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Keep active links updated in contact managers when adding and removing links #952

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Keep active links updated in contact managers when adding and removing links #952

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13 changes: 12 additions & 1 deletion tesseract_collision/bullet/src/bullet_cast_bvh_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -164,6 +164,8 @@ bool BulletCastBVHManager::removeCollisionObject(const std::string& name)
removeCollisionObjectFromBroadphase(cow2, broadphase_, dispatcher_);
link2castcow_.erase(name);

active_.erase(std::find(active_.begin(), active_.end(), name));

return true;
}

Expand Down Expand Up @@ -484,7 +486,16 @@ void BulletCastBVHManager::addCollisionObject(const COW::Ptr& cow)
// Add it to the cast map
link2castcow_[cast_cow->getName()] = cast_cow;

const COW::Ptr& selected_cow = (cow->m_collisionFilterGroup == btBroadphaseProxy::KinematicFilter) ? cast_cow : cow;
COW::Ptr selected_cow;
if (cow->m_collisionFilterGroup == btBroadphaseProxy::KinematicFilter)
{
active_.push_back(cow->getName());
selected_cow = cast_cow;
}
else
{
selected_cow = cow;
}

btVector3 aabb_min, aabb_max;
selected_cow->getAABB(aabb_min, aabb_max);
Expand Down
6 changes: 6 additions & 0 deletions tesseract_collision/bullet/src/bullet_cast_simple_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -139,6 +139,7 @@ bool BulletCastSimpleManager::removeCollisionObject(const std::string& name)
collision_objects_.erase(std::find(collision_objects_.begin(), collision_objects_.end(), name));
link2cow_.erase(name);
link2castcow_.erase(name);
active_.erase(std::find(active_.begin(), active_.end(), name));
return true;
}

Expand Down Expand Up @@ -448,9 +449,14 @@ void BulletCastSimpleManager::addCollisionObject(const COW::Ptr& cow)
link2castcow_[cast_cow->getName()] = cast_cow;

if (cow->m_collisionFilterGroup == btBroadphaseProxy::KinematicFilter)
{
cows_.insert(cows_.begin(), cast_cow);
active_.push_back(cow->getName());
}
else
{
cows_.push_back(cow);
}
}

void BulletCastSimpleManager::onCollisionMarginDataChanged()
Expand Down
4 changes: 4 additions & 0 deletions tesseract_collision/bullet/src/bullet_discrete_bvh_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -154,6 +154,7 @@ bool BulletDiscreteBVHManager::removeCollisionObject(const std::string& name)
collision_objects_.erase(std::find(collision_objects_.begin(), collision_objects_.end(), name));
removeCollisionObjectFromBroadphase(it->second, broadphase_, dispatcher_);
link2cow_.erase(name);
active_.erase(std::find(active_.begin(), active_.end(), name));
return true;
}

Expand Down Expand Up @@ -298,6 +299,9 @@ void BulletDiscreteBVHManager::addCollisionObject(const COW::Ptr& cow)
link2cow_[cow->getName()] = cow;
collision_objects_.push_back(cow->getName());

if (cow->m_collisionFilterGroup == btBroadphaseProxy::KinematicFilter)
active_.push_back(cow->getName());

// Add collision object to broadphase
addCollisionObjectToBroadphase(cow, broadphase_, dispatcher_);
}
Expand Down
6 changes: 6 additions & 0 deletions tesseract_collision/bullet/src/bullet_discrete_simple_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -140,6 +140,7 @@ bool BulletDiscreteSimpleManager::removeCollisionObject(const std::string& name)
cows_.erase(std::find(cows_.begin(), cows_.end(), it->second));
collision_objects_.erase(std::find(collision_objects_.begin(), collision_objects_.end(), name));
link2cow_.erase(name);
active_.erase(std::find(active_.begin(), active_.end(), name));
return true;
}

Expand Down Expand Up @@ -327,9 +328,14 @@ void BulletDiscreteSimpleManager::addCollisionObject(const COW::Ptr& cow)
collision_objects_.push_back(cow->getName());

if (cow->m_collisionFilterGroup == btBroadphaseProxy::KinematicFilter)
{
cows_.insert(cows_.begin(), cow);
active_.push_back(cow->getName());
}
else
{
cows_.push_back(cow);
}
}

void BulletDiscreteSimpleManager::onCollisionMarginDataChanged()
Expand Down
2 changes: 2 additions & 0 deletions tesseract_collision/fcl/src/fcl_discrete_managers.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -137,6 +137,7 @@ bool FCLDiscreteBVHManager::removeCollisionObject(const std::string& name)

collision_objects_.erase(std::find(collision_objects_.begin(), collision_objects_.end(), name));
link2cow_.erase(name);
active_.erase(std::find(active_.begin(), active_.end(), name));
return true;
}
return false;
Expand Down Expand Up @@ -354,6 +355,7 @@ void FCLDiscreteBVHManager::addCollisionObject(const COW::Ptr& cow)
}
else
{
active_.push_back(cow->getName());
for (auto& co : objects)
dynamic_manager_->registerObject(co.get());
}
Expand Down
43 changes: 43 additions & 0 deletions ...ct_collision/test_suite/include/tesseract_collision/test_suite/collision_box_box_unit.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,8 @@ namespace detail
{
inline void addCollisionObjects(DiscreteContactManager& checker, bool use_convex_mesh = false)
{
const std::size_t current_size = checker.getActiveCollisionObjects().size();

//////////////////////
// Add box to checker
//////////////////////
Expand All @@ -27,6 +29,17 @@ inline void addCollisionObjects(DiscreteContactManager& checker, bool use_convex

checker.addCollisionObject("box_link", 0, obj1_shapes, obj1_poses, false);
checker.enableCollisionObject("box_link");
std::vector<std::string> active = checker.getActiveCollisionObjects();
if (current_size == 0)
{
EXPECT_EQ(active.size(), 1);
EXPECT_TRUE(std::find(active.begin(), active.end(), "box_link") != active.end());
}
else
{
EXPECT_EQ(active.size(), 3);
EXPECT_TRUE(std::find(active.begin(), active.end(), "box_link") != active.end());
}

/////////////////////////////////////////////
// Add thin box to checker which is disabled
Expand All @@ -42,6 +55,19 @@ inline void addCollisionObjects(DiscreteContactManager& checker, bool use_convex

checker.addCollisionObject("thin_box_link", 0, obj2_shapes, obj2_poses);
checker.disableCollisionObject("thin_box_link");
active = checker.getActiveCollisionObjects();
if (current_size == 0)
{
EXPECT_EQ(active.size(), 2);
EXPECT_TRUE(std::find(active.begin(), active.end(), "box_link") != active.end());
EXPECT_TRUE(std::find(active.begin(), active.end(), "thin_box_link") != active.end());
}
else
{
EXPECT_EQ(active.size(), 3);
EXPECT_TRUE(std::find(active.begin(), active.end(), "box_link") != active.end());
EXPECT_TRUE(std::find(active.begin(), active.end(), "thin_box_link") != active.end());
}

/////////////////////////////////////////////////////////////////
// Add second box to checker. If use_convex_mesh = true then this
Expand Down Expand Up @@ -75,6 +101,11 @@ inline void addCollisionObjects(DiscreteContactManager& checker, bool use_convex
obj3_poses.push_back(second_box_pose);

checker.addCollisionObject("second_box_link", 0, obj3_shapes, obj3_poses);
active = checker.getActiveCollisionObjects();
EXPECT_EQ(active.size(), 3);
EXPECT_TRUE(std::find(active.begin(), active.end(), "box_link") != active.end());
EXPECT_TRUE(std::find(active.begin(), active.end(), "thin_box_link") != active.end());
EXPECT_TRUE(std::find(active.begin(), active.end(), "second_box_link") != active.end());

/////////////////////////////////////////////
// Add box and remove
Expand All @@ -91,8 +122,20 @@ inline void addCollisionObjects(DiscreteContactManager& checker, bool use_convex
checker.addCollisionObject("remove_box_link", 0, obj4_shapes, obj4_poses);
EXPECT_TRUE(checker.getCollisionObjects().size() == 4);
EXPECT_TRUE(checker.hasCollisionObject("remove_box_link"));
active = checker.getActiveCollisionObjects();
EXPECT_EQ(active.size(), 4);
EXPECT_TRUE(std::find(active.begin(), active.end(), "box_link") != active.end());
EXPECT_TRUE(std::find(active.begin(), active.end(), "thin_box_link") != active.end());
EXPECT_TRUE(std::find(active.begin(), active.end(), "second_box_link") != active.end());
EXPECT_TRUE(std::find(active.begin(), active.end(), "remove_box_link") != active.end());
checker.removeCollisionObject("remove_box_link");
EXPECT_FALSE(checker.hasCollisionObject("remove_box_link"));
active = checker.getActiveCollisionObjects();
EXPECT_EQ(active.size(), 3);
EXPECT_TRUE(std::find(active.begin(), active.end(), "box_link") != active.end());
EXPECT_TRUE(std::find(active.begin(), active.end(), "thin_box_link") != active.end());
EXPECT_TRUE(std::find(active.begin(), active.end(), "second_box_link") != active.end());
EXPECT_TRUE(std::find(active.begin(), active.end(), "remove_box_link") == active.end());

/////////////////////////////////////////////
// Try functions on a link that does not exist
Expand Down
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