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Create default distance/collision callbacks in fcl namespace
We had default callbacks defined in the test namespace. The main readme.md was recommending using them. This moves them directly into fcl namespace so that user code doesn't have to pull in test code.
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| /* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2020, Toyota Research Institute | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of the copyright holder nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| */ | ||
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| /** @author Sean Curtis (sean@tri.global) */ | ||
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| #ifndef FCL_BROADPHASE_DEFAULTBROADPHASECALLBACKS_H | ||
| #define FCL_BROADPHASE_DEFAULTBROADPHASECALLBACKS_H | ||
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| #include "fcl/narrowphase/collision.h" | ||
| #include "fcl/narrowphase/collision_request.h" | ||
| #include "fcl/narrowphase/collision_result.h" | ||
| #include "fcl/narrowphase/continuous_collision.h" | ||
| #include "fcl/narrowphase/continuous_collision_request.h" | ||
| #include "fcl/narrowphase/continuous_collision_result.h" | ||
| #include "fcl/narrowphase/distance.h" | ||
| #include "fcl/narrowphase/distance_request.h" | ||
| #include "fcl/narrowphase/distance_result.h" | ||
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| namespace fcl { | ||
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| /// @brief Collision data for use with the DefaultCollisionFunction. It stores | ||
| /// the collision request and the result given by collision algorithm (and | ||
| /// stores the conclusion of whether further evaluation of the broadphase | ||
| /// collision manager has been deemed unnecessary). | ||
| template <typename S> | ||
| struct DefaultCollisionData { | ||
| CollisionRequest<S> request; | ||
| CollisionResult<S> result; | ||
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| /// If `true`, requests that the broadphase evaluation stop. | ||
| bool done{false}; | ||
| }; | ||
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| /// @brief Provides a simple callback for the collision query in the | ||
| /// BroadPhaseCollisionManager. It assumes the `data` parameter is non-null and | ||
| /// points to an instance of DefaultCollisionData. It simply invokes the | ||
| /// `collide()` method on the culled pair of geometries and stores the results | ||
| /// in the data's CollisionResult instance. | ||
| /// | ||
| /// This callback will cause the broadphase evaluation to stop if: | ||
| /// - the collision requests _disables_ cost _and_ | ||
| /// - the collide() reports a collision for the culled pair, _and_ | ||
| /// - we've reported the number of contacts requested in the CollisionRequest. | ||
| /// | ||
| /// For a given instance of DefaultCollisionData, if broadphase evaluation has | ||
| /// already terminated (i.e., DefaultCollisionFunction() returned `true`), | ||
| /// subsequent invocations with the same instance of DefaultCollisionData will | ||
| /// return immediately, requesting termination of broadphase evaluation (i.e., | ||
| /// return `true`). | ||
| /// | ||
| /// @param o1 The first object in the culled pair. | ||
| /// @param o2 The second object in the culled pair. | ||
| /// @param data A non-null pointer to a DefaultCollisionData instance. | ||
| /// @return `true` if the broadphase evaluation should stop. | ||
| /// @tparam S The scalar type with which the computation will be performed. | ||
| template <typename S> | ||
| bool DefaultCollisionFunction(CollisionObject<S>* o1, CollisionObject<S>* o2, | ||
| void* data) { | ||
| assert(data != nullptr); | ||
| auto* collision_data = static_cast<DefaultCollisionData<S>*>(data); | ||
| const CollisionRequest<S>& request = collision_data->request; | ||
| CollisionResult<S>& result = collision_data->result; | ||
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| if(collision_data->done) return true; | ||
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| collide(o1, o2, request, result); | ||
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| if (!request.enable_cost && result.isCollision() && | ||
| result.numContacts() >= request.num_max_contacts) { | ||
| collision_data->done = true; | ||
| } | ||
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| return collision_data->done; | ||
| } | ||
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| /// @brief Collision data for use with the DefaultContinuousCollisionFunction. | ||
| /// It stores the collision request and the result given by the collision | ||
| /// algorithm (and stores the conclusion of whether further evaluation of the | ||
| /// broadphase collision manager has been deemed unnecessary). | ||
| template <typename S> | ||
| struct DefaultContinuousCollisionData { | ||
| ContinuousCollisionRequest<S> request; | ||
| ContinuousCollisionResult<S> result; | ||
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| /// If `true`, requests that the broadphase evaluation stop. | ||
| bool done{false}; | ||
| }; | ||
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| /// @brief Provides a simple callback for the continuous collision query in the | ||
| /// BroadPhaseCollisionManager. It assumes the `data` parameter is non-null and | ||
| /// points to an instance of DefaultContinuousCollisionData. It simply invokes | ||
| /// the `collide()` method on the culled pair of geometries and stores the | ||
| /// results in the data's ContinuousCollisionResult instance. | ||
| /// | ||
| /// This callback will never cause the broadphase evaluation to terminate early. | ||
| /// However, if the `done` member of the DefaultContinuousCollisionData is set | ||
| /// to true, this method will simply return without doing any computation. | ||
| /// | ||
| /// For a given instance of DefaultContinuousCollisionData, if broadphase | ||
| /// evaluation has already terminated (i.e., | ||
| /// DefaultContinuousCollisionFunction() returned `true`), subsequent | ||
| /// invocations with the same instance of DefaultCollisionData will return | ||
| /// immediately, requesting termination of broadphase evaluation (i.e., return | ||
| /// `true`). | ||
| /// | ||
| /// @param o1 The first object in the culled pair. | ||
| /// @param o2 The second object in the culled pair. | ||
| /// @param data A non-null pointer to a DefaultCollisionData instance. | ||
| /// @return True if the broadphase evaluation should stop. | ||
| /// @tparam S The scalar type with which the computation will be performed. | ||
| template <typename S> | ||
| bool DefaultContinuousCollisionFunction(ContinuousCollisionObject<S>* o1, | ||
| ContinuousCollisionObject<S>* o2, | ||
| void* data) { | ||
| assert(data != nullptr); | ||
| auto* cdata = static_cast<DefaultContinuousCollisionData<S>*>(data); | ||
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| if (cdata->done) return true; | ||
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| const ContinuousCollisionRequest<S>& request = cdata->request; | ||
| ContinuousCollisionResult<S>& result = cdata->result; | ||
| collide(o1, o2, request, result); | ||
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| return cdata->done; | ||
| } | ||
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| /// @brief Distance data for use with the DefaultDistanceFunction. It stores | ||
| /// the distance request and the result given by distance algorithm (and | ||
| /// stores the conclusion of whether further evaluation of the broadphase | ||
| /// collision manager has been deemed unnecessary). | ||
| template <typename S> | ||
| struct DefaultDistanceData { | ||
| DistanceRequest<S> request; | ||
| DistanceResult<S> result; | ||
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| /// If `true`, requests that the broadphase evaluation stop. | ||
| bool done{false}; | ||
| }; | ||
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| /// @brief Provides a simple callback for the distance query in the | ||
| /// BroadPhaseCollisionManager. It assumes the `data` parameter is non-null and | ||
| /// points to an instance of DefaultDistanceData. It simply invokes the | ||
| /// `distance()` method on the culled pair of geometries and stores the results | ||
| /// in the data's DistanceResult instance. | ||
| /// | ||
| /// This callback will cause the broadphase evaluation to stop if: | ||
| /// - The distance is less than or equal to zero (i.e., the pair is in | ||
| /// contact). | ||
| /// | ||
| /// For a given instance of DefaultDistanceData, if broadphase evaluation has | ||
| /// already terminated (i.e., DefaultDistanceFunction() returned `true`), | ||
| /// subsequent invocations with the same instance of DefaultDistanceData will | ||
| /// simply report the previously reported minimum distance and request | ||
| /// termination of broadphase evaluation (i.e., return `true`). | ||
| /// | ||
| /// @param o1 The first object in the culled pair. | ||
| /// @param o2 The second object in the culled pair. | ||
| /// @param data A non-null pointer to a DefaultDistanceData instance. | ||
| /// @param dist The distance computed by distance(). | ||
| /// @return `true` if the broadphase evaluation should stop. | ||
| /// @tparam S The scalar type with which the computation will be performed. | ||
| template <typename S> | ||
| bool DefaultDistanceFunction(CollisionObject<S>* o1, CollisionObject<S>* o2, | ||
| void* data, S& dist) { | ||
| assert(data != nullptr); | ||
| auto* cdata = static_cast<DefaultDistanceData<S>*>(data); | ||
| const DistanceRequest<S>& request = cdata->request; | ||
| DistanceResult<S>& result = cdata->result; | ||
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| if (cdata->done) { | ||
| dist = result.min_distance; | ||
| return true; | ||
| } | ||
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| distance(o1, o2, request, result); | ||
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| dist = result.min_distance; | ||
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| if (dist <= 0) return true; // in collision or in touch | ||
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| return cdata->done; | ||
| } | ||
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| } // namespace fcl | ||
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| #endif // FCL_BROADPHASE_DEFAULTBROADPHASECALLBACKS_H |
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