Added FCL to build and added FCLModel #1890
Conversation
Drake now builds with External/fcl as an option. It is off by default because fcl uses boost which conflicts with the Matlab boost. FCLModel can be constructed instead of BulletModel. BulletModel is still the default when newModel() is called. .../collision/test/FCLModelTest.cpp excersizes some of the tests in .../collision/test/ModelTest.cpp and compares the results of BulletModel and FCLModel with the same calls. I did not implement fcl collision with mesh shapes because the API appears to only have access to points and not triangles. I did not implement margins or ray intersections because I could not find these features in fcl. With tests or examples of features, I could implement more.
| @@ -43,6 +43,10 @@ if (WIN32) | |||
| else() | |||
| option(WITH_DIRECTOR "vtk-based visualization tool and robot user interface" ON) # not win32 yet. it builds on windows, but requires manually installation of vtk, etc. perhaps make a precompiled director pod (a bit like snopt) | |||
| option(WITH_LIBBOT "simple open-gl visualizer + lcmgl for director" ON) # there is hope, but i spent a long time cleaning up c/c++ language errors trying to make msvc happy.. and still had a long way to go. | |||
| option(WITH_BULLET "used for collision detection" ON) # almost works. just one remaining link error..? | |||
There was a problem hiding this comment.
this already exists above.
|
apart from the boost issue, it looks good to me on a quick code inspection. @sherm1, @amcastro-tri -- PTAL? |
Charles, with a little arm twisting the FCL guys merged your PR into fcl/master, so you may be able to avoid using your own fork now. I also proposed eliminating boost which was enthusiastically received. There is now a nuke boost project, and a substantial PR in review. So there is some hope that in the relatively near future the boost dependency will be history. |
| set(flann_IS_CMAKE_POD TRUE) | ||
| #set(fcl_GIT_REPOSITORY https://github.com/flexible-collision-library/fcl.git) | ||
| #set(fcl_GIT_TAG 0.4.0) | ||
| set(fcl_GIT_REPOSITORY https://github.com/law12019/fcl.git) |
There was a problem hiding this comment.
@law12019, since your PR was merged you could ask FCL folks to tag a release that you could use here instead of your own repo.
|
has build failures; not sure if this PR caused them If the boost dependency is a fatal flaw, the shortest path to getting this in might be for @law12019 to help the FCL folks get rid of it. It doesn't look too hard. What do you think Charles? |
| } | ||
|
|
||
| // TODO: Figure out how to convert mesh verts to fcl mesh. | ||
| BVHModel<OBBRSS>* FCLModel::newFCLMeshShape(const DrakeShapes::Mesh& geometry, |
There was a problem hiding this comment.
Drake's implementation of mesh shapes seems to be using convex hulls for this in BulletModel::newBulletMeshShape. Maybe we'd like to do that here as well for now?
|
This is a great feature @law12019! is your implementation already ready to run for instance the Cars example? I would love to see how this implementation performs when running the SimpleCollisionTests I just created. |
| @@ -90,7 +93,8 @@ set(bot_core_lcmtypes_dependencies lcm) | |||
| set(director_dependencies lcm bot_core_lcmtypes libbot) | |||
| set(iris_dependencies eigen mosek) | |||
| set(signalscope_dependencies director) | |||
| set(drake_dependencies cmake eigen googletest lcm bot_core_lcmtypes libbot bullet octomap snopt gurobi swig_matlab swigmake) | |||
| set(drake_dependencies cmake eigen googletest lcm bot_core_lcmtypes libbot bullet libccd flann fcl octomap snopt gurobi swig_matlab swigmake) | |||
| set(fcl_dependancies flann libccd) | |||
There was a problem hiding this comment.
dependencies is misspelled here; as a result, the fcl dependencies are effectively not set
There was a problem hiding this comment.
BTW the upstream fcl master branch doesn't depend on flann any more.
Update FCL to incorporate upstream changes, including de-boost-ification and a fix to how ccd is found when it can't be found via pkg-config.
FCL no longer requires FLANN; remove it from the branch so we aren't adding unnecessary externals. Also, fix spelling of FCL dependencies variable so that the dependencies are actually seen.
Update FCL version
|
This branch has conflicts that must be resolved. |
|
This PR replaced by #2010 -- closing here. |
Drake now builds with
External/fclas an option. It is off by default because fcl uses boost which conflicts with the Matlab boost.FCLModelcan be constructed instead ofBulletModel.BulletModelis still the default whennewModel()is called..../collision/test/FCLModelTest.cppexercises some of the tests in.../collision/test/ModelTest.cppand compares the results ofBulletModelandFCLModelwith the same calls.I did not implement fcl collision with mesh shapes because the API appears to only have access to points and not triangles. I did not implement margins or ray intersections because I could
not find these features in fcl. With tests or examples of features, I could implement more.