CollisionGroup.hpp

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#ifndef DART_COLLISION_COLLISIONGROUP_HPP_
#define DART_COLLISION_COLLISIONGROUP_HPP_

#include <unordered_map>
#include <unordered_set>
#include <vector>
#include "dart/common/Observer.hpp"
#include "dart/dynamics/CollisionOption.hpp"
#include "dart/dynamics/CollisionResult.hpp"
#include "dart/dynamics/DistanceOption.hpp"
#include "dart/dynamics/DistanceResult.hpp"
#include "dart/dynamics/RaycastOption.hpp"
#include "dart/dynamics/RaycastResult.hpp"
#include "dart/dynamics/SmartPointer.hpp"

namespace dart {
namespace collision {

class CollisionGroup
{
public:
  CollisionGroup(const CollisionDetectorPtr& collisionDetector);
  // CollisionGroup also can be created from CollisionDetector::create()

  virtual ~CollisionGroup() = default;

  CollisionDetectorPtr getCollisionDetector();

  ConstCollisionDetectorPtr getCollisionDetector() const;

  void addShapeFrame(const dynamics::ShapeFrame* shapeFrame);

  void addShapeFrames(
      const std::vector<const dynamics::ShapeFrame*>& shapeFrames);

  template <typename... Others>
  void addShapeFramesOf(
      const dynamics::ShapeFrame* shapeFrame, const Others*... others);

  template <typename... Others>
  void addShapeFramesOf(
      const std::vector<const dynamics::ShapeFrame*>& shapeFrames,
      const Others*... others);

  template <typename... Others>
  void addShapeFramesOf(
      const CollisionGroup* otherGroup, const Others*... others);

  template <typename... Others>
  void addShapeFramesOf(
      const dynamics::BodyNode* bodyNode, const Others*... others);

  template <typename... Others>
  void addShapeFramesOf(
      const dynamics::MetaSkeleton* skeleton, const Others*... others);

  void addShapeFramesOf();

  template <typename... Others>
  void subscribeTo(
      const dynamics::ConstBodyNodePtr& bodyNode, const Others&... others);

  //
  // TODO(MXG): Figure out how to determine a version number for MetaSkeletons
  // so that this function can accept a ConstMetaSkeletonPtr instead of only a
  // ConstSkeletonPtr.
  template <typename... Others>
  void subscribeTo(
      const dynamics::ConstSkeletonPtr& skeleton, const Others&... others);

  void subscribeTo();

  void removeShapeFrame(const dynamics::ShapeFrame* shapeFrame);

  void removeShapeFrames(
      const std::vector<const dynamics::ShapeFrame*>& shapeFrames);

  template <typename... Others>
  void removeShapeFramesOf(
      const dynamics::ShapeFrame* shapeFrame, const Others*... others);

  template <typename... Others>
  void removeShapeFramesOf(
      const std::vector<const dynamics::ShapeFrame*>& shapeFrames,
      const Others*... others);

  template <typename... Others>
  void removeShapeFramesOf(
      const CollisionGroup* otherGroup, const Others*... others);

  template <typename... Others>
  void removeShapeFramesOf(
      const dynamics::BodyNode* bodyNode, const Others*... others);

  template <typename... Others>
  void removeShapeFramesOf(
      const dynamics::MetaSkeleton* skeleton, const Others*... others);

  void removeShapeFramesOf();

  void removeAllShapeFrames();

  template <typename... Others>
  void unsubscribeFrom(
      const dynamics::BodyNode* bodyNode, const Others*... others);

  template <typename... Others>
  void unsubscribeFrom(
      const dynamics::Skeleton* skeleton, const Others*... others);

  bool hasShapeFrame(const dynamics::ShapeFrame* shapeFrame) const;

  std::size_t getNumShapeFrames() const;

  const dynamics::ShapeFrame* getShapeFrame(std::size_t index) const;

  bool collide(
      const CollisionOption& option = CollisionOption(false, 1u, nullptr),
      CollisionResult* result = nullptr);

  bool collide(
      CollisionGroup* otherGroup,
      const CollisionOption& option = CollisionOption(false, 1u, nullptr),
      CollisionResult* result = nullptr);

  double distance(
      const DistanceOption& option = DistanceOption(false, 0.0, nullptr),
      DistanceResult* result = nullptr);

  double distance(
      CollisionGroup* otherGroup,
      const DistanceOption& option = DistanceOption(false, 0.0, nullptr),
      DistanceResult* result = nullptr);

  bool raycast(
      const Eigen::Vector3d& from,
      const Eigen::Vector3d& to,
      const RaycastOption& option = RaycastOption(),
      RaycastResult* result = nullptr);

  void setAutomaticUpdate(bool automatic = true);

  bool getAutomaticUpdate() const;

  void update();

  void removeDeletedShapeFrames();

protected:
  void updateEngineData();

  virtual void initializeEngineData() = 0;

  virtual void addCollisionObjectToEngine(CollisionObject* object) = 0;

  virtual void addCollisionObjectsToEngine(
      const std::vector<CollisionObject*>& collObjects)
      = 0;

  virtual void removeCollisionObjectFromEngine(CollisionObject* object) = 0;

  virtual void removeAllCollisionObjectsFromEngine() = 0;

  virtual void updateCollisionGroupEngineData() = 0;

protected:
  CollisionDetectorPtr mCollisionDetector;
  // CollisionGroup shares the ownership of CollisionDetector with other
  // CollisionGroups created from the same CollisionDetector so that the
  // CollisionDetector doesn't get destroyed as long as at least one
  // CollisionGroup is alive.

  struct ObjectInfo final
  {
    const dynamics::ShapeFrame* mFrame;

    CollisionObjectPtr mObject;

    std::size_t mLastKnownShapeID;

    std::size_t mLastKnownVersion;

    std::unordered_set<const void*> mSources;
  };

  using ObjectInfoList = std::vector<std::unique_ptr<ObjectInfo>>;

  ObjectInfoList mObjectInfoList;
  // CollisionGroup also shares the ownership of CollisionObjects across other
  // CollisionGroups for the same reason with above.
  //
  // Dev note: This was supposed to be std::map rather than std::vector for
  // better search performance. The reason we use std::vector is to get
  // deterministic contact results regardless of the order of CollisionObjects
  // in this container for FCLCollisionDetector.
  //
  // fcl's collision result is dependent on the order of objects in the broad
  // phase classes. If we use std::map, the orders of element between the
  // original and copy are not guranteed to be the same as we copy std::map
  // (e.g., by world cloning).

private:
  class ShapeFrameObserver final : public common::Observer
  {
  public:
    void addShapeFrame(const dynamics::ShapeFrame* shapeFrame);

    void removeShapeFrame(const dynamics::ShapeFrame* shapeFrame);

    void removeAllShapeFrames();

    std::unordered_set<const dynamics::ShapeFrame*> mDeletedFrames;

  protected:
    void handleDestructionNotification(const common::Subject* subject) override;

  private:
    std::unordered_map<const common::Subject*, const dynamics::ShapeFrame*>
        mMap;
  };

  ObjectInfo* addShapeFrameImpl(
      const dynamics::ShapeFrame* shapeFrame, const void* source);

  void removeShapeFrameInternal(
      const dynamics::ShapeFrame* shapeFrame, const void* source);

  bool mUpdateAutomatically;

  template <typename Source, typename Child = void>
  struct CollisionSource
  {
    Source mSource;

    std::size_t mLastKnownVersion;

    std::unordered_map<const dynamics::ShapeFrame*, ObjectInfo*> mObjects;

    struct ChildInfo
    {
      std::size_t mLastKnownVersion;

      std::unordered_set<const dynamics::ShapeFrame*> mFrames;

      explicit ChildInfo(const std::size_t version) : mLastKnownVersion(version)
      {
        // Do nothing
      }
    };

    std::unordered_map<const Child*, ChildInfo> mChildren;

    CollisionSource(const Source& source, std::size_t lastKnownVersion)
      : mSource(source), mLastKnownVersion(lastKnownVersion)
    {
      // Do nothing
    }
  };

  // Convenient typedefs for Skeleton sources
  using SkeletonSource
      = CollisionSource<dynamics::WeakConstMetaSkeletonPtr, dynamics::BodyNode>;
  using SkeletonSources
      = std::unordered_map<const dynamics::MetaSkeleton*, SkeletonSource>;

  // Convenient typedefs for BodyNode sources
  using BodyNodeSource = CollisionSource<dynamics::WeakConstBodyNodePtr>;
  using BodyNodeSources
      = std::unordered_map<const dynamics::BodyNode*, BodyNodeSource>;

  bool updateSkeletonSource(SkeletonSources::value_type& entry);

  bool updateBodyNodeSource(BodyNodeSources::value_type& entry);

  bool updateShapeFrame(ObjectInfo* object);

  SkeletonSources mSkeletonSources;

  BodyNodeSources mBodyNodeSources;

  ShapeFrameObserver mObserver;
};

} // namespace collision
} // namespace dart

#include "dart/dynamics/detail/CollisionGroup.hpp"

#endif // DART_COLLISION_COLLISIONGROUP_HPP_