Compute multiple contact points/contact surfaces

CHANGELOG.md

@@ -5,6 +5,7 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased]
+- New feature: computation of contact surfaces for any pair of primitive shapes (triangle, sphere, ellipsoid, plane, halfspace, cone, capsule, cylinder, convex) ([#574](https://github.com/humanoid-path-planner/hpp-fcl/pull/574)).
 - Enhance Broadphase DynamicAABBTree to better handle planes and halfspace ([#570](https://github.com/humanoid-path-planner/hpp-fcl/pull/570))
 - [#558](https://github.com/humanoid-path-planner/hpp-fcl/pull/558):
   - [internal] Removed dead code in `narrowphase/details.h` ([#558](https://github.com/humanoid-path-planner/hpp-fcl/pull/558))

CMakeLists.txt

@@ -236,6 +236,8 @@ SET(${PROJECT_NAME}_HEADERS
   include/hpp/fcl/narrowphase/narrowphase.h
   include/hpp/fcl/narrowphase/gjk.h
   include/hpp/fcl/narrowphase/narrowphase_defaults.h
+  include/hpp/fcl/narrowphase/minkowski_difference.h
+  include/hpp/fcl/narrowphase/support_functions.h
   include/hpp/fcl/shape/convex.h
   include/hpp/fcl/shape/details/convex.hxx
   include/hpp/fcl/shape/geometric_shape_to_BVH_model.h
@@ -245,6 +247,10 @@ SET(${PROJECT_NAME}_HEADERS
   include/hpp/fcl/distance_func_matrix.h
   include/hpp/fcl/collision.h
   include/hpp/fcl/collision_func_matrix.h
+  include/hpp/fcl/contact_patch.h
+  include/hpp/fcl/contact_patch_func_matrix.h
+  include/hpp/fcl/contact_patch/contact_patch_solver.h
+  include/hpp/fcl/contact_patch/contact_patch_solver.hxx
   include/hpp/fcl/distance.h
   include/hpp/fcl/math/matrix_3f.h
   include/hpp/fcl/math/vec_3f.h
@@ -265,6 +271,7 @@ SET(${PROJECT_NAME}_HEADERS
   include/hpp/fcl/internal/BV_fitter.h
   include/hpp/fcl/internal/BV_splitter.h
   include/hpp/fcl/internal/shape_shape_func.h
+  include/hpp/fcl/internal/shape_shape_contact_patch_func.h
   include/hpp/fcl/internal/intersect.h
   include/hpp/fcl/internal/tools.h
   include/hpp/fcl/internal/traversal_node_base.h
@@ -284,6 +291,7 @@ SET(${PROJECT_NAME}_HEADERS
   include/hpp/fcl/serialization/BV_splitter.h
   include/hpp/fcl/serialization/BVH_model.h
   include/hpp/fcl/serialization/collision_data.h
+  include/hpp/fcl/serialization/contact_patch.h
   include/hpp/fcl/serialization/collision_object.h
   include/hpp/fcl/serialization/convex.h
   include/hpp/fcl/serialization/eigen.h

include/hpp/fcl/collision.h

@@ -69,30 +69,6 @@ HPP_FCL_DLLAPI std::size_t collide(const CollisionGeometry* o1,
                                    const CollisionRequest& request,
                                    CollisionResult& result);
 
-/// @copydoc collide(const CollisionObject*, const CollisionObject*, const
-/// CollisionRequest&, CollisionResult&) \note this function update the initial
-/// guess of \c request if requested.
-///       See QueryRequest::updateGuess
-inline std::size_t collide(const CollisionObject* o1, const CollisionObject* o2,
-                           CollisionRequest& request, CollisionResult& result) {
-  std::size_t res = collide(o1, o2, (const CollisionRequest&)request, result);
-  request.updateGuess(result);
-  return res;
-}
-
-/// @copydoc collide(const CollisionObject*, const CollisionObject*, const
-/// CollisionRequest&, CollisionResult&) \note this function update the initial
-/// guess of \c request if requested.
-///       See QueryRequest::updateGuess
-inline std::size_t collide(const CollisionGeometry* o1, const Transform3f& tf1,
-                           const CollisionGeometry* o2, const Transform3f& tf2,
-                           CollisionRequest& request, CollisionResult& result) {
-  std::size_t res =
-      collide(o1, tf1, o2, tf2, (const CollisionRequest&)request, result);
-  request.updateGuess(result);
-  return res;
-}
-
 /// @brief This class reduces the cost of identifying the geometry pair.
 /// This is mostly useful for repeated shape-shape queries.
 ///
@@ -109,15 +85,6 @@ class HPP_FCL_DLLAPI ComputeCollision {
                          const CollisionRequest& request,
                          CollisionResult& result) const;
 
-  inline std::size_t operator()(const Transform3f& tf1, const Transform3f& tf2,
-                                CollisionRequest& request,
-                                CollisionResult& result) const {
-    std::size_t res = operator()(tf1, tf2, (const CollisionRequest&)request,
-                                 result);
-    request.updateGuess(result);
-    return res;
-  }
-
   bool operator==(const ComputeCollision& other) const {
     return o1 == other.o1 && o2 == other.o2 && solver == other.solver;
   }