implicit_sdf_collision_solver.cpp File Reference

Backend-neutral collision queries between implicit signed-distance shapes. More...

#include <tesseract/collision/implicit_sdf_collision_solver.h>
#include <tesseract/geometry/geometries.h>
#include <tesseract/geometry/impl/signed_distance_field.h>
#include <algorithm>
#include <array>
#include <cmath>
#include <limits>
#include <stdexcept>
#include <utility>

Functions
std::vector< ImplicitSDFContact >	tesseract::collision::collideImplicitSDF (const ImplicitSDFShape &shape0, const ImplicitSDFShape &shape1, const ImplicitSDFCollisionConfig &config={})
	Find contacts between two implicit signed-distance shapes.
ImplicitSDFShape	tesseract::collision::makeImplicitSDFShape (const tesseract::geometry::Geometry &geometry, const Eigen::Isometry3d &pose)
	Create a world-coordinate implicit representation of a supported Tesseract geometry.

Detailed Description

Backend-neutral collision queries between implicit signed-distance shapes.

The multi-start optimization strategy is adapted from MuJoCo's SDF collision implementation: https://github.com/google-deepmind/mujoco/blob/main/src/engine/engine_collision_sdf.c MuJoCo is licensed under the Apache License, Version 2.0.

Copyright

Copyright (c) 2026, Tesseract Robotics

License

Software License Agreement (Apache License)

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Function Documentation

collideImplicitSDF()

std::vector< ImplicitSDFContact > tesseract::collision::collideImplicitSDF	(	const ImplicitSDFShape &	shape0,
		const ImplicitSDFShape &	shape1,
		const ImplicitSDFCollisionConfig &	config = {}
	)

Find contacts between two implicit signed-distance shapes.

This adapts MuJoCo's multi-start SDF collision strategy: deterministic Halton seeds are optimized over the overlap of the shapes' margin-expanded AABBs using a composite collision objective and backtracking gradient descent. Contact distance and nearest points are then recovered by projecting the converged point onto both zero level sets.

Parameters

shape0	First implicit shape
shape1	Second implicit shape
config	Solver configuration

Returns

Contacts with normals directed from shape0 toward shape1

Exceptions

std::invalid_argument

If either shape or any solver configuration value is invalid

makeImplicitSDFShape()

ImplicitSDFShape tesseract::collision::makeImplicitSDFShape	(	const tesseract::geometry::Geometry &	geometry,
		const Eigen::Isometry3d &	pose
	)

Create a world-coordinate implicit representation of a supported Tesseract geometry.

Supported geometries are box, sphere, cylinder, cone, capsule, and signed distance field. This adapter is backend-neutral and is used by FCL; other backends may provide callbacks around their native distance representations and call collideImplicitSDF directly.

Parameters

geometry	Geometry to represent
pose	Geometry pose in world coordinates

Returns

A valid implicit shape when the geometry is supported, otherwise an invalid shape

Exceptions

std::invalid_argument

If the pose or supported geometry data is invalid, or if an SDF has nonuniform scale

Variable Documentation

gradient

two_spheres gradient

Initial value:

= [center0, center1](const Eigen::Vector3d& point) {
    const Eigen::Vector3d offset0 = point - center0;
    const Eigen::Vector3d offset1 = point - center1;
    return (offset0.squaredNorm() < offset1.squaredNorm()) ? offset0.normalized() : offset1.normalized();
  }