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The MoveIt Motion Planning Framework for ROS 2.
bullet_discrete_bvh_manager.cpp
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31 
32 /* Author: Levi Armstrong, Jens Petit */
33 
35 
36 #include <rclcpp/logger.hpp>
37 #include <rclcpp/logging.hpp>
38 
39 static const rclcpp::Logger BULLET_LOGGER = rclcpp::get_logger("collision_detection.bullet");
40 
42 {
43 BulletDiscreteBVHManagerPtr BulletDiscreteBVHManager::clone() const
44 {
45  auto manager = std::make_shared<BulletDiscreteBVHManager>();
46 
47  for (const std::pair<const std::string, CollisionObjectWrapperPtr>& cow : link2cow_)
48  {
49  CollisionObjectWrapperPtr new_cow = cow.second->clone();
50 
51  assert(new_cow->getCollisionShape());
52  assert(new_cow->getCollisionShape()->getShapeType() != CUSTOM_CONVEX_SHAPE_TYPE);
53 
54  new_cow->setWorldTransform(cow.second->getWorldTransform());
55  new_cow->setContactProcessingThreshold(static_cast<btScalar>(contact_distance_));
56  manager->addCollisionObject(new_cow);
57  }
58 
59  manager->setActiveCollisionObjects(active_);
60  manager->setContactDistanceThreshold(contact_distance_);
61 
62  return manager;
63 }
64 
67  const collision_detection::AllowedCollisionMatrix* acm, bool self)
68 {
69  ContactTestData cdata(active_, contact_distance_, collisions, req);
70 
71  broadphase_->calculateOverlappingPairs(dispatcher_.get());
72  btOverlappingPairCache* pair_cache = broadphase_->getOverlappingPairCache();
73 
74  RCLCPP_DEBUG_STREAM(BULLET_LOGGER, "Num overlapping candidates " << pair_cache->getNumOverlappingPairs());
75 
77  TesseractCollisionPairCallback collision_callback(dispatch_info_, dispatcher_.get(), cc);
78  pair_cache->processAllOverlappingPairs(&collision_callback, dispatcher_.get());
79 
80  RCLCPP_DEBUG_STREAM(BULLET_LOGGER, (collisions.collision ? "In" : "No")
81  << " collision with " << collisions.contact_count << " collisions");
82 }
83 
84 void BulletDiscreteBVHManager::addCollisionObject(const CollisionObjectWrapperPtr& cow)
85 {
86  link2cow_[cow->getName()] = cow;
88 }
89 
90 } // namespace collision_detection_bullet
Definition of a structure for the allowed collision matrix. All elements in the collision world are r...
std::vector< std::string > active_
A list of the active collision links.
std::unique_ptr< btBroadphaseInterface > broadphase_
The bullet broadphase interface.
double contact_distance_
The contact distance threshold.
std::map< std::string, CollisionObjectWrapperPtr > link2cow_
A map of collision objects being managed.
btDispatcherInfo dispatch_info_
The bullet collision dispatcher configuration information.
std::unique_ptr< btCollisionDispatcher > dispatcher_
The bullet collision dispatcher used for getting object to object collision algorithm.
void contactTest(collision_detection::CollisionResult &collisions, const collision_detection::CollisionRequest &req, const collision_detection::AllowedCollisionMatrix *acm, bool self) override
Perform a contact test for all objects in the manager.
void addCollisionObject(const CollisionObjectWrapperPtr &cow) override
Add a bullet collision object to the manager.
BulletDiscreteBVHManagerPtr clone() const
Clone the manager.
A callback function that is called as part of the broadphase collision checking.
Definition: bullet_utils.h:639
void addCollisionObjectToBroadphase(const CollisionObjectWrapperPtr &cow, const std::unique_ptr< btBroadphaseInterface > &broadphase, const std::unique_ptr< btCollisionDispatcher > &dispatcher)
Add the collision object to broadphase.
const rclcpp::Logger BULLET_LOGGER
Representation of a collision checking request.
Representation of a collision checking result.
bool collision
True if collision was found, false otherwise.
std::size_t contact_count
Number of contacts returned.
Callback structure for both discrete and continuous broadphase collision pair.
Definition: bullet_utils.h:532
Bundles the data for a collision query.
Definition: basic_types.h:59