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(#25381) fcl: add missing transitive_headers=True, CMP0077
* fcl: add missing transitive_headers=True, CMP0077 * fcl: use tc.cache_variables * fcl: remove some unnecessary transitive_libs=True * fcl: fix cache_variables serialization error * fcl: set transitive_libs=False for libccd, test this in test_package * Update recipes/fcl/all/conanfile.py --------- Co-authored-by: Luis Caro Campos <3535649+jcar87@users.noreply.github.com>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,78 +1,15 @@ | ||
| /* | ||
| From test_broadphase_dynamic_AABB_tree.cpp test in FCL test directory | ||
| */ | ||
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| #include "fcl/common/types.h" | ||
| #include "fcl/geometry/shape/sphere.h" | ||
| #include "fcl/broadphase/broadphase_dynamic_AABB_tree.h" | ||
| #include <fcl/narrowphase/distance.h> | ||
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| #include <memory> | ||
| #include <vector> | ||
| #include <iostream> | ||
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| int main() { | ||
| auto sphere0 = std::make_shared<fcl::Sphered>(0.1); | ||
| auto sphere1 = std::make_shared<fcl::Sphered>(0.2); | ||
| fcl::CollisionObjectd object0(sphere0); | ||
| fcl::CollisionObjectd object1(sphere1); | ||
| const fcl::Vector3d position0(0.1, 0.2, 0.3); | ||
| const fcl::Vector3d position1(0.11, 0.21, 0.31); | ||
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| // We will use `objects` to check the order of the two collision objects in | ||
| // our callback function. | ||
| // | ||
| // We use std::vector that contains *pointers* to CollisionObjectd, | ||
| // instead of std::vector that contains CollisionObjectd's. | ||
| // Previously we used std::vector<fcl::CollisionObjectd>, and it failed the | ||
| // Eigen alignment assertion on Win32. We also tried, without success, the | ||
| // custom allocator: | ||
| // std::vector<fcl::CollisionObjectd, | ||
| // Eigen::aligned_allocator<fcl::CollisionObjectd>>, | ||
| // but some platforms failed to build. | ||
| std::vector<fcl::CollisionObjectd*> objects = {&object0, &object1}; | ||
| std::vector<const fcl::Vector3d*> positions = {&position0, &position1}; | ||
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| fcl::DynamicAABBTreeCollisionManager<double> dynamic_tree; | ||
| for (int i = 0; i < static_cast<int>(objects.size()); ++i) { | ||
| objects[i]->setTranslation(*positions[i]); | ||
| objects[i]->computeAABB(); | ||
| dynamic_tree.registerObject(objects[i]); | ||
| } | ||
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| // Pack the data for callback function. | ||
| struct CallBackData { | ||
| bool expect_object0_then_object1; | ||
| std::vector<fcl::CollisionObjectd*>* objects; | ||
| } data; | ||
| data.expect_object0_then_object1 = false; | ||
| data.objects = &objects; | ||
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| // This callback function tests the order of the two collision objects from | ||
| // the dynamic tree against the `data`. We assume that the first two | ||
| // parameters are always objects[0] and objects[1] in two possible orders, | ||
| // so we can safely ignore the second parameter. We do not use the last | ||
| // double& parameter, which specifies the distance beyond which the | ||
| // pair of objects will be skipped. | ||
| auto distance_callback = [](fcl::CollisionObjectd* a, fcl::CollisionObjectd*, | ||
| void* callback_data, double&) -> bool { | ||
| // Unpack the data. | ||
| auto data = static_cast<CallBackData*>(callback_data); | ||
| const std::vector<fcl::CollisionObjectd*>& objects = *(data->objects); | ||
| const bool object0_first = a == objects[0]; | ||
| // EXPECT_EQ(data->expect_object0_then_object1, object0_first); | ||
| // TODO(DamrongGuoy): Remove the statement below when we solve the | ||
| // repeatability problem as mentioned in: | ||
| // https://github.com/flexible-collision-library/fcl/issues/368 | ||
| // Expect to switch the order next time. | ||
| data->expect_object0_then_object1 = !data->expect_object0_then_object1; | ||
| // Return true to stop the tree traversal. | ||
| return true; | ||
| }; | ||
| // We repeat update() and distance() many times. Each time, in the | ||
| // callback function, we check the order of the two objects. | ||
| for (int count = 0; count < 8; ++count) { | ||
| dynamic_tree.update(); | ||
| dynamic_tree.distance(&data, distance_callback); | ||
| } | ||
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| return 0; | ||
| using namespace fcl; | ||
| std::shared_ptr<CollisionGeometry<double>> box_geometry_1(new Box<double>()); | ||
| std::shared_ptr<CollisionGeometry<double>> box_geometry_2(new Box<double>()); | ||
| CollisionObject<double> box_object_1(box_geometry_1); | ||
| CollisionObject<double> box_object_2(box_geometry_2); | ||
| DistanceRequest<double> request; | ||
| DistanceResult<double> result; | ||
| std::cout << "Distance: " << distance<double>(&box_object_1, &box_object_2, request, result) << std::endl; | ||
| } |