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CollisionDetector.cpp
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/
CollisionDetector.cpp
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/*
* Copyright (c) 2013-2015, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Jeongseok Lee <jslee02@gmail.com>,
* Tobias Kunz <tobias@gatech.edu>
*
* Georgia Tech Graphics Lab and Humanoid Robotics Lab
*
* Directed by Prof. C. Karen Liu and Prof. Mike Stilman
* <karenliu@cc.gatech.edu> <mstilman@cc.gatech.edu>
*
* This file is provided under the following "BSD-style" License:
* 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.
* 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 HOLDER 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.
*/
#include "dart/collision/CollisionDetector.h"
#include <algorithm>
#include <iostream>
#include <vector>
#include "dart/common/Console.h"
#include "dart/dynamics/BodyNode.h"
#include "dart/dynamics/Skeleton.h"
#include "dart/collision/CollisionNode.h"
namespace dart {
namespace collision {
CollisionDetector::CollisionDetector()
: mNumMaxContacts(100) {
}
CollisionDetector::~CollisionDetector() {
for (size_t i = 0; i < mCollisionNodes.size(); i++)
delete mCollisionNodes[i];
}
//==============================================================================
void CollisionDetector::addSkeleton(const dynamics::SkeletonPtr& _skeleton)
{
assert(_skeleton != nullptr
&& "Null pointer skeleton is not allowed to add to CollisionDetector.");
if (containSkeleton(_skeleton) == false)
{
mSkeletons.push_back(_skeleton);
for (size_t i = 0; i < _skeleton->getNumBodyNodes(); ++i)
addCollisionSkeletonNode(_skeleton->getBodyNode(i));
}
else
{
dtwarn << "Skeleton [" << _skeleton->getName()
<< "] is already in CollisionDetector." << std::endl;
}
}
//==============================================================================
void CollisionDetector::removeSkeleton(const dynamics::SkeletonPtr& _skeleton)
{
assert(_skeleton != nullptr
&& "Null pointer skeleton is not allowed to add to CollisionDetector.");
if (containSkeleton(_skeleton))
{
mSkeletons.erase(remove(mSkeletons.begin(), mSkeletons.end(), _skeleton),
mSkeletons.end());
for (size_t i = 0; i < _skeleton->getNumBodyNodes(); ++i)
removeCollisionSkeletonNode(_skeleton->getBodyNode(i));
}
else
{
dtwarn << "Skeleton [" << _skeleton->getName()
<< "] is not in CollisionDetector." << std::endl;
}
}
//==============================================================================
void CollisionDetector::removeAllSkeletons()
{
for (size_t i = 0; i < mSkeletons.size(); ++i)
removeSkeleton(mSkeletons[i]);
mSkeletons.clear();
}
void CollisionDetector::addCollisionSkeletonNode(dynamics::BodyNode* _bodyNode,
bool _isRecursive) {
assert(_bodyNode != nullptr && "Invalid body node.");
// If this collision detector already has collision node for _bodyNode, then
// we do nothing.
if (getCollisionNode(_bodyNode) != nullptr) {
std::cout << "The collision detector already has a collision node for "
<< "body node [" << _bodyNode->getName() << "]." << std::endl;
return;
}
// Create collision node and set index
CollisionNode* collNode = createCollisionNode(_bodyNode);
collNode->setIndex(mCollisionNodes.size());
// Add the collision node to collision node list
mCollisionNodes.push_back(collNode);
// Add the collision node to map (BodyNode -> CollisionNode)
mBodyCollisionMap[_bodyNode] = collNode;
// Add collidable pairs for the collision node
mCollidablePairs.push_back(
std::vector<bool>(mCollisionNodes.size() - 1, true));
if (_isRecursive) {
for (size_t i = 0; i < _bodyNode->getNumChildBodyNodes(); i++)
addCollisionSkeletonNode(_bodyNode->getChildBodyNode(i), true);
}
}
void CollisionDetector::removeCollisionSkeletonNode(
dynamics::BodyNode* _bodyNode, bool _isRecursive) {
assert(_bodyNode != nullptr && "Invalid body node.");
// If a collision node is already created for _bodyNode, then we just return
CollisionNode* collNode = getCollisionNode(_bodyNode);
if (collNode == nullptr) {
std::cout << "The collision detector does not have any collision node "
<< "for body node [" << _bodyNode->getName() << "]."
<< std::endl;
return;
}
// Update index of collision nodes.
size_t iCollNode = collNode->getIndex();
for (size_t i = iCollNode + 1; i < mCollisionNodes.size(); ++i)
mCollisionNodes[i]->setIndex(mCollisionNodes[i]->getIndex() - 1);
// Remove collNode from mCollisionNodes
mCollisionNodes.erase(remove(mCollisionNodes.begin(), mCollisionNodes.end(),
collNode),
mCollisionNodes.end());
// Remove collNode-_bodyNode pair from mBodyCollisionMap
mBodyCollisionMap.erase(_bodyNode);
// Delete collNode
delete collNode;
// Update mCollidablePairs
for (size_t i = iCollNode + 1; i < mCollidablePairs.size(); ++i) {
for (size_t j = 0; j < iCollNode; ++j)
mCollidablePairs[i-1][j] = mCollidablePairs[i][j];
for (size_t j = iCollNode + 1; j < mCollidablePairs[i].size(); ++j)
mCollidablePairs[i-1][j-1] = mCollidablePairs[i][j];
}
mCollidablePairs.pop_back();
if (_isRecursive) {
for (size_t i = 0; i < _bodyNode->getNumChildBodyNodes(); i++)
removeCollisionSkeletonNode(_bodyNode->getChildBodyNode(i), true);
}
}
bool CollisionDetector::detectCollision(dynamics::BodyNode* _node1,
dynamics::BodyNode* _node2,
bool _calculateContactPoints) {
return detectCollision(getCollisionNode(_node1),
getCollisionNode(_node2),
_calculateContactPoints);
}
size_t CollisionDetector::getNumContacts() {
return mContacts.size();
}
Contact& CollisionDetector::getContact(int _idx) {
return mContacts[_idx];
}
void CollisionDetector::clearAllContacts() {
mContacts.clear();
}
int CollisionDetector::getNumMaxContacts() const {
return mNumMaxContacts;
}
void CollisionDetector::setNumMaxContacs(int _num) {
mNumMaxContacts = _num;
}
void CollisionDetector::enablePair(dynamics::BodyNode* _node1,
dynamics::BodyNode* _node2) {
CollisionNode* collisionNode1 = getCollisionNode(_node1);
CollisionNode* collisionNode2 = getCollisionNode(_node2);
if (collisionNode1 && collisionNode2)
setPairCollidable(collisionNode1, collisionNode2, true);
}
void CollisionDetector::disablePair(dynamics::BodyNode* _node1,
dynamics::BodyNode* _node2) {
CollisionNode* collisionNode1 = getCollisionNode(_node1);
CollisionNode* collisionNode2 = getCollisionNode(_node2);
if (collisionNode1 && collisionNode2)
setPairCollidable(collisionNode1, collisionNode2, false);
}
//==============================================================================
bool CollisionDetector::isCollidable(const CollisionNode* _node1,
const CollisionNode* _node2)
{
dynamics::BodyNode* bn1 = _node1->getBodyNode();
dynamics::BodyNode* bn2 = _node2->getBodyNode();
if (!getPairCollidable(_node1, _node2))
return false;
if (!bn1->isCollidable() || !bn2->isCollidable())
return false;
if (bn1->getSkeleton() == bn2->getSkeleton())
{
if (bn1->getSkeleton()->isEnabledSelfCollisionCheck())
{
if (isAdjacentBodies(bn1, bn2))
{
if (!bn1->getSkeleton()->isEnabledAdjacentBodyCheck())
return false;
}
}
else
{
return false;
}
}
return true;
}
//==============================================================================
bool CollisionDetector::containSkeleton(const dynamics::SkeletonPtr& _skeleton)
{
for (std::vector<dynamics::SkeletonPtr>::const_iterator it = mSkeletons.begin();
it != mSkeletons.end(); ++it)
{
if ((*it) == _skeleton)
return true;
}
return false;
}
bool isValidIndex(const std::vector<std::vector<bool>>& _collidablePairs,
const std::size_t _index1,
const std::size_t _index2)
{
assert(_index1 >= _index2);
if (_collidablePairs.size() > _index1
&& _collidablePairs[_index1].size() > _index2)
return true;
return false;
}
bool CollisionDetector::getPairCollidable(const CollisionNode* _node1,
const CollisionNode* _node2)
{
assert(_node1 != _node2);
size_t index1 = _node1->getIndex();
size_t index2 = _node2->getIndex();
if (index1 < index2)
std::swap(index1, index2);
// Index validity check. The indices are not valid if the body nodes are not
// completely added to the collision detector yet.
if (!isValidIndex(mCollidablePairs, index1, index2))
return false;
if (index1 == index2)
return false;
return mCollidablePairs[index1][index2];
}
void CollisionDetector::setPairCollidable(const CollisionNode* _node1,
const CollisionNode* _node2,
bool _val)
{
assert(_node1 != _node2);
size_t index1 = _node1->getIndex();
size_t index2 = _node2->getIndex();
if (index1 < index2)
std::swap(index1, index2);
// Index validity check. The indices are not valid if the body nodes are not
// completely added to the collision detector yet.
if (!isValidIndex(mCollidablePairs, index1, index2))
return;
mCollidablePairs[index1][index2] = _val;
}
bool CollisionDetector::isAdjacentBodies(
const dynamics::BodyNode* _bodyNode1,
const dynamics::BodyNode* _bodyNode2) const
{
if ((_bodyNode1->getParentBodyNode() == _bodyNode2)
|| (_bodyNode2->getParentBodyNode() == _bodyNode1))
{
assert(_bodyNode1->getSkeleton() == _bodyNode2->getSkeleton());
return true;
}
return false;
}
CollisionNode* CollisionDetector::getCollisionNode(
const dynamics::BodyNode* _bodyNode) {
if (mBodyCollisionMap.find(_bodyNode) != mBodyCollisionMap.end())
return mBodyCollisionMap[_bodyNode];
else
return nullptr;
}
} // namespace collision
} // namespace dart