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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>
39 
41 {
42 BulletDiscreteBVHManagerPtr BulletDiscreteBVHManager::clone() const
43 {
44  auto manager = std::make_shared<BulletDiscreteBVHManager>();
45 
46  for (const std::pair<const std::string, CollisionObjectWrapperPtr>& cow : link2cow_)
47  {
48  CollisionObjectWrapperPtr new_cow = cow.second->clone();
49 
50  assert(new_cow->getCollisionShape());
51  assert(new_cow->getCollisionShape()->getShapeType() != CUSTOM_CONVEX_SHAPE_TYPE);
52 
53  new_cow->setWorldTransform(cow.second->getWorldTransform());
54  new_cow->setContactProcessingThreshold(static_cast<btScalar>(contact_distance_));
55  manager->addCollisionObject(new_cow);
56  }
57 
58  manager->setActiveCollisionObjects(active_);
59  manager->setContactDistanceThreshold(contact_distance_);
60 
61  return manager;
62 }
63 
66  const collision_detection::AllowedCollisionMatrix* acm, bool self)
67 {
68  ContactTestData cdata(active_, contact_distance_, collisions, req);
69 
70  broadphase_->calculateOverlappingPairs(dispatcher_.get());
71  btOverlappingPairCache* pair_cache = broadphase_->getOverlappingPairCache();
72 
73  RCLCPP_DEBUG_STREAM(getLogger(), "Num overlapping candidates " << pair_cache->getNumOverlappingPairs());
74 
76  TesseractCollisionPairCallback collision_callback(dispatch_info_, dispatcher_.get(), cc);
77  pair_cache->processAllOverlappingPairs(&collision_callback, dispatcher_.get());
78 
79  RCLCPP_DEBUG_STREAM(getLogger(), (collisions.collision ? "In" : "No")
80  << " collision with " << collisions.contact_count << " collisions");
81 }
82 
83 void BulletDiscreteBVHManager::addCollisionObject(const CollisionObjectWrapperPtr& cow)
84 {
85  link2cow_[cow->getName()] = cow;
87 }
88 
89 } // 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:638
void addCollisionObjectToBroadphase(const CollisionObjectWrapperPtr &cow, const std::unique_ptr< btBroadphaseInterface > &broadphase, const std::unique_ptr< btCollisionDispatcher > &dispatcher)
Add the collision object to broadphase.
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:531
Bundles the data for a collision query.
Definition: basic_types.h:59