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Added FCL to build and added FCLModel #1890

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Added FCL to build and added FCLModel #1890

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55898bd
Added FCL to build and added FCLModel
Mar 18, 2016
c62fc8c
Remove duplicate bullet entry in CMakeList.txt. Also point FCL to ma…
Mar 24, 2016
4e10331
Update FCL version
mwoehlke-kitware Apr 1, 2016
f3d1ed4
Fix dependencies, remove FLANN
mwoehlke-kitware Mar 31, 2016
d8cadc4
Remove trailing spaces
mwoehlke-kitware Mar 31, 2016
8575a9a
Merge pull request #1 from mwoehlke-kitware/fcl
law12019 Apr 1, 2016
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23 changes: 22 additions & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,9 @@ 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_LIBCCD "Required for FCL" OFF)
option(WITH_FLANN "Required for FCL" OFF)
option(WITH_FCL "Fast Collision Library" OFF)
option(WITH_SWIG_MATLAB "A version of SWIG with MATLAB support" ON)
endif()
find_program(matlab matlab)
Expand Down Expand Up @@ -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)
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dependencies is misspelled here; as a result, the fcl dependencies are effectively not set

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BTW the upstream fcl master branch doesn't depend on flann any more.


# download information, in alphabetical order
set(avl_GIT_REPOSITORY https://github.com/RobotLocomotion/avl.git)
Expand All @@ -103,6 +107,20 @@ set(bullet_GIT_REPOSITORY https://github.com/RobotLocomotion/bullet-pod.git)
set(bullet_GIT_TAG 54d0751b50f86481549391961b209f06ac5035f9)
set(bullet_IS_PUBLIC TRUE)
set(bullet_IS_CMAKE_POD TRUE)
set(libccd_GIT_REPOSITORY https://github.com/danfis/libccd.git)
set(libccd_GIT_TAG v2.0)
set(libccd_IS_PUBLIC TRUE)
set(libccd_IS_CMAKE_POD TRUE)
set(flann_GIT_REPOSITORY https://github.com/mariusmuja/flann.git)
set(flann_GIT_TAG 1.8.1-src)
set(flann_IS_PUBLIC TRUE)
set(flann_IS_CMAKE_POD TRUE)
set(fcl_GIT_REPOSITORY https://github.com/flexible-collision-library/fcl.git)
set(fcl_GIT_TAG ea10bbaa93965a35880830131ddd8767fd2cc7b0)
#set(fcl_GIT_TAG 0.5.0)
set(fcl_IS_PUBLIC TRUE)
set(fcl_IS_CMAKE_POD TRUE)

set(cmake_GIT_REPOSITORY https://github.com/RobotLocomotion/cmake.git)
set(cmake_GIT_TAG 54f5a4c0734015695334970ecedac79e12c3116f)
set(cmake_GIT_CLONE_DIR "${PROJECT_SOURCE_DIR}/drake/cmake")
Expand Down Expand Up @@ -226,6 +244,9 @@ foreach(proj IN ITEMS
bot_core_lcmtypes
libbot
bullet
libccd
flann
fcl
spotless
director
signalscope
Expand Down
9 changes: 0 additions & 9 deletions drake/systems/plants/collision/BulletResultCollector.cpp
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Expand Up @@ -8,7 +8,6 @@ using namespace std;
using namespace Eigen;

namespace DrakeCollision {
Vector3d toVector3d(const Vector3d& vec) { return vec; };

Vector3d toVector3d(const btVector3& bt_vec) {
Vector3d vec;
Expand All @@ -18,14 +17,6 @@ Vector3d toVector3d(const btVector3& bt_vec) {
return vec;
}

void ResultCollector::addPointPairResult(const PointPair& result) {
pts.push_back(result);
}

PointPair ResultCollector::minDistPoint() {
return *min_element(pts.begin(), pts.end());
}

btScalar BulletResultCollector::addSingleResult(
btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,
int partId0, int index0, const btCollisionObjectWrapper* colObj1Wrap,
Expand Down
25 changes: 2 additions & 23 deletions drake/systems/plants/collision/BulletResultCollector.h
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Expand Up @@ -2,31 +2,12 @@
#define __DrakeCollisionBullletResultCollector_H__

#include "drake/systems/plants/collision/DrakeCollision.h"
#include "drake/systems/plants/collision/ResultCollector.h"

namespace DrakeCollision {
Eigen::Vector3d toVector3d(const Eigen::Vector3d& vec);
// Eigen::Vector3d toVector3d(const Eigen::Vector3d& vec);
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remove this line altogether?

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Resolved.

Eigen::Vector3d toVector3d(const btVector3& bt_vec);

class ResultCollector {
public:
virtual ~ResultCollector(){};

virtual void addPointPairResult(const PointPair& result);

inline void addSingleResult(const ElementId idA, const ElementId idB,
const Eigen::Vector3d& ptA,
const Eigen::Vector3d& ptB,
const Eigen::Vector3d& normal, double distance) {
addPointPairResult(PointPair(idA, idB, ptA, ptB, normal, distance));
}

std::vector<PointPair> getResults() const { return pts; }

PointPair minDistPoint();

std::vector<PointPair> pts;
};

class BulletResultCollector : public ResultCollector,
public btCollisionWorld::ContactResultCallback {
public:
Expand All @@ -50,8 +31,6 @@ class BulletResultCollector : public ResultCollector,
int curr_bodyA_idx;
int curr_bodyB_idx;
};

typedef std::shared_ptr<ResultCollector> ResultCollShPtr;
}

#endif
17 changes: 15 additions & 2 deletions drake/systems/plants/collision/CMakeLists.txt
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@@ -1,4 +1,12 @@
set(drakeCollision_SRC_FILES DrakeCollision.cpp Element.cpp PointPair.cpp Model.cpp)
set(drakeCollision_SRC_FILES DrakeCollision.cpp Element.cpp PointPair.cpp Model.cpp ResultCollector.cpp)
pods_find_pkg_config(fcl)

if (fcl_FOUND)
#add_definitions( -DBULLET_COLLISION -DBT_USE_DOUBLE_PRECISION )
set( drakeCollision_SRC_FILES ${drakeCollision_SRC_FILES} FCLModel.cpp )
set(fcl "yes" CACHE STRING "yes" )
endif()

pods_find_pkg_config(bullet)

if (bullet_FOUND)
Expand All @@ -9,14 +17,19 @@ endif()

add_library_with_exports(LIB_NAME drakeCollision SOURCE_FILES ${drakeCollision_SRC_FILES})

if (fcl_FOUND)
pods_use_pkg_config_packages(drakeCollision fcl)
endif()

if (bullet_FOUND)
pods_use_pkg_config_packages(drakeCollision bullet)
endif()


target_link_libraries(drakeCollision drakeShapes)

enable_testing()
add_subdirectory(test)

pods_install_libraries(drakeCollision)
drake_install_headers(DrakeCollision.h PointPair.h Element.h Model.h)

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