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870 lines
20 KiB
870 lines
20 KiB
load(
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"@drake//tools/skylark:drake_cc.bzl",
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"drake_cc_binary",
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"drake_cc_googletest",
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"drake_cc_library",
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"drake_cc_package_library",
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)
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load(
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"@drake//tools/skylark:drake_py.bzl",
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"drake_py_binary",
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)
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load("@drake//tools/install:install.bzl", "install", "install_files")
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load("//tools/lint:lint.bzl", "add_lint_tests")
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package(default_visibility = ["//visibility:public"])
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drake_cc_package_library(
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name = "geometry",
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visibility = ["//visibility:public"],
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deps = [
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":collision_filter_declaration",
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":collision_filter_manager",
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":drake_visualizer",
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":drake_visualizer_params",
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":geometry_frame",
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":geometry_ids",
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":geometry_instance",
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":geometry_properties",
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":geometry_roles",
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":geometry_set",
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":geometry_state",
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":geometry_version",
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":internal_frame",
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":internal_geometry",
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":kinematics_vector",
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":make_mesh_for_deformable",
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":meshcat",
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":meshcat_animation",
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":meshcat_point_cloud_visualizer",
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":meshcat_visualizer",
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":meshcat_visualizer_params",
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":proximity_engine",
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":proximity_properties",
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":read_obj",
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":rgba",
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":scene_graph",
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":scene_graph_inspector",
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":shape_specification",
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":shape_to_string",
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":utilities",
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],
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)
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drake_cc_library(
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name = "proximity_engine",
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srcs = [
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"proximity_engine.cc",
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],
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hdrs = [
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"proximity_engine.h",
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],
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interface_deps = [
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"//common:default_scalars",
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"//common:sorted_pair",
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"//geometry/proximity:collision_filter",
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"//geometry/proximity:deformable_contact_internal",
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"//geometry/proximity:hydroelastic_internal",
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"//geometry/proximity:make_mesh_from_vtk",
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"//geometry/query_results",
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"//math",
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":geometry_ids",
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":geometry_roles",
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":shape_specification",
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":internal_geometry",
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],
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deps = [
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":read_obj",
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":utilities",
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"//geometry/proximity",
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"//geometry/proximity:collisions_exist_callback",
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"//geometry/proximity:deformable_contact_geometries",
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"//geometry/proximity:distance_to_point_callback",
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"//geometry/proximity:distance_to_shape_callback",
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"//geometry/proximity:find_collision_candidates_callback",
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"//geometry/proximity:hydroelastic_callback",
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"//geometry/proximity:obj_to_surface_mesh",
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"//geometry/proximity:penetration_as_point_pair_callback",
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"@fcl_internal//:fcl",
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"@fmt",
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],
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)
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drake_cc_library(
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name = "collision_filter_declaration",
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srcs = ["collision_filter_declaration.cc"],
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hdrs = ["collision_filter_declaration.h"],
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deps = [
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":geometry_set",
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"//common:essential",
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],
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)
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drake_cc_library(
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name = "collision_filter_manager",
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srcs = ["collision_filter_manager.cc"],
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hdrs = ["collision_filter_manager.h"],
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deps = [
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":collision_filter_declaration",
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":geometry_ids",
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":geometry_set",
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"//geometry/proximity:collision_filter",
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],
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)
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drake_cc_library(
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name = "drake_visualizer",
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srcs = ["drake_visualizer.cc"],
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hdrs = ["drake_visualizer.h"],
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deps = [
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":drake_visualizer_params",
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":geometry_roles",
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":geometry_version",
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":scene_graph",
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"//common:essential",
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"//lcm:drake_lcm",
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"//lcmtypes:viewer",
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"//systems/framework:context",
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"//systems/framework:leaf_system",
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],
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)
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drake_cc_library(
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name = "drake_visualizer_params",
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hdrs = ["drake_visualizer_params.h"],
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deps = [
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":geometry_roles",
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":rgba",
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"//common:name_value",
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],
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)
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drake_cc_library(
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name = "kinematics_vector",
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srcs = [
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"kinematics_vector.cc",
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],
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hdrs = [
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"kinematics_vector.h",
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],
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interface_deps = [
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":geometry_ids",
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"//common:essential",
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"//math:geometric_transform",
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],
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deps = [
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"//common:default_scalars",
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"//common:nice_type_name",
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],
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)
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drake_cc_library(
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name = "geometry_frame",
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srcs = ["geometry_frame.cc"],
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hdrs = ["geometry_frame.h"],
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deps = [
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":geometry_ids",
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"//common:essential",
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],
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)
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drake_cc_library(
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name = "geometry_ids",
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srcs = [],
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hdrs = ["geometry_ids.h"],
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deps = ["//common:identifier"],
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)
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drake_cc_library(
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name = "geometry_instance",
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srcs = ["geometry_instance.cc"],
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hdrs = ["geometry_instance.h"],
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deps = [
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":geometry_ids",
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":geometry_roles",
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":shape_specification",
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":utilities",
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"//common:copyable_unique_ptr",
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"//common:essential",
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"//geometry/proximity:volume_mesh",
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],
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)
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drake_cc_library(
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name = "geometry_properties",
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srcs = ["geometry_properties.cc"],
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hdrs = ["geometry_properties.h"],
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deps = [
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":rgba",
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"//common:essential",
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"//common:value",
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"@fmt",
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],
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)
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drake_cc_library(
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name = "geometry_version",
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srcs = ["geometry_version.cc"],
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hdrs = ["geometry_version.h"],
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deps = [
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":geometry_roles",
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"//common:essential",
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"//common:identifier",
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],
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)
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drake_cc_library(
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name = "geometry_roles",
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srcs = ["geometry_roles.cc"],
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hdrs = ["geometry_roles.h"],
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deps = [
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":geometry_properties",
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"//common:essential",
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],
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)
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drake_cc_library(
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name = "geometry_set",
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hdrs = ["geometry_set.h"],
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deps = [":geometry_ids"],
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)
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drake_cc_library(
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name = "geometry_state",
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srcs = ["geometry_state.cc"],
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hdrs = ["geometry_state.h"],
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deps = [
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":collision_filter_manager",
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":geometry_frame",
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":geometry_ids",
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":geometry_instance",
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":geometry_set",
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":geometry_version",
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":internal_frame",
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":internal_geometry",
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":kinematics_vector",
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":proximity_engine",
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":utilities",
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"//geometry/render:render_engine",
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"//math:gradient",
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],
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)
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drake_cc_library(
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name = "make_mesh_for_deformable",
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srcs = ["make_mesh_for_deformable.cc"],
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hdrs = ["make_mesh_for_deformable.h"],
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deps = [
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":shape_specification",
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"//geometry/proximity:make_mesh_from_vtk",
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"//geometry/proximity:make_sphere_mesh",
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"//geometry/proximity:volume_mesh",
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],
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)
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drake_cc_library(
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name = "proximity_properties",
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srcs = ["proximity_properties.cc"],
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hdrs = ["proximity_properties.h"],
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deps = [
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":geometry_roles",
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"//multibody/plant:coulomb_friction",
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],
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)
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drake_cc_library(
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name = "scene_graph",
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srcs = [
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"query_object.cc",
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"scene_graph.cc",
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],
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hdrs = [
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"query_object.h",
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"scene_graph.h",
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],
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deps = [
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":geometry_state",
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":scene_graph_inspector",
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"//common:essential",
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"//common:nice_type_name",
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"//geometry/query_results:contact_surface",
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"//geometry/query_results:penetration_as_point_pair",
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"//geometry/query_results:signed_distance_pair",
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"//geometry/query_results:signed_distance_to_point",
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"//systems/framework",
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],
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)
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drake_cc_library(
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name = "scene_graph_inspector",
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srcs = ["scene_graph_inspector.cc"],
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hdrs = ["scene_graph_inspector.h"],
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deps = [":geometry_state"],
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)
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drake_cc_library(
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name = "internal_frame",
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srcs = ["internal_frame.cc"],
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hdrs = ["internal_frame.h"],
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deps = [
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":geometry_ids",
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"//common:essential",
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],
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)
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drake_cc_library(
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name = "internal_geometry",
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srcs = ["internal_geometry.cc"],
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hdrs = ["internal_geometry.h"],
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deps = [
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":geometry_ids",
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":geometry_roles",
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":internal_frame",
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":make_mesh_for_deformable",
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":shape_specification",
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"//common:copyable_unique_ptr",
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"//common:essential",
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"//geometry/proximity:volume_mesh",
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"//math:geometric_transform",
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],
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)
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drake_cc_library(
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name = "read_obj",
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srcs = ["read_obj.cc"],
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hdrs = ["read_obj.h"],
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interface_deps = [
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"@eigen",
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],
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deps = [
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"//common:essential",
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"@fmt",
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"@tinyobjloader",
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],
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)
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drake_cc_library(
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name = "shape_specification",
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srcs = ["shape_specification.cc"],
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hdrs = ["shape_specification.h"],
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deps = [
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"//common:essential",
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"//common:nice_type_name",
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"//geometry/proximity:meshing_utilities",
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"//geometry/proximity:obj_to_surface_mesh",
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"//math:geometric_transform",
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],
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)
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drake_cc_library(
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name = "shape_to_string",
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srcs = ["shape_to_string.cc"],
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hdrs = ["shape_to_string.h"],
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deps = [
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":shape_specification",
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"@fmt",
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],
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)
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drake_cc_library(
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name = "utilities",
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srcs = ["utilities.cc"],
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hdrs = ["utilities.h"],
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deps = [
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"//common",
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"//math:geometric_transform",
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],
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)
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drake_cc_library(
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name = "rgba",
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srcs = ["rgba.cc"],
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hdrs = ["rgba.h"],
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deps = [
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"//common",
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"@fmt",
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],
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)
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genrule(
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name = "stats_js_genrule",
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srcs = ["@statsjs//:build/stats.min.js"],
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outs = ["stats.min.js"],
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cmd = "cp $< $@",
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visibility = ["//visibility:private"],
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)
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genrule(
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name = "meshcat_ico_genrule",
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srcs = ["//doc:favicon.ico"],
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outs = ["meshcat.ico"],
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cmd = "cp $< $@",
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visibility = ["//visibility:private"],
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)
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genrule(
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name = "meshcat_js_genrule",
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srcs = ["@meshcat//:dist/main.min.js"],
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outs = ["meshcat.js"],
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cmd = "cp $< $@",
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visibility = ["//visibility:private"],
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)
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filegroup(
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name = "meshcat_resources",
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srcs = [
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"meshcat.html",
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":meshcat.ico",
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":meshcat.js",
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":stats.min.js",
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],
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visibility = ["//visibility:private"],
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)
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install_files(
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name = "install_meshcat_resources",
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dest = "share/drake/geometry",
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files = [":meshcat_resources"],
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)
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drake_cc_library(
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name = "meshcat_animation",
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srcs = ["meshcat_animation.cc"],
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hdrs = ["meshcat_animation.h"],
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deps = [
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"//math:geometric_transform",
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],
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)
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drake_cc_googletest(
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name = "meshcat_animation_test",
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deps = [
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":meshcat_animation",
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"//common/test_utilities:eigen_matrix_compare",
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"//common/test_utilities:expect_throws_message",
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],
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)
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drake_cc_library(
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name = "meshcat",
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srcs = ["meshcat.cc"],
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hdrs = [
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"meshcat.h",
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"meshcat_types.h",
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],
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data = [":meshcat_resources"],
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install_hdrs_exclude = ["meshcat_types.h"],
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interface_deps = [
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":meshcat_animation",
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":rgba",
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":shape_specification",
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"//common:essential",
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"//common:name_value",
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"//geometry/proximity:triangle_surface_mesh",
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"//math:geometric_transform",
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"//perception:point_cloud",
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],
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deps = [
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"//common:drake_export",
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"//common:find_resource",
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"//common:network_policy",
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"//common:scope_exit",
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"//common:unused",
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"@common_robotics_utilities",
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"@msgpack_internal//:msgpack",
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"@stduuid_internal//:stduuid",
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"@uwebsockets",
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],
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)
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drake_cc_binary(
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name = "meshcat_manual_test",
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testonly = True,
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srcs = ["test/meshcat_manual_test.cc"],
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data = [
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"//examples/kuka_iiwa_arm:models",
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"//geometry/render:test_models",
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"//manipulation/models/iiwa_description:models",
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"//manipulation/models/ycb:models",
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"//multibody/meshcat:models",
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],
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visibility = ["//visibility:private"],
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deps = [
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":meshcat",
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":meshcat_visualizer",
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"//multibody/meshcat:contact_visualizer",
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"//multibody/parsing",
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"//multibody/plant",
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"//systems/analysis:simulator",
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],
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)
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drake_py_binary(
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name = "meshcat_websocket_client",
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testonly = True,
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srcs = ["test/meshcat_websocket_client.py"],
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visibility = [
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"//bindings/pydrake/visualization:__pkg__",
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],
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)
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drake_cc_googletest(
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name = "meshcat_test",
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data = [
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":meshcat_websocket_client",
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"//geometry/render:test_models",
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],
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tags = [
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"cpu:2",
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],
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deps = [
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":meshcat",
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"//common/test_utilities:eigen_matrix_compare",
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"//common/test_utilities:expect_throws_message",
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"@msgpack_internal//:msgpack",
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],
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)
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drake_cc_googletest(
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name = "meshcat_denied_test",
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allow_network = ["none"],
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deps = [
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":meshcat",
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"//common/test_utilities:expect_throws_message",
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],
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)
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drake_cc_library(
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name = "meshcat_point_cloud_visualizer",
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srcs = ["meshcat_point_cloud_visualizer.cc"],
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hdrs = ["meshcat_point_cloud_visualizer.h"],
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deps = [
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":meshcat",
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":rgba",
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":utilities",
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"//perception:point_cloud",
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"//systems/framework:leaf_system",
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],
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)
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drake_cc_googletest(
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name = "meshcat_point_cloud_visualizer_test",
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deps = [
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":meshcat_point_cloud_visualizer",
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"//common/test_utilities:expect_throws_message",
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|
"//systems/analysis:simulator",
|
|
"//systems/framework:diagram_builder",
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"//systems/primitives:constant_value_source",
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],
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)
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drake_cc_library(
|
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name = "meshcat_visualizer_params",
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|
hdrs = ["meshcat_visualizer_params.h"],
|
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deps = [
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":geometry_roles",
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|
":rgba",
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"//common:name_value",
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],
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)
|
|
|
|
drake_cc_library(
|
|
name = "meshcat_visualizer",
|
|
srcs = ["meshcat_visualizer.cc"],
|
|
hdrs = ["meshcat_visualizer.h"],
|
|
deps = [
|
|
":geometry_roles",
|
|
":meshcat",
|
|
":meshcat_visualizer_params",
|
|
":rgba",
|
|
":scene_graph",
|
|
"//common:essential",
|
|
"//math:geometric_transform",
|
|
"//systems/analysis:instantaneous_realtime_rate_calculator",
|
|
"//systems/framework:context",
|
|
"//systems/framework:diagram_builder",
|
|
"//systems/framework:leaf_system",
|
|
],
|
|
)
|
|
|
|
drake_cc_googletest(
|
|
name = "meshcat_visualizer_test",
|
|
data = [
|
|
"//manipulation/models/iiwa_description:models",
|
|
"//multibody/meshcat:models",
|
|
],
|
|
deps = [
|
|
":meshcat_visualizer",
|
|
"//common/test_utilities:expect_throws_message",
|
|
"//multibody/parsing",
|
|
"//multibody/plant",
|
|
"//systems/analysis:simulator",
|
|
"//systems/primitives:constant_vector_source",
|
|
"@msgpack_internal//:msgpack",
|
|
],
|
|
)
|
|
|
|
# -----------------------------------------------------
|
|
|
|
filegroup(
|
|
name = "test_obj_files",
|
|
testonly = 1,
|
|
srcs = [
|
|
"test/convex.obj",
|
|
"test/extruded_u.obj",
|
|
"test/forbidden_two_cubes.obj",
|
|
"test/non_convex_mesh.obj",
|
|
"test/octahedron.mtl",
|
|
"test/octahedron.obj",
|
|
"test/quad_cube.mtl",
|
|
"test/quad_cube.obj",
|
|
],
|
|
)
|
|
|
|
filegroup(
|
|
name = "test_vtk_files",
|
|
testonly = 1,
|
|
srcs = [
|
|
"test/non_convex_mesh.vtk",
|
|
"test/one_negative_tetrahedron.vtk",
|
|
"test/one_tetrahedron.vtk",
|
|
"test/two_tetrahedra_with_field_variable.vtk",
|
|
],
|
|
)
|
|
|
|
filegroup(
|
|
name = "test_stl_files",
|
|
testonly = 1,
|
|
srcs = [
|
|
"test/quad_cube.stl",
|
|
],
|
|
)
|
|
|
|
drake_cc_googletest(
|
|
name = "collision_filter_declaration_test",
|
|
deps = [
|
|
":collision_filter_declaration",
|
|
":geometry_ids",
|
|
],
|
|
)
|
|
|
|
drake_cc_googletest(
|
|
name = "collision_filter_manager_test",
|
|
deps = [
|
|
":collision_filter_manager",
|
|
":scene_graph",
|
|
"//common/test_utilities:expect_no_throw",
|
|
],
|
|
)
|
|
|
|
drake_cc_googletest(
|
|
name = "drake_visualizer_test",
|
|
deps = [
|
|
":drake_visualizer",
|
|
"//common/test_utilities:eigen_matrix_compare",
|
|
"//common/test_utilities:expect_throws_message",
|
|
"//systems/analysis:simulator",
|
|
],
|
|
)
|
|
|
|
drake_cc_googletest(
|
|
name = "proximity_engine_test",
|
|
data = [
|
|
":test_obj_files",
|
|
":test_vtk_files",
|
|
],
|
|
deps = [
|
|
":proximity_engine",
|
|
":shape_specification",
|
|
"//common/test_utilities:eigen_matrix_compare",
|
|
"//common/test_utilities:expect_no_throw",
|
|
"//common/test_utilities:expect_throws_message",
|
|
"//geometry/proximity:hydroelastic_callback",
|
|
"//geometry/proximity:make_sphere_mesh",
|
|
"//math",
|
|
"@fcl_internal//:fcl",
|
|
],
|
|
)
|
|
|
|
drake_cc_googletest(
|
|
name = "kinematics_vector_test",
|
|
deps = [
|
|
":kinematics_vector",
|
|
"//common/test_utilities",
|
|
"//common/test_utilities:limit_malloc",
|
|
"//math:geometric_transform",
|
|
],
|
|
)
|
|
|
|
drake_cc_googletest(
|
|
name = "geometry_frame_test",
|
|
deps = [
|
|
":geometry_frame",
|
|
"//common:essential",
|
|
"//common/test_utilities:expect_throws_message",
|
|
],
|
|
)
|
|
|
|
drake_cc_googletest(
|
|
name = "geometry_instance_test",
|
|
deps = [
|
|
":geometry_instance",
|
|
"//common/test_utilities",
|
|
],
|
|
)
|
|
|
|
drake_cc_googletest(
|
|
name = "geometry_properties_test",
|
|
deps = [
|
|
":geometry_properties",
|
|
"//common/test_utilities",
|
|
"//common/test_utilities:limit_malloc",
|
|
],
|
|
)
|
|
|
|
drake_cc_googletest(
|
|
name = "geometry_version_test",
|
|
deps = [
|
|
":geometry_version",
|
|
],
|
|
)
|
|
|
|
drake_cc_googletest(
|
|
name = "geometry_set_test",
|
|
deps = [
|
|
":geometry_ids",
|
|
":geometry_set",
|
|
"//common/test_utilities:expect_no_throw",
|
|
"//geometry/test_utilities:geometry_set_tester",
|
|
],
|
|
)
|
|
|
|
drake_cc_googletest(
|
|
name = "geometry_state_test",
|
|
deps = [
|
|
":geometry_state",
|
|
"//common/test_utilities",
|
|
"//geometry/proximity:make_sphere_mesh",
|
|
"//geometry/test_utilities:dummy_render_engine",
|
|
],
|
|
)
|
|
|
|
drake_cc_googletest(
|
|
name = "make_mesh_for_deformable_test",
|
|
data = [
|
|
":test_vtk_files",
|
|
],
|
|
deps = [
|
|
":make_mesh_for_deformable",
|
|
"//common:find_resource",
|
|
"//common/test_utilities:expect_throws_message",
|
|
],
|
|
)
|
|
|
|
drake_cc_googletest(
|
|
name = "proximity_properties_test",
|
|
deps = [
|
|
":geometry_roles",
|
|
":proximity_properties",
|
|
"//common/test_utilities:expect_throws_message",
|
|
],
|
|
)
|
|
|
|
drake_cc_googletest(
|
|
name = "internal_geometry_test",
|
|
deps = [
|
|
":internal_geometry",
|
|
"//common/test_utilities:eigen_matrix_compare",
|
|
"//common/test_utilities:expect_no_throw",
|
|
"//common/test_utilities:expect_throws_message",
|
|
"//geometry/proximity:make_sphere_mesh",
|
|
],
|
|
)
|
|
|
|
drake_cc_googletest(
|
|
name = "scene_graph_test",
|
|
deps = [
|
|
":scene_graph",
|
|
"//common/test_utilities:eigen_matrix_compare",
|
|
"//common/test_utilities:expect_no_throw",
|
|
"//common/test_utilities:expect_throws_message",
|
|
"//geometry/test_utilities:dummy_render_engine",
|
|
],
|
|
)
|
|
|
|
drake_cc_googletest(
|
|
name = "query_object_test",
|
|
deps = [
|
|
":geometry_frame",
|
|
":geometry_instance",
|
|
":scene_graph",
|
|
"//common/test_utilities",
|
|
],
|
|
)
|
|
|
|
drake_cc_googletest(
|
|
name = "scene_graph_inspector_test",
|
|
deps = [
|
|
":geometry_frame",
|
|
":scene_graph_inspector",
|
|
],
|
|
)
|
|
|
|
drake_cc_googletest(
|
|
name = "shape_specification_test",
|
|
data = [
|
|
":test_obj_files",
|
|
":test_stl_files",
|
|
":test_vtk_files",
|
|
],
|
|
deps = [
|
|
":shape_specification",
|
|
"//common:find_resource",
|
|
"//common/test_utilities",
|
|
],
|
|
)
|
|
|
|
drake_cc_googletest(
|
|
name = "shape_to_string_test",
|
|
deps = [
|
|
":shape_to_string",
|
|
],
|
|
)
|
|
|
|
drake_cc_googletest(
|
|
name = "utilities_test",
|
|
deps = [
|
|
"utilities",
|
|
"//common/test_utilities",
|
|
],
|
|
)
|
|
|
|
drake_cc_googletest(
|
|
name = "rgba_test",
|
|
deps = [
|
|
":rgba",
|
|
"//common/test_utilities",
|
|
"//common/yaml:yaml_io",
|
|
],
|
|
)
|
|
|
|
drake_cc_googletest(
|
|
name = "read_obj_test",
|
|
data = [":test_obj_files"],
|
|
deps = [
|
|
":read_obj",
|
|
"//common:find_resource",
|
|
"//common/test_utilities",
|
|
],
|
|
)
|
|
|
|
install(
|
|
name = "install",
|
|
visibility = ["//visibility:public"],
|
|
deps = [
|
|
":install_meshcat_resources",
|
|
],
|
|
)
|
|
|
|
add_lint_tests()
|