
                                                 dispatchInfo,
                                                 resultOut,
                                                 this->m_childCollisionAlgorithmCache,
                                                 m_sharedManifold);
 
  const btTransform xform = col0ObjWrap->getWorldTransform().inverse() * col1ObjWrap->getWorldTransform();
  MycollideTT(tree0->m_root, tree1->m_root, xform, &callback, resultOut->m_closestPointDistanceThreshold);
 
  // printf("#compound-compound child/leaf overlap =%d                      \r",callback.m_numOverlapPairs);
 
  // remove non-overlapping child pairs
 
  {
    btAssert(m_removePairs.size() == 0);
 
    // iterate over all children, perform an AABB check inside ProcessChildShape
    btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
 
    btManifoldArray manifoldArray;
 
    btVector3 aabbMin0, aabbMax0, aabbMin1, aabbMax1;
 
    for (int i = 0; i < pairs.size(); i++)
    {
      if (pairs[i].m_userPointer != nullptr)
      {
        auto* algo = (btCollisionAlgorithm*)pairs[i].m_userPointer;  // NOLINT
 
        {
          const btCollisionShape* childShape0 = nullptr;
 
          btTransform newChildWorldTrans0;
          childShape0 = compoundShape0->getChildShape(pairs[i].m_indexA);
          const btTransform& childTrans0 = compoundShape0->getChildTransform(pairs[i].m_indexA);
          newChildWorldTrans0 = col0ObjWrap->getWorldTransform() * childTrans0;
          childShape0->getAabb(newChildWorldTrans0, aabbMin0, aabbMax0);
        }
        btVector3 thresholdVec(resultOut->m_closestPointDistanceThreshold,
                               resultOut->m_closestPointDistanceThreshold,
                               resultOut->m_closestPointDistanceThreshold);
        aabbMin0 -= thresholdVec;
        aabbMax0 += thresholdVec;
        {
          const btCollisionShape* childShape1 = nullptr;
          btTransform newChildWorldTrans1;
 
          childShape1 = compoundShape1->getChildShape(pairs[i].m_indexB);
          const btTransform& childTrans1 = compoundShape1->getChildTransform(pairs[i].m_indexB);
          newChildWorldTrans1 = col1ObjWrap->getWorldTransform() * childTrans1;
          childShape1->getAabb(newChildWorldTrans1, aabbMin1, aabbMax1);
        }
 
        aabbMin1 -= thresholdVec;
        aabbMax1 += thresholdVec;
 
        if (!TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1))
        {
          algo->~btCollisionAlgorithm();
          m_dispatcher->freeCollisionAlgorithm(algo);
          m_removePairs.push_back(btSimplePair(pairs[i].m_indexA, pairs[i].m_indexB));
        }
      }
    }
    for (int i = 0; i < m_removePairs.size(); i++)
    {
      m_childCollisionAlgorithmCache->removeOverlappingPair(m_removePairs[i].m_indexA, m_removePairs[i].m_indexB);
    }
    m_removePairs.clear();
  }
}
 
btScalar TesseractCompoundCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* /*body0*/,
                                                                            btCollisionObject* /*body1*/,
                                                                            const btDispatcherInfo& /*dispatchInfo*/,
                                                                            btManifoldResult* /*resultOut*/)
{
  btAssert(0);
  return btScalar(0);
}
}  // namespace tesseract_collision::tesseract_collision_bullet
TESSERACT_COMMON_IGNORE_WARNINGS_POP
// LCOV_EXCL_STOP