collision_env_bullet.h

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/* Author: Jens Petit */
 
#pragma once
 
#include <moveit/collision_detection/collision_env.h>
#include <moveit/collision_detection_bullet/bullet_integration/bullet_discrete_bvh_manager.h>
#include <moveit/collision_detection_bullet/bullet_integration/bullet_cast_bvh_manager.h>
#include <mutex>
 
namespace collision_detection
{
class CollisionEnvBullet : public CollisionEnv
{
public:
  CollisionEnvBullet() = delete;
 
  CollisionEnvBullet(const moveit::core::RobotModelConstPtr& model, double padding = 0.0, double scale = 1.0);
 
  CollisionEnvBullet(const moveit::core::RobotModelConstPtr& model, const WorldPtr& world, double padding = 0.0,
                     double scale = 1.0);
 
  CollisionEnvBullet(const CollisionEnvBullet& other, const WorldPtr& world);
 
  ~CollisionEnvBullet() override;
 
  CollisionEnvBullet(CollisionEnvBullet&) = delete;
 
  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res,
                          const moveit::core::RobotState& state) const override;
 
  void checkSelfCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state,
                          const AllowedCollisionMatrix& acm) const override;
 
  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res,
                           const moveit::core::RobotState& state) const override;
 
  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state,
                           const AllowedCollisionMatrix& acm) const override;
 
  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state1,
                           const moveit::core::RobotState& state2) const override;
 
  void checkRobotCollision(const CollisionRequest& req, CollisionResult& res, const moveit::core::RobotState& state1,
                           const moveit::core::RobotState& state2, const AllowedCollisionMatrix& acm) const override;
 
  void distanceSelf(const DistanceRequest& req, DistanceResult& res,
                    const moveit::core::RobotState& state) const override;
 
  void distanceRobot(const DistanceRequest& req, DistanceResult& res,
                     const moveit::core::RobotState& state) const override;
 
  void setWorld(const WorldPtr& world) override;
 
protected:
  void updateTransformsFromState(const moveit::core::RobotState& state,
                                 const collision_detection_bullet::BulletDiscreteBVHManagerPtr& manager) const;
 
  void updatedPaddingOrScaling(const std::vector<std::string>& links) override;
 
  void addAttachedObjects(const moveit::core::RobotState& state,
                          std::vector<collision_detection_bullet::CollisionObjectWrapperPtr>& cows) const;
 
  void checkSelfCollisionHelper(const CollisionRequest& req, CollisionResult& res,
                                const moveit::core::RobotState& state, const AllowedCollisionMatrix* acm) const;
 
  void checkRobotCollisionHelperCCD(const CollisionRequest& req, CollisionResult& res,
                                    const moveit::core::RobotState& state1, const moveit::core::RobotState& state2,
                                    const AllowedCollisionMatrix* acm) const;
 
  void checkRobotCollisionHelper(const CollisionRequest& req, CollisionResult& res,
                                 const moveit::core::RobotState& state, const AllowedCollisionMatrix* acm) const;
 
  void addLinkAsCollisionObject(const urdf::LinkSharedPtr& link);
 
  collision_detection_bullet::BulletDiscreteBVHManagerPtr manager_{
    new collision_detection_bullet::BulletDiscreteBVHManager()
  };
 
  collision_detection_bullet::BulletCastBVHManagerPtr manager_CCD_{
    new collision_detection_bullet::BulletCastBVHManager()
  };
 
  // Lock manager_ and manager_CCD_, for thread-safe collision tests
  mutable std::mutex collision_env_mutex_;
 
  void addToManager(const World::Object* obj);
 
  void updateManagedObject(const std::string& id);
 
  std::vector<std::string> active_;
 
private:
  void notifyObjectChange(const ObjectConstPtr& obj, World::Action action);
 
  World::ObserverHandle observer_handle_;
};
}  // namespace collision_detection