FCL

中的代码无法编译通过，好在ubuntu仓库自带fcl

1.安装fcl

sudo apt-get install libfcl-dev

2.测试

cmake_minimum_required(VERSION 2.8)
project( fcl_test )

include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
elseif(COMPILER_SUPPORTS_CXX0X)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
else()
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()

include_directories(/usr/include)
link_directories(/usr/lib)

add_executable( fcl_test test_fcl_collision.cpp)

target_link_libraries( fcl_test fcl)

main函数框架

#include "fcl/collision.h"
#include "fcl/math/transform.h"
#include "fcl/math/vec_3f.h"
#include "fcl/config.h"
#include "fcl/BVH/BVH_model.h"
#include "fcl/broadphase/broadphase.h"
#include "fcl/collision.h"
#include "fcl/distance.h"
#include "fcl/continuous_collision.h"
#include "types.h"
#include <iostream>
using namespace fcl;



//==============================================================================
int main(int argc, char* argv[])
{

   return 1;
}

三角网格模型
通过输入一系列的定点和三角网格，通过BVH模型可以测试

// set mesh triangles and vertice indices
    std::vector<Vec3f> vertices;
    std::vector<Triangle> triangles;
    // code to set the vertices and triangles

    // BVHModel is a template class for mesh geometry, for default OBBRSS template is used
    typedef BVHModel<OBBRSS> Model;
    Model* model = new Model();
    // add the mesh data into the BVHModel structure
    model->beginModel();
    model->addSubModel(vertices, triangles);
    model->endModel();

定义shape

// // R and T are the rotation matrix and translation vector
    Matrix3f R;
    R.setIdentity();
    Vec3f T1(0,0,0);
    Vec3f T2(2,0,1);
    // code for setting R and T

    // transform is configured according to R and T
// Transform3f pose(R, T);


    std::shared_ptr<Box> box0(new Box(1,1,1));
    std::shared_ptr<Box> box1(new Box(1,1,1));

    std::shared_ptr<Cylinder> cylinder0(new Cylinder(1,1));
    std::shared_ptr<Cylinder> cylinder1(new Cylinder(1,1));
    // Given two objects o1 and o2
    CollisionObject* o1=new CollisionObject(cylinder0,Transform3f(R,T1));

    //o1->cgeom=box0;
    CollisionObject* o2=new CollisionObject(cylinder1,Transform3f(R,T2));

测试是否碰撞

// set the collision request structure, here we just use the default setting
    CollisionRequest request;
    // result will be returned via the collision result structure
    CollisionResult result;
    // perform collision test
    collide(o1, o2, request, result);
    bool res=result.isCollision()?1:0;
    if(res) std::cerr<<"y"<<std::endl;
    else std::cerr<<"n"<<std::endl;

测量距离

set the distance request structure, here we just use the default setting
    DistanceRequest request;
// result will be returned via the collision result structure
    DistanceResult result;
// perform distance test
    distance(o1, o2, request, result);
    std::cerr<<result.min_distance<<std::endl;
    std::cerr<<o1->getAABB().center()<<std::endl;
    std::cerr<<o1->getAABB().min_<<std::endl;
    std::cerr<<o1->getAABB().max_<<std::endl;

当两个物体按照一定的轨迹运动时，需要提前预测碰撞，可采用连续碰撞

// // The goal transforms for o1 and o2
    Transform3f tf_goal_o1 ;
    Transform3f tf_goal_o2 ;
// // set the continuous collision request structure, here we just use the default setting
    ContinuousCollisionRequest request;
// // result will be returned via the continuous collision result structure
    ContinuousCollisionResult result;
// // perform continuous collision test
    continuousCollide(o1, tf_goal_o1, o2, tf_goal_o2, request, result);

    std::cerr<<result.time_of_contact<<std::endl;