proximity_engine.h

#pragma once

#include <limits>
#include <memory>
#include <optional>
#include <type_traits>
#include <unordered_map>
#include <unordered_set>
#include <vector>

#include "drake/common/autodiff.h"
#include "drake/common/sorted_pair.h"
#include "drake/geometry/geometry_ids.h"
#include "drake/geometry/geometry_roles.h"
#include "drake/geometry/internal_geometry.h"
#include "drake/geometry/proximity/collision_filter.h"
#include "drake/geometry/proximity/deformable_contact_internal.h"
#include "drake/geometry/proximity/hydroelastic_internal.h"
#include "drake/geometry/query_results/contact_surface.h"
#include "drake/geometry/query_results/deformable_contact.h"
#include "drake/geometry/query_results/penetration_as_point_pair.h"
#include "drake/geometry/query_results/signed_distance_pair.h"
#include "drake/geometry/query_results/signed_distance_to_point.h"
#include "drake/geometry/shape_specification.h"
#include "drake/math/rigid_transform.h"

namespace drake {
namespace geometry {

template <typename T>
class GeometryState;

namespace internal {

/* The underlying engine for performing geometric _proximity_ queries.
 It owns the geometry instances and, once it has been provided with the poses
 of the geometry, it provides geometric queries on that geometry.

 Proximity queries span a range of types, including:

   - penetration
   - distance
   - ray-intersection

 Not all shape queries are fully supported. To add support for a shape:
 1. for fcl versions of the specification, modify CopyShapeOrThrow().
 2. add an instance of the new shape to the CopySemantics test in
    proximity_engine_test.cc.
 3. for penetration, test the new shape in the class BoxPenetrationTest of
    proximity_engine_test.cc and document its configuration.

 <!-- TODO(SeanCurtis-TRI): Fully document the semantics of the proximity
 properties that will affect the proximity engine -- hydroelastic semantics,
 required properties, etc.

 <h3>Geometry proximity properties</h3>
 -->

 @tparam_default_scalar

 @internal Historically, this replaces the DrakeCollision::Model class.  */
template <typename T>
class ProximityEngine {
 public:
  ProximityEngine();
  ~ProximityEngine();

  /* Construct a deep copy of the provided `other` engine.  */
  ProximityEngine(const ProximityEngine& other);

  /* Set `this` engine to be a deep copy of the `other` engine.  */
  ProximityEngine& operator=(const ProximityEngine& other);

  /* Construct an engine by moving the data of a source engine. The source
   engine will be returned to its default-initialized state.  */
  ProximityEngine(ProximityEngine&& other) noexcept;

  /* Move assign a source engine to this engine. The source
   engine will be returned to its default-initialized state.  */
  ProximityEngine& operator=(ProximityEngine&& other) noexcept;

  /* Returns an independent copy of this engine templated on a scalar type. If
   T=U, it is equivalent to using the copy constructor to create a duplicate on
   the heap. */
  template <typename U>
  std::unique_ptr<ProximityEngine<U>> ToScalarType() const;

  /* Provides access to the mutable collision filter this engine uses. */
  CollisionFilter& collision_filter();

  /* @name Topology management */
  //@{

  /* Adds the given `shape` to the engine's _dynamic_ geometry.
   @param shape   The shape to add.
   @param X_WG    The pose of the shape in the world frame.
   @param id      The id of the geometry in SceneGraph to which this shape
                  belongs.
   @param props   The proximity properties for the shape.  */
  void AddDynamicGeometry(const Shape& shape, const math::RigidTransformd& X_WG,
                          GeometryId id, const ProximityProperties& props = {});

  /* Adds the given `shape` to the engine's _anchored_ geometry.
   @param shape   The shape to add.
   @param X_WG    The pose of the shape in the world frame.
   @param id      The id of the geometry in SceneGraph to which this shape
                  belongs.
   @param props   The proximity properties for the shape.  */
  void AddAnchoredGeometry(const Shape& shape,
                           const math::RigidTransformd& X_WG, GeometryId id,
                           const ProximityProperties& props = {});

  /* Adds a new deformable geometry to the engine.
   @param mesh_W  The volume mesh representation of the deformable geometry
                  represented in the world frame, including initial positions of
                  the vertices.
   @param id      The id of the geometry in SceneGraph to which this mesh
                  belongs. */
  void AddDeformableGeometry(const VolumeMesh<double>& mesh_W, GeometryId id);

  /* Reports if the engine requires a convex hull for the given geometry. */
  bool NeedsConvexHull(const InternalGeometry& geometry) const;

  /* Possibly updates the proximity representation of the given `geometry`
   based on the relationship between its _current_ proximity properties and the
   given _new_ proximity properties. The underlying representation may not
   change if the change in proximity properties isn't of significance to the
   %ProximityEngine.

   @param geometry          The geometry to update.
   @param new_properties    The properties to associate with the given geometry.
   @throws std::exception   if `geometry` doesn't map to a known geometry in
                            the engine or if the new properties trigger work
                            that can't meaningfully be completed because of
                            incomplete or inconsistent property definitions.
   @pre `geometry` still has a copy of the original proximity properties that
         are to be replaced.  */
  void UpdateRepresentationForNewProperties(
      const InternalGeometry& geometry,
      const ProximityProperties& new_properties);

  // TODO(SeanCurtis-TRI): Decide if knowing whether something is dynamic or not
  //  is *actually* sufficiently helpful to justify this act.
  /* Removes the given geometry indicated by `id` from the engine.
   @param id          The id of the geometry to be removed.
   @param is_dynamic  True if the geometry is dynamic, false if anchored.
   @throws std::exception if `id` does not refer to a geometry in this engine.
   @throws std::exception if `id` corresponds to a deformable geometry. Use
   RemoveDeformableGeometry to remove deformable geometries.  */
  void RemoveGeometry(GeometryId id, bool is_dynamic);

  /* Removes the given deformable geometry indicated by `id` from the engine.
   @param id  The id of the geometry to be removed.
   @throws std::exception if `id` does not refer to a deformable geometry in
   this engine. */
  void RemoveDeformableGeometry(GeometryId id);

  /* Reports the _total_ number of geometries in the engine -- dynamic and
   anchored (spanning all sources).  */
  int num_geometries() const;

  /* Reports the number of _dynamic_ geometries (spanning all sources).  */
  int num_dynamic() const;

  /* Reports the number of _anchored_ geometries (spanning all sources).  */
  int num_anchored() const;

  /* The distance (signed/unsigned/penetration distance) is generally computed
   from an iterative process. The distance_tolerance determines when the
   iterative process will terminate.
   As a rule of rule of thumb, one can generally assume that the answer will
   be within 10 * tol to the true answer.  */
  void set_distance_tolerance(double tol);

  double distance_tolerance() const;

  //@}

  /* Updates the poses for all of the _dynamic_ geometries in the engine.
   @param X_WGs     The poses of each geometry `G` measured and expressed in the
                    world frame `W` (including geometries which may *not* be
                    registered with the proximity engine or may not be
                    dynamic).
  */
  // TODO(SeanCurtis-TRI): I could do things here differently a number of ways:
  //  1. I could make this move semantics (or swap semantics).
  //  2. I could simply have a method that returns a mutable reference to such
  //    a vector and the caller sets values there directly.
  void UpdateWorldPoses(
      const std::unordered_map<GeometryId, math::RigidTransform<T>>& X_WGs);

  /* Updates the vertex positions of deformable geometries in the engine.
   @param q_WGs  The mapping from GeometryId `id` to vertex positions of
                 deformable geometry `G` measured and expressed in the the
                 world frame `W`. If a deformable geometry with the given `id`
                 is registered in the engine (and hasn't been removed), its
                 vertex position is updated to the value in the given map.
   @pre if a deformable geometry with the given `id` is registered, its number
   of dofs matches the size of the value in the corresponding q_WG. */
  void UpdateDeformableVertexPositions(
      const std::unordered_map<GeometryId, VectorX<T>>& q_WGs);

  // ----------------------------------------------------------------------
  /* @name              Signed Distance Queries
  See @ref signed_distance_query "Signed Distance Query" for more details.  */

  //@{
  // NOTE: This maps to Model::ClosestPointsAllToAll().
  /* Implementation of
   GeometryState::ComputeSignedDistancePairwiseClosestPoints().
   This includes `X_WGs`, the current poses of all geometries in World in the
   current scalar type, keyed on each geometry's GeometryId.  */
  std::vector<SignedDistancePair<T>> ComputeSignedDistancePairwiseClosestPoints(
      const std::unordered_map<GeometryId, math::RigidTransform<T>>& X_WGs,
      const double max_distance) const;

  /* Implementation of
   GeometryState::ComputeSignedDistancePairClosestPoints().
   This includes `X_WGs`, the current poses of all geometries in World in the
   current scalar type, keyed on each geometry's GeometryId.  */
  SignedDistancePair<T> ComputeSignedDistancePairClosestPoints(
      GeometryId id_A, GeometryId id_B,
      const std::unordered_map<GeometryId, math::RigidTransform<T>>& X_WGs)
      const;

  /* Implementation of GeometryState::ComputeSignedDistanceToPoint().
   This includes `X_WGs`, the current poses of all geometries in World in the
   current scalar type, keyed on each geometry's GeometryId.  */
  std::vector<SignedDistanceToPoint<T>> ComputeSignedDistanceToPoint(
      const Vector3<T>& p_WQ,
      const std::unordered_map<GeometryId, math::RigidTransform<T>>& X_WGs,
      const double threshold = std::numeric_limits<double>::infinity()) const;
  //@}

  //----------------------------------------------------------------------------
  /* @name                Collision Queries
  See @ref collision_queries "Collision Queries" for more details.  */

  //@{

  // NOTE: This maps to Model::ComputeMaximumDepthCollisionPoints().
  // The definition that touching is not penetrating is due to an FCL issue
  // described in https://github.com/flexible-collision-library/fcl/issues/375
  // and drake issue #10577. Once that is resolved, this definition can be
  // revisited (and ProximityEngineTest::Issue10577Regression_Osculation can
  // be updated).
  /* Implementation of GeometryState::ComputePointPairPenetration().
   This includes `X_WGs`, the current poses of all geometries in World in the
   current scalar type, keyed on each geometry's GeometryId.  */
  std::vector<PenetrationAsPointPair<T>> ComputePointPairPenetration(
      const std::unordered_map<GeometryId, math::RigidTransform<T>>& X_WGs)
      const;

  /* Implementation of GeometryState::ComputeContactSurfaces().
   @param X_WGs the current poses of all geometries in World in the
                current scalar type, keyed on each geometry's GeometryId.  */
  template <typename T1 = T>
  typename std::enable_if_t<scalar_predicate<T1>::is_bool,
                            std::vector<ContactSurface<T>>>
  ComputeContactSurfaces(
      HydroelasticContactRepresentation representation,
      const std::unordered_map<GeometryId, math::RigidTransform<T>>& X_WGs)
      const;

  /* Implementation of GeometryState::ComputeContactSurfacesWithFallback().
   @param X_WGs the current poses of all geometries in World in the
                current scalar type, keyed on each geometry's GeometryId.  */
  template <typename T1 = T>
  typename std::enable_if_t<scalar_predicate<T1>::is_bool, void>
  ComputeContactSurfacesWithFallback(
      HydroelasticContactRepresentation representation,
      const std::unordered_map<GeometryId, math::RigidTransform<T>>& X_WGs,
      std::vector<ContactSurface<T>>* surfaces,
      std::vector<PenetrationAsPointPair<T>>* point_pairs) const;

  /* Implementation of GeometryState::ComputeDeformableContact(). Assumes
   the poses of rigid bodies and the vertex positions of the deformable bodies
   are up-to-date. */
  template <typename T1 = T>
  typename std::enable_if_t<std::is_same_v<T1, double>, void>
  ComputeDeformableContact(DeformableContact<T>* deformable_contact) const;

  /* Implementation of GeometryState::FindCollisionCandidates().  */
  std::vector<SortedPair<GeometryId>> FindCollisionCandidates() const;

  /* Implementation of GeometryState::HasCollisions().  */
  bool HasCollisions() const;

  //@}

  /* The representation of every geometry that was successfully requested for
   use for hydroelastic contact surface computation. */
  const hydroelastic::Geometries& hydroelastic_geometries() const;

  /* The representation of every geometry that was successfully requested for
   use for proximity queries for deformable contact. */
  const deformable::Geometries& deformable_contact_geometries() const;

 private:
  // Testing utilities:
  // These functions facilitate *limited* introspection into the engine state.
  // This enables unit tests to make assertions about pre- and post-operation
  // state.

  // Reports true if other is detectably a deep copy of this engine.
  bool IsDeepCopy(const ProximityEngine<T>& other) const;

  // Reports the pose (X_WG) of the geometry with the given id.
  const math::RigidTransform<double> GetX_WG(GeometryId id,
                                             bool is_dynamic) const;

  ////////////////////////////////////////////////////////////////////////////

  // TODO(SeanCurtis-TRI): Pimpl + template implementation has proven
  // problematic. This gets around it but it isn't a reliable long-term
  // solution. Figure out how to make this work with unique_ptr or
  // copyable unique_ptr
  //
  // The implementation details.
  class Impl;
  Impl* impl_{};

  // Private constructor to use for scalar conversion.
  explicit ProximityEngine(Impl* impl);

  // Engine on one scalar can see the members of other engines.
  template <typename>
  friend class ProximityEngine;

  // Facilitate testing.
  friend class ProximityEngineTester;

  // Reports if the geometry with the given id is represented by an fcl::Convex.
  // This function exists solely for the purpose tracking the "represent Mesh
  // as Convex" logic in other unit tests. When we represent meshes as
  // non-convex entities in their own right, we can remove this method.
  // This very specifically does *not* answer the question of whether the
  // underlying shape is *mathematically* convex, just that it is implemented
  // as fcl::Convex.
  bool IsFclConvexType(GeometryId id) const;

  // Returns the fcl::CollisionObjectd associated with the geometry id. In order
  // to keep the fcl dependency in the implementation only, we type erase the
  // pointer type. But if the return value is not null, it can be safely cast to
  // fcl::CollisionObjectd*. This is for testing only.
  void* GetCollisionObject(GeometryId id) const;
};

}  // namespace internal
}  // namespace geometry
}  // namespace drake