tesseract_gjk_pair_detector.h

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
 
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
 
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If
you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not
required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original
software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef TESSERACT_COLLISION_TESSERACT_GJK_PAIR_DETECTOR_H
#define TESSERACT_COLLISION_TESSERACT_GJK_PAIR_DETECTOR_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h>
#include <BulletCollision/CollisionShapes/btCollisionMargin.h>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
class btConvexShape;
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
class btConvexPenetrationDepthSolver;
 
#include <tesseract_collision/core/types.h>
 
namespace tesseract_collision::tesseract_collision_bullet
{
class TesseractGjkPairDetector : public btDiscreteCollisionDetectorInterface
{
  btVector3 m_cachedSeparatingAxis;
  btConvexPenetrationDepthSolver* m_penetrationDepthSolver;
  btSimplexSolverInterface* m_simplexSolver;
  const btConvexShape* m_minkowskiA;
  const btConvexShape* m_minkowskiB;
  int m_shapeTypeA;
  int m_shapeTypeB;
  btScalar m_marginA;
  btScalar m_marginB;
 
  bool m_ignoreMargin;
  btScalar m_cachedSeparatingDistance{ 0 };
 
  const ContactTestData* m_cdata;
 
public:
  // some debugging to fix degeneracy problems
  int m_lastUsedMethod;
  int m_curIter{ 0 };
  int m_degenerateSimplex{ 0 };
  int m_catchDegeneracies;
  int m_fixContactNormalDirection;
 
  TesseractGjkPairDetector(const btConvexShape* objectA,
                           const btConvexShape* objectB,
                           btSimplexSolverInterface* simplexSolver,
                           btConvexPenetrationDepthSolver* penetrationDepthSolver,
                           const ContactTestData* cdata);
 
  TesseractGjkPairDetector(const btConvexShape* objectA,
                           const btConvexShape* objectB,
                           int shapeTypeA,
                           int shapeTypeB,
                           btScalar marginA,
                           btScalar marginB,
                           btSimplexSolverInterface* simplexSolver,
                           btConvexPenetrationDepthSolver* penetrationDepthSolver,
                           const ContactTestData* cdata);
 
  void getClosestPoints(const ClosestPointInput& input,
                        Result& output,
                        class btIDebugDraw* debugDraw,
                        bool swapResults = false) override;
 
  void getClosestPointsNonVirtual(const ClosestPointInput& input, Result& output, class btIDebugDraw* debugDraw);
 
  void setMinkowskiA(const btConvexShape* minkA) { m_minkowskiA = minkA; }
 
  void setMinkowskiB(const btConvexShape* minkB) { m_minkowskiB = minkB; }
  void setCachedSeparatingAxis(const btVector3& separatingAxis) { m_cachedSeparatingAxis = separatingAxis; }
 
  const btVector3& getCachedSeparatingAxis() const { return m_cachedSeparatingAxis; }  // LCOV_EXCL_LINE
  btScalar getCachedSeparatingDistance() const { return m_cachedSeparatingDistance; }
 
  void setPenetrationDepthSolver(btConvexPenetrationDepthSolver* penetrationDepthSolver)
  {
    m_penetrationDepthSolver = penetrationDepthSolver;
  }
 
  void setIgnoreMargin(bool ignoreMargin) { m_ignoreMargin = ignoreMargin; }
};
}  // namespace tesseract_collision::tesseract_collision_bullet
#endif  // TESSERACT_COLLISION_TESSERACT_GJK_PAIR_DETECTOR_H