core: add disable_collision field to GeometryObject

src/multibody/fcl.hpp

@@ -158,6 +158,9 @@ struct GeometryObject
 
   /// \brief Absolute path to the mesh texture file.
   std::string meshTexturePath;
+  
+  /// \brief It true, no collision or distance check will be done between the Geometry and any other geometry
+  bool disable_collision;
 
 PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
 PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
@@ -196,6 +199,7 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
   , overrideMaterial(overrideMaterial)
   , meshColor(meshColor)
   , meshTexturePath(meshTexturePath)
+  , disable_collision(false)
   {}
 PINOCCHIO_COMPILER_DIAGNOSTIC_POP
 
@@ -235,6 +239,7 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
   , overrideMaterial(overrideMaterial)
   , meshColor(meshColor)
   , meshTexturePath(meshTexturePath)
+  , disable_collision(false)
   {}
 PINOCCHIO_COMPILER_DIAGNOSTIC_POP
 
@@ -259,6 +264,7 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_POP
     overrideMaterial    = other.overrideMaterial;
     meshColor           = other.meshColor;
     meshTexturePath     = other.meshTexturePath;
+    disable_collision   = other.disable_collision;
     return *this;
   }
 

src/multibody/fcl.hxx

@@ -54,13 +54,14 @@ namespace pinocchio
 
   inline bool operator==(const GeometryObject & lhs, const GeometryObject & rhs)
   {
-    return (   lhs.name         == rhs.name
-            && lhs.parentFrame  == rhs.parentFrame
-            && lhs.parentJoint  == rhs.parentJoint
-            && lhs.geometry     == rhs.geometry
-            && lhs.placement    == rhs.placement
-            && lhs.meshPath     == rhs.meshPath
-            && lhs.meshScale    == rhs.meshScale
+    return (   lhs.name                 == rhs.name
+            && lhs.parentFrame          == rhs.parentFrame
+            && lhs.parentJoint          == rhs.parentJoint
+            && lhs.geometry             == rhs.geometry
+            && lhs.placement            == rhs.placement
+            && lhs.meshPath             == rhs.meshPath
+            && lhs.meshScale            == rhs.meshScale
+            && lhs.disable_collision    == rhs.disable_collision
             );
   }
 
@@ -77,6 +78,7 @@ namespace pinocchio
         << "Position in parent frame: \t \n" << geom_object.placement << "\n"
         << "Absolute path to mesh file: \t \n" << geom_object.meshPath << "\n"
         << "Scale for transformation of the mesh: \t \n" << geom_object.meshScale.transpose() << "\n"
+        << "Disable collision: \t \n" << geom_object.disable_collision << "\n"
         << std::endl;
     return os;
   }