collision-pair.hh

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//
// Copyright (c) 2021 CNRS
// Authors: Joseph Mirabel
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
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// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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// DAMAGE.
 
#ifndef HPP_CORE_COLLISION_PAIR_HH
#define HPP_CORE_COLLISION_PAIR_HH
 
#include <coal/collision.h>
 
#include <hpp/core/fwd.hh>
#include <hpp/pinocchio/collision-object.hh>
#include <hpp/pinocchio/device-data.hh>
#include <pinocchio/collision/fcl-pinocchio-conversions.hpp>
 
namespace hpp {
namespace core {
 
typedef std::vector<coal::CollisionRequest> CollisionRequests_t;
 
struct CollisionPair {
  CollisionObjectConstPtr_t first;
  CollisionObjectConstPtr_t second;
  coal::ComputeCollision computeCollision;
 
  inline CollisionPair(CollisionObjectConstPtr_t f, CollisionObjectConstPtr_t s)
      : first(f),
        second(s),
        computeCollision(f->geometry().get(), s->geometry().get()) {}
 
  inline auto collide(coal::CollisionRequest& request,
                      coal::CollisionResult& result) const
  // decltype(computeCollision(tf1,tf2,request,result))
  {
    assert(!first->getTransform().translation().hasNaN());
    assert(!first->getTransform().rotation().hasNaN());
    assert(!second->getTransform().translation().hasNaN());
    assert(!second->getTransform().rotation().hasNaN());
    return computeCollision(first->getFclTransform(), second->getFclTransform(),
                            request, result);
  }
 
  inline auto collide(const pinocchio::DeviceData& d,
                      coal::CollisionRequest& request,
                      coal::CollisionResult& result) const
  // decltype(computeCollision(tf1,tf2,request,result))
  {
    using ::pinocchio::toFclTransform3f;
    assert(!first->getTransform(d).translation().hasNaN());
    assert(!first->getTransform(d).rotation().hasNaN());
    assert(!second->getTransform(d).translation().hasNaN());
    assert(!second->getTransform(d).rotation().hasNaN());
    return computeCollision(toFclTransform3f(first->getTransform(d)),
                            toFclTransform3f(second->getTransform(d)), request,
                            result);
  }
};
 
}  // namespace core
}  // namespace hpp
#endif  // HPP_CORE_COLLISION_PAIR_HH