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distance_to_point_callback.cc
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distance_to_point_callback.cc
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#include "drake/geometry/proximity/distance_to_point_callback.h"
#include "drake/common/default_scalars.h"
#include "drake/common/drake_bool.h"
namespace drake {
namespace geometry {
namespace internal {
namespace point_distance {
template <typename T>
void SphereDistanceInSphereFrame(const fcl::Sphered& sphere,
const Vector3<T>& p_SQ, Vector3<T>* p_SN,
T* distance, Vector3<T>* grad_S) {
const double radius = sphere.radius;
const T dist_SQ = p_SQ.norm();
// The gradient is always in the direction from the center of the sphere to
// the query point Q, regardless of whether the point Q is outside or inside
// the sphere S. The gradient is undefined if the query point Q is at the
// center of the sphere S.
//
// If the query point Q is near the center of the sphere S within a
// tolerance, we arbitrarily set the gradient vector as documented in
// query_object.h (QueryObject::ComputeSignedDistanceToPoint).
const double tolerance = DistanceToPointRelativeTolerance(radius);
// Unit vector in x-direction of S's frame.
const Vector3<T> Sx = Vector3<T>::UnitX();
// Note: Skip the zero displacement check for non-numeric T.
const bool non_zero_displacement =
!scalar_predicate<T>::is_bool || (dist_SQ > tolerance);
// Gradient vector expressed in S's frame.
*grad_S = non_zero_displacement ? p_SQ / dist_SQ : Sx;
// p_SN is the position of a witness point N in the geometry frame S.
*p_SN = T(radius) * (*grad_S);
// Do not compute distance as ∥p_SQ∥₂, because the gradient of ∥p_SQ∥₂ w.r.t.
// p_SQ is p_SQᵀ/∥p_SQ∥₂ which is not well defined at p_SQ = 0. Instead,
// compute the distance as p_NQ_S.dot(grad_S).
*distance = (p_SQ - *p_SN).dot(*grad_S);
}
template <typename T>
void ComputeDistanceToPrimitive(const fcl::Sphered& sphere,
const math::RigidTransform<T>& X_WG,
const Vector3<T>& p_WQ, Vector3<T>* p_GN,
T* distance, Vector3<T>* grad_W) {
const Vector3<T> p_GQ_G = X_WG.inverse() * p_WQ;
Vector3<T> grad_G;
SphereDistanceInSphereFrame(sphere, p_GQ_G, p_GN, distance, &grad_G);
// Gradient vector expressed in World frame.
*grad_W = X_WG.rotation() * grad_G;
}
template <typename T>
void ComputeDistanceToPrimitive(const fcl::Halfspaced& halfspace,
const math::RigidTransform<T>& X_WG,
const Vector3<T>& p_WQ, Vector3<T>* p_GN,
T* distance, Vector3<T>* grad_W) {
// FCL stores the halfspace as {x | nᵀ * x > d}, with n being a unit length
// normal vector. Both n and x are expressed in the halfspace frame.
// In Drake, the halfspace is *always* defined as n_G = (0, 0, 1), d = 0.
// That means the distance to the plane is merely the z-component of p_GQ and
// the nearest point on the surface is (p_GQ(0), pGQ(1), 0).
const Vector3<T> n_G = halfspace.n.cast<T>();
const Vector3<T> p_GQ = X_WG.inverse() * p_WQ;
DRAKE_ASSERT(n_G(0) == 0 && n_G(1) == 0 && n_G(2) == 1);
DRAKE_DEMAND(halfspace.d == 0);
*distance = p_GQ(2);
*p_GN << p_GQ(0), p_GQ(1), 0;
*grad_W = X_WG.rotation() * n_G;
}
template <typename T>
void ComputeDistanceToPrimitive(const fcl::Capsuled& capsule,
const math::RigidTransform<T>& X_WG,
const Vector3<T>& p_WQ, Vector3<T>* p_GN,
T* distance, Vector3<T>* grad_W) {
const double radius = capsule.radius;
const double half_length = capsule.lz / 2;
// If the query point Q is closest to the end caps of the capsule, then we can
// re-use the distance to sphere calculations since they are effectively the
// same. Since our capsule is aligned with the local z-axis, we can simply
// compare the z co-ordinates in the capsule's frame G to determine which
// section the query point Q falls in.
// z
// ^ ●●
// | ● ● Top end cap
// |--------●------●-------------------
// | ● ●
// | ● ● Spine
// | ● ●
// |--------●------●-------------------
// | ● ● Bottom end cap
// | ●●
const Vector3<T> p_GQ = X_WG.inverse() * p_WQ;
if (p_GQ.z() >= half_length || p_GQ.z() <= -half_length) {
// Represent the end cap of the capsule using a sphere S of the same radius.
const fcl::Sphered sphere_S(radius);
// The sphere is defined centered on the origin of frame S. Frame S and G
// are related by a simple translation (their bases are perfectly aligned).
// So, a vector quantity expressed in frame G is the same as when expressed
// in S.
const Vector3<T> p_GS{
0, 0, (p_GQ.z() >= half_length) ? half_length : -half_length};
// The query point measured w.r.t. the sphere origin (equivalently expressed
// in G or S).
const Vector3<T> p_SQ = p_GQ - p_GS;
// Position vector of the nearest point N expressed in S's frame.
Vector3<T> grad_S;
Vector3<T> p_SN;
SphereDistanceInSphereFrame(sphere_S, p_SQ, &p_SN, distance, &grad_S);
*grad_W = X_WG.rotation() * grad_S; // grad_S = grad_G because R_GS = I.
*p_GN = p_GS + p_SN; // p_SN = p_SN_G because R_GS = I.
} else {
// The query point Q projects onto (and is nearest to) the spine. The
// gradient is perpendicular to the spine and points from N' to Q (where
// N' is the point on the spine nearest Q). Equivalently, the gradient is
// in the same direction as the vector from G's origin to R, where point R
// is the projection of Q onto G's x-y plane. And M is the nearest point
// on the capsule's surface to R. The distance between Q and N is the same
// as between R and M.
//
// This allows us to solve for the gradient, distance, and nearest point
// by computing the distance from R to a sphere with the same radius and
// centered on G's origin. We can then shift M to N by adding the
// z-component back into N.
//
// z
// ^ ● ●
// | ● ●
// | ● ●
// | ● |---N---> Q
// | ● | ●
// | ● G---M---> R
// | ● | ●
// | ● | ●
// | ● ●
// | ● ●
// | ● ●
// TODO(SeanCurtis-TRI): For further efficiency, consider doing these
// calculations in 2D and then promoting them back into 3D.
const Vector3<T> p_GR{p_GQ.x(), p_GQ.y(), 0};
const fcl::Sphered sphere_S(radius);
Vector3<T> p_GM;
Vector3<T> grad_G;
SphereDistanceInSphereFrame(sphere_S, p_GR, &p_GM, distance, &grad_G);
*p_GN << p_GM.x(), p_GM.y(), p_GQ.z();
*grad_W = X_WG.rotation() * grad_G;
}
}
#define INSTANTIATE_DISTANCE_TO_PRIMITIVE(Shape, S) \
template void ComputeDistanceToPrimitive<S>( \
const fcl::Shape&, const math::RigidTransform<S>&, const Vector3<S>&, \
Vector3<S>*, S*, Vector3<S>*)
// INSTANTIATE_DISTANCE_TO_PRIMITIVE(Sphered, double);
// INSTANTIATE_DISTANCE_TO_PRIMITIVE(Sphered, AutoDiffXd);
// INSTANTIATE_DISTANCE_TO_PRIMITIVE(Halfspaced, double);
// INSTANTIATE_DISTANCE_TO_PRIMITIVE(Halfspaced, AutoDiffXd);
// INSTANTIATE_DISTANCE_TO_PRIMITIVE(Capsuled, double);
// INSTANTIATE_DISTANCE_TO_PRIMITIVE(Capsuled, AutoDiffXd);
#undef INSTANTIATE_DISTANCE_TO_PRIMITIVE
template <typename T>
SignedDistanceToPoint<T> DistanceToPoint<T>::operator()(const fcl::Boxd& box) {
// Express the given query point Q in the frame of the box geometry G.
const Vector3<T> p_GQ_G = X_WG_.inverse() * p_WQ_;
// The box G is an axis-aligned box [-h(0),h(0)]x[-h(1),h(1)]x[-h(2),h(2)]
// centered at the origin, where h(i) is half the size of the box in the
// i-th coordinate.
const Eigen::Vector3d h = box.side / 2.0;
Vector3<T> p_GN_G, grad_G;
bool is_Q_on_edge_or_vertex{};
std::tie(p_GN_G, grad_G, is_Q_on_edge_or_vertex) =
ComputeDistanceToBox(h, p_GQ_G);
const Vector3<T> grad_W = X_WG_.rotation() * grad_G;
const Vector3<T> p_WN = X_WG_ * p_GN_G;
T distance = grad_W.dot(p_WQ_ - p_WN);
return SignedDistanceToPoint<T>{geometry_id_, p_GN_G, distance, grad_W};
}
template <typename T>
SignedDistanceToPoint<T> DistanceToPoint<T>::operator()(
const fcl::Capsuled& capsule) {
// TODO(SeanCurtis-TRI): This would be better if `SignedDistanceToPoint`
// could be default constructed in an uninitialized state and then
// pointers to its contents could be passed directly to ComputeDistance...
// This would eliminate the inevitable copy in the constructor.
T distance{};
Vector3<T> p_GN_G, grad_W;
ComputeDistanceToPrimitive(capsule, X_WG_, p_WQ_, &p_GN_G, &distance,
&grad_W);
return SignedDistanceToPoint<T>{geometry_id_, p_GN_G, distance, grad_W};
}
template <typename T>
SignedDistanceToPoint<T> DistanceToPoint<T>::operator()(
const fcl::Cylinderd& cylinder) {
using std::sqrt;
// TODO(SeanCurtis-TRI): This is not a good algorithm for differentiation.
// Replace it with one that is.
// Overview. First, we map the problem from the 3D cylinder G (in frame G)
// to the 2D box B (in frame B) of G's cross section through the plane
// containing the query point Q and the center line of G. Then, we call the
// function ComputeDistanceToBox() to get the signed distance, the nearest
// point N, and the gradient vector expressed in B's frame. Finally, we map
// the answers back into G's frame.
// Express the query point Q in the cylinder geometry G's frame.
const Vector3<T> p_GQ = X_WG_.inverse() * p_WQ_;
// The 2D cross section B is the box [-h(0),h(0)]x[-h(1),h(1)], where
// h(0) and h(1) are the radius and the half length of the cylinder.
const Eigen::Vector2d h(cylinder.radius, cylinder.lz / 2.0);
// Transform coordinates between (x,y,z) in G's frame and (r,z) in B's
// frame. The basis vector `Bz` is aligned with `Gz`, and `r` is the
// distance to the z-axis (i.e., √(x² + y²)), and z transfers unchanged. The
// coordinate r is in the radial direction of G in the plane through Q and
// z-axis of G.
//
// 3D cylinder G (x,y,z) 2D box B (r,z) .
// z z .
// | y | .
// | / | .
// o | o / | .
// o | o | .
// o | /o +--|--+ .
// | o o o | <==> | | | .
// | |/ | | | | .
// | +-----------x | +------Q-------r .
// | \ | | | .
// o \ o +-----+ .
// o o o\ .
// \ .
// Q .
// \ .
// \ .
// r .
//
// Mathematically the (r,z)-to-(x,y,z) transformation is not defined if Q
// is on the z-axis of G because the cross section is not unique. In that
// case, we will treat Q as if it lies on x-axis of G.
//
auto xyz_to_rz = [](Vector3<T> xyz) -> Vector2<T> {
// TODO(hongkai.dai): Why doesn't this cause bad derivatives? See test
// distance_to_point_test.cc, (DistanceToPoint, Cylinder), Case 1.
const T r = sqrt(xyz(0) * xyz(0) + xyz(1) * xyz(1));
return Vector2<T>(r, xyz(2));
};
// We compute the basis vector Br in G's frame. Although a 3D vector, it is
// stored implicitly in a 2D vector, because v_GBr(2) must be zero. If Q is
// within a tolerance from the center line, v_GBr = <1, 0, 0> by convention.
const T r_Q = sqrt(p_GQ(0) * p_GQ(0) + p_GQ(1) * p_GQ(1));
// Note: Skip near_center_line check for non-numeric T.
const bool near_center_line =
scalar_predicate<T>::is_bool &&
(r_Q < DistanceToPointRelativeTolerance(cylinder.radius));
const Vector2<T> v_GBr = near_center_line
? Vector2<T>(1., 0.)
: Vector2<T>(p_GQ(0), p_GQ(1)) / r_Q;
auto rz_to_xyz = [&v_GBr](Vector2<T> rz) -> Vector3<T> {
const T r = rz(0);
const T z = rz(1);
return Vector3<T>(r * v_GBr(0), r * v_GBr(1), z);
};
// Transform Q from 3D cylinder G to 2D box B.
const Vector2<T> p_BQ = xyz_to_rz(p_GQ);
// The position of the nearest point N expressed in 2D box B's frame in
// coordinates (r,z).
Vector2<T> p_BN;
// The gradient vector expressed in B's frame in coordinates (r,z).
Vector2<T> grad_B;
bool is_Q_on_edge_or_vertex{};
std::tie(p_BN, grad_B, is_Q_on_edge_or_vertex) =
ComputeDistanceToBox(h, p_BQ);
// Transform coordinates from (r,z) in B's frame to (x,y,z) in G's frame.
const Vector3<T> p_GN = rz_to_xyz(p_BN);
const Vector3<T> grad_G = rz_to_xyz(grad_B);
// Use R_WG for vectors. Use X_WG for points.
const auto& R_WG = X_WG_.rotation();
const Vector3<T> grad_W = R_WG * grad_G;
const Vector3<T> p_WN = X_WG_ * p_GN;
T distance = grad_W.dot(p_WQ_ - p_WN);
return SignedDistanceToPoint<T>{geometry_id_, p_GN, distance, grad_W};
}
template <typename T>
SignedDistanceToPoint<T> DistanceToPoint<T>::operator()(
const fcl::Ellipsoidd& ellipsoid) {
if constexpr (std::is_same_v<T, double>) {
// TODO(SeanCurtis-TRI): Replace this short-term hack with something that
// provides higher precision. Can an iterative method provide derivatives?
// See: https://www.geometrictools.com/Documentation/DistancePointEllipseEllipsoid.pdf
// For now, we'll simply use FCL's sphere-ellipsoid algorithm to compute
// the signed distance for a zero-radius sphere. (Note: this uses the
// generic GJK-EPA algorithm pair).
const fcl::Sphered sphere_Q(0.0);
fcl::DistanceRequestd request;
request.enable_nearest_points = true;
request.enable_signed_distance = true;
request.distance_tolerance = 1e-6;
request.gjk_solver_type = fcl::GJKSolverType::GST_LIBCCD;
// By passing in poses X_WG and X_WQ, the result will likewise be in the
// world frame.
fcl::DistanceResultd result_W;
fcl::distance(&ellipsoid, X_WG_.GetAsIsometry3(),
&sphere_Q, math::RigidTransformd(p_WQ_).GetAsIsometry3(),
request, result_W);
const Vector3d& p_WN = result_W.nearest_points[0];
const Vector3d p_GN = X_WG_.inverse() * p_WN;
const Vector3d& radii = ellipsoid.radii;
// The gradient is always perpendicular to the ellipsoid at the witness
// point on the ellipsoid surface. Therefore, for the implicit equation of
// the ellipsoid:
// f(x, y, z) = x² / a² + y² / b² + z² / c² - 1 = 0
// Its gradient is normal to the surface.
// ∇f = <2x / a², 2y / b², 2z / c²>
// n = ∇f / |∇f|
// We are assured that all radii are strictly greater than zero (see the
// constructor for geometry::Ellipsoid), so we don't risk a divide by zero
// and it likewise guarantees that this gradient vector will always be
// normalizable and unique; the point on the surface of the ellipsoid can
// *never* be the zero vector. Because we're normalizing, we omit the scale
// factor of 2 -- we'll just be dividing it right back out.
// This gives us a good normal, regardless of how close to the surface the
// query point Q is.
const Vector3d grad_G = Vector3d(p_GN.x() / (radii.x() * radii.x()),
p_GN.y() / (radii.y() * radii.y()),
p_GN.z() / (radii.z() * radii.z()))
.normalized();
const Vector3d grad_W = X_WG_.rotation() * grad_G;
return SignedDistanceToPoint<T>(geometry_id_, p_GN, result_W.min_distance,
grad_W);
} else {
// ScalarSupport<AutoDiffXd> should preclude ever calling this with
// T = AutoDiffXd.
DRAKE_UNREACHABLE();
}
}
template <typename T>
SignedDistanceToPoint<T> DistanceToPoint<T>::operator()(
const fcl::Halfspaced& halfspace) {
T distance{};
Vector3<T> p_GN_G, grad_W;
ComputeDistanceToPrimitive(halfspace, X_WG_, p_WQ_, &p_GN_G, &distance,
&grad_W);
return SignedDistanceToPoint<T>{geometry_id_, p_GN_G, distance, grad_W};
}
template <typename T>
SignedDistanceToPoint<T> DistanceToPoint<T>::operator()(
const fcl::Sphered& sphere) {
T distance{};
Vector3<T> p_GN_G, grad_W;
ComputeDistanceToPrimitive(sphere, X_WG_, p_WQ_, &p_GN_G, &distance, &grad_W);
return SignedDistanceToPoint<T>{geometry_id_, p_GN_G, distance, grad_W};
}
template <typename T>
template <int dim, typename U>
int DistanceToPoint<T>::ExtremalAxis(const Vector<U, dim>& p,
const Vector<double, dim>& bounds) {
double min_dist = std::numeric_limits<double>::infinity();
int axis = -1;
for (int i = 0; i < dim; ++i) {
for (const auto bound : {bounds(i), -bounds(i)}) {
const double dist = std::abs(bound - ExtractDoubleOrThrow(p(i)));
if (dist < min_dist) {
min_dist = dist;
axis = i;
}
}
}
return axis;
}
template <typename T>
template <int dim>
std::tuple<Vector<T, dim>, Vector<T, dim>, bool>
DistanceToPoint<T>::ComputeDistanceToBox(const Vector<double, dim>& h,
const Vector<T, dim>& p_GQ_G) {
using std::abs;
// TODO(DamrongGuoy): Revisit this implementation based on a recommendation
// made in PR 11208:
// https://reviewable.io/reviews/robotlocomotion/drake/11208#-Lc6yion1LIgZrj5yohz:-Lc6yion1LIgZrj5yoi-:b-1qyfoi
// We need to classify Q as inside, outside, or on the boundary of G,
// where 'on the boundary' means within a tolerance of the boundary.
// This helper function takes the i-th coordinate `coord` of p_GQ_G.
// It returns the clamped value of `coord` within ±h(i). It also returns
// an enum to indicate whether the i-th coordinate is inside the interval
// (-h(i),+h(i)), or within a tolerance of the bounded value ±h(i), or
// outside the interval.
enum class Location { kInside, kBoundary, kOutside };
auto clamp = [&h](const int i, const T& coord, Location* location) -> T {
const double tolerance = DistanceToPointRelativeTolerance(h(i));
if (abs(coord) > h(i) + tolerance) {
*location = Location::kOutside;
return Sign(coord) * h(i);
} else if (abs(coord) >= h(i) - tolerance) {
*location = Location::kBoundary;
return Sign(coord) * h(i);
} else {
*location = Location::kInside;
return coord;
}
};
// Declare a type of vector of Location parallel to the vector of
// coordinates of the position p_GQ_G of Q.
typedef Vector<Location, dim> VectorLoc;
// The clamp point C has coordinates of Q clamped onto the box.
// Note that:
// 1. C is the nearest point to Q on ∂B if Q is classified as outside B.
// 2. C is at the same position as Q if Q is classified as inside B.
// 3. C is exactly on ∂B if Q is within a tolerance from ∂B.
Vector<T, dim> p_GC_G;
VectorLoc location;
for (int i = 0; i < p_GC_G.size(); ++i) {
p_GC_G(i) = clamp(i, p_GQ_G(i), &location(i));
}
int num_dim_on_boundary = 0;
for (int i = 0; i < dim; ++i) {
num_dim_on_boundary += location(i) == Location::kBoundary ? 1 : 0;
}
const bool is_Q_on_edge_or_vertex = num_dim_on_boundary >= 2 ? true : false;
// Initialize the position of the nearest point N on ∂B as that of C.
// Note: if Q is outside or on the boundary of B, then C is N. In the
// case where Q is inside, this value will be changed.
Vector<T, dim> p_GN_G = p_GC_G;
T distance;
Vector<T, dim> grad_G = Vector<T, dim>::Zero();
if ((location.array() == Location::kOutside).any()) {
// Q is outside the box.
Vector<T, dim> p_NQ_G = p_GQ_G - p_GN_G;
distance = p_NQ_G.norm();
DRAKE_DEMAND(distance != 0.);
grad_G = p_NQ_G / distance;
} else if ((location.array() == Location::kBoundary).any()) {
for (int i = 0; i < dim; ++i) {
if (location(i) == Location::kBoundary) {
grad_G(i) = Sign(ExtractDoubleOrThrow(p_GC_G(i)));
}
}
grad_G.normalize();
} else {
// Q is inside the box.
// In 2D (3D), the nearest point N is the axis-aligned projection of Q
// onto one of the edge (faces) of the box. The gradient vector is along
// that direction.
int axis = ExtremalAxis(p_GQ_G, h);
// NOTE: This will do funny things to the derivatives; this functionally
// treats it as constant w.r.t. all derivatives. However, as the point
// rolls from one Voronoi region to another, it goes funny.
double sign = Sign(ExtractDoubleOrThrow(p_GQ_G(axis)));
p_GN_G(axis) = sign * h(axis);
grad_G(axis) = sign;
}
return std::make_tuple(p_GN_G, grad_G, is_Q_on_edge_or_vertex);
}
bool ScalarSupport<double>::is_supported(fcl::NODE_TYPE node_type) {
switch (node_type) {
case fcl::GEOM_BOX:
case fcl::GEOM_CAPSULE:
case fcl::GEOM_CYLINDER:
case fcl::GEOM_ELLIPSOID:
case fcl::GEOM_HALFSPACE:
case fcl::GEOM_SPHERE:
return true;
default:
return false;
}
}
template <typename T>
bool Callback(fcl::CollisionObjectd* object_A_ptr,
fcl::CollisionObjectd* object_B_ptr,
// NOLINTNEXTLINE
void* callback_data, double& threshold) {
auto& data = *static_cast<CallbackData<T>*>(callback_data);
// Three things:
// 1. We repeatedly set max_distance in each call to the callback because we
// can't initialize it. The cost is negligible but maximizes any culling
// benefit.
// 2. Due to how FCL is implemented, passing a value <= 0 will cause results
// to be omitted because the bounding box test only considers *separating*
// distance and doesn't do any work if the distance between bounding boxes
// is zero.
// 3. We pass in a number smaller than the typical epsilon because typically
// computation tolerances are greater than or equal to epsilon() and we
// don't want this value to trip those tolerances. This is safe because the
// bounding box test in which this is used doesn't produce a code via
// calculation; it is a perfect, hard-coded zero.
const double kEps = std::numeric_limits<double>::epsilon() / 10;
threshold = std::max(data.threshold, kEps);
// We use `const` to prevent modification of the collision objects.
const fcl::CollisionObjectd* geometry_object =
(&data.query_point == object_A_ptr) ? object_B_ptr : object_A_ptr;
const EncodedData encoding(*geometry_object);
GeometryId geometry_id = encoding.id();
const fcl::CollisionGeometryd* collision_geometry =
geometry_object->collisionGeometry().get();
if (ScalarSupport<T>::is_supported(collision_geometry->getNodeType())) {
const math::RigidTransform<T> typed_X_WG(data.X_WGs.at(geometry_id));
DistanceToPoint<T> distance_to_point(geometry_id, typed_X_WG, data.p_WQ_W);
SignedDistanceToPoint<T> distance;
switch (collision_geometry->getNodeType()) {
case fcl::GEOM_BOX:
distance = distance_to_point(
*static_cast<const fcl::Boxd*>(collision_geometry));
break;
case fcl::GEOM_CAPSULE:
distance = distance_to_point(
*static_cast<const fcl::Capsuled*>(collision_geometry));
break;
case fcl::GEOM_CYLINDER:
distance = distance_to_point(
*static_cast<const fcl::Cylinderd*>(collision_geometry));
break;
case fcl::GEOM_ELLIPSOID:
distance = distance_to_point(
*static_cast<const fcl::Ellipsoidd*>(collision_geometry));
break;
case fcl::GEOM_HALFSPACE:
distance = distance_to_point(
*static_cast<const fcl::Halfspaced*>(collision_geometry));
break;
case fcl::GEOM_SPHERE:
distance = distance_to_point(
*static_cast<const fcl::Sphered*>(collision_geometry));
break;
default:
// Returning false tells fcl to continue to other objects.
return false;
}
if (distance.distance <= data.threshold) {
data.distances.emplace_back(distance);
}
}
return false; // Returning false tells fcl to continue to other objects.
}
DRAKE_DEFINE_FUNCTION_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_SCALARS((
&Callback<T>
))
} // namespace point_distance
} // namespace internal
} // namespace geometry
} // namespace drake
DRAKE_DEFINE_CLASS_TEMPLATE_INSTANTIATIONS_ON_DEFAULT_SCALARS(
class ::drake::geometry::internal::point_distance::DistanceToPoint)