BUILD.bazel

# -*- python -*-

load(
    "@drake//tools/skylark:drake_cc.bzl",
    "drake_cc_binary",
    "drake_cc_googletest",
    "drake_cc_library",
    "drake_cc_package_library",
)
load(
    "@drake//tools/skylark:drake_py.bzl",
    "drake_py_binary",
)
load("//tools/lint:lint.bzl", "add_lint_tests")

package(default_visibility = ["//visibility:public"])

drake_cc_package_library(
    name = "geometry",
    visibility = ["//visibility:public"],
    deps = [
        ":collision_filter_declaration",
        ":collision_filter_manager",
        ":drake_visualizer",
        ":drake_visualizer_params",
        ":frame_kinematics",
        ":geometry_frame",
        ":geometry_ids",
        ":geometry_index",
        ":geometry_instance",
        ":geometry_properties",
        ":geometry_roles",
        ":geometry_set",
        ":geometry_state",
        ":geometry_version",
        ":internal_frame",
        ":internal_geometry",
        ":meshcat",
        ":proximity_engine",
        ":proximity_properties",
        ":rgba",
        ":scene_graph",
        ":scene_graph_inspector",
        ":shape_specification",
        ":shape_to_string",
        ":utilities",
    ],
)

drake_cc_library(
    name = "proximity_engine",
    srcs = [
        "proximity_engine.cc",
    ],
    hdrs = [
        "proximity_engine.h",
    ],
    deps = [
        ":geometry_ids",
        ":geometry_index",
        ":geometry_roles",
        ":internal_geometry",
        ":shape_specification",
        ":utilities",
        "//common",
        "//common:default_scalars",
        "//geometry/proximity",
        "//geometry/query_results",
        "//math",
        "@fcl",
        "@fmt",
        "@tinyobjloader",
    ],
)

drake_cc_library(
    name = "collision_filter_declaration",
    srcs = ["collision_filter_declaration.cc"],
    hdrs = ["collision_filter_declaration.h"],
    deps = [
        ":geometry_set",
        "//common:essential",
    ],
)

drake_cc_library(
    name = "collision_filter_manager",
    srcs = ["collision_filter_manager.cc"],
    hdrs = ["collision_filter_manager.h"],
    deps = [
        ":collision_filter_declaration",
        ":geometry_ids",
        ":geometry_set",
        "//geometry/proximity:collision_filter",
    ],
)

drake_cc_library(
    name = "drake_visualizer",
    srcs = ["drake_visualizer.cc"],
    hdrs = ["drake_visualizer.h"],
    deps = [
        ":drake_visualizer_params",
        ":geometry_roles",
        ":geometry_version",
        ":scene_graph",
        "//common:essential",
        "//lcm:drake_lcm",
        "//lcmtypes:viewer",
        "//systems/framework:context",
        "//systems/framework:leaf_system",
    ],
)

drake_cc_library(
    name = "drake_visualizer_params",
    hdrs = ["drake_visualizer_params.h"],
    deps = [
        ":geometry_roles",
        ":rgba",
    ],
)

drake_cc_library(
    name = "frame_kinematics",
    srcs = [
        "frame_kinematics_vector.cc",
    ],
    hdrs = [
        "frame_kinematics_vector.h",
    ],
    deps = [
        ":geometry_ids",
        ":utilities",
        "//common:autodiff",
        "//common:essential",
        "//common:symbolic",
    ],
)

drake_cc_library(
    name = "geometry_frame",
    srcs = [],
    hdrs = ["geometry_frame.h"],
    deps = [
        ":geometry_ids",
        "//common:essential",
    ],
)

drake_cc_library(
    name = "geometry_ids",
    srcs = [],
    hdrs = ["geometry_ids.h"],
    deps = ["//common:identifier"],
)

drake_cc_library(
    name = "geometry_index",
    srcs = [],
    hdrs = ["geometry_index.h"],
    deps = ["//common:type_safe_index"],
)

drake_cc_library(
    name = "geometry_instance",
    srcs = ["geometry_instance.cc"],
    hdrs = ["geometry_instance.h"],
    deps = [
        ":geometry_ids",
        ":geometry_roles",
        ":shape_specification",
        ":utilities",
        "//common:copyable_unique_ptr",
        "//common:essential",
    ],
)

drake_cc_library(
    name = "geometry_properties",
    srcs = ["geometry_properties.cc"],
    hdrs = ["geometry_properties.h"],
    deps = [
        ":rgba",
        "//common:essential",
        "//common:value",
        "@fmt",
    ],
)

drake_cc_library(
    name = "geometry_version",
    srcs = ["geometry_version.cc"],
    hdrs = ["geometry_version.h"],
    deps = [
        ":geometry_roles",
        "//common:essential",
        "//common:identifier",
    ],
)

drake_cc_library(
    name = "geometry_roles",
    srcs = ["geometry_roles.cc"],
    hdrs = ["geometry_roles.h"],
    deps = [
        ":geometry_properties",
        "//common:essential",
    ],
)

drake_cc_library(
    name = "geometry_set",
    hdrs = ["geometry_set.h"],
    deps = [":geometry_ids"],
)

drake_cc_library(
    name = "geometry_state",
    srcs = ["geometry_state.cc"],
    hdrs = ["geometry_state.h"],
    deps = [
        ":collision_filter_manager",
        ":frame_kinematics",
        ":geometry_frame",
        ":geometry_ids",
        ":geometry_index",
        ":geometry_instance",
        ":geometry_set",
        ":geometry_version",
        ":internal_frame",
        ":internal_geometry",
        ":proximity_engine",
        ":utilities",
        "//geometry/render:render_engine",
    ],
)

drake_cc_library(
    name = "proximity_properties",
    srcs = ["proximity_properties.cc"],
    hdrs = ["proximity_properties.h"],
    deps = [
        ":geometry_roles",
        "//multibody/plant:coulomb_friction",
    ],
)

drake_cc_library(
    name = "scene_graph",
    srcs = [
        "query_object.cc",
        "scene_graph.cc",
    ],
    hdrs = [
        "query_object.h",
        "scene_graph.h",
    ],
    deps = [
        ":geometry_state",
        ":scene_graph_inspector",
        "//common:essential",
        "//geometry/query_results:contact_surface",
        "//geometry/query_results:penetration_as_point_pair",
        "//geometry/query_results:signed_distance_pair",
        "//geometry/query_results:signed_distance_to_point",
        "//systems/framework",
        "//systems/rendering:pose_bundle",
    ],
)

drake_cc_library(
    name = "scene_graph_inspector",
    srcs = ["scene_graph_inspector.cc"],
    hdrs = ["scene_graph_inspector.h"],
    deps = [":geometry_state"],
)

drake_cc_library(
    name = "internal_frame",
    srcs = ["internal_frame.cc"],
    hdrs = ["internal_frame.h"],
    deps = [
        ":geometry_ids",
        ":geometry_index",
        "//common:essential",
    ],
)

drake_cc_library(
    name = "internal_geometry",
    srcs = ["internal_geometry.cc"],
    hdrs = ["internal_geometry.h"],
    deps = [
        ":geometry_ids",
        ":geometry_index",
        ":geometry_roles",
        ":internal_frame",
        ":shape_specification",
        "//common:copyable_unique_ptr",
        "//common:essential",
        "//math:geometric_transform",
    ],
)

drake_cc_library(
    name = "shape_specification",
    srcs = ["shape_specification.cc"],
    hdrs = ["shape_specification.h"],
    deps = [
        "//common:essential",
        "//math:geometric_transform",
    ],
)

drake_cc_library(
    name = "shape_to_string",
    srcs = ["shape_to_string.cc"],
    hdrs = ["shape_to_string.h"],
    deps = [
        ":shape_specification",
        "@fmt",
    ],
)

drake_cc_library(
    name = "utilities",
    srcs = ["utilities.cc"],
    hdrs = ["utilities.h"],
    deps = [
        "//common",
        "//math:geometric_transform",
    ],
)

drake_cc_library(
    name = "rgba",
    srcs = ["rgba.cc"],
    hdrs = ["rgba.h"],
    deps = [
        "//common",
    ],
)

drake_cc_library(
    name = "meshcat_types",
    hdrs = ["meshcat_types.h"],
    install_hdrs_exclude = ["meshcat_types.h"],
    tags = [
        "exclude_from_libdrake",
        "exclude_from_package",
    ],
    visibility = ["//:__subpackages__"],
    deps = ["@msgpack"],
)

drake_cc_library(
    name = "meshcat",
    srcs = ["meshcat.cc"],
    hdrs = ["meshcat.h"],
    data = [
        "//doc:favicon",
        "@meshcat//:dist/index.html",
        "@meshcat//:dist/main.min.js",
    ],
    deps = [
        ":meshcat_types",
        ":rgba",
        ":shape_specification",
        "//common:essential",
        "//common:find_resource",
        "//common:unused",
        "//math:geometric_transform",
        "@msgpack",
        "@stduuid",
        "@uwebsockets",
    ],
)

drake_cc_binary(
    name = "meshcat_manual_test",
    testonly = True,
    srcs = ["test/meshcat_manual_test.cc"],
    data = ["//systems/sensors:test_models"],
    visibility = ["//visibility:private"],
    deps = [":meshcat"],
)

drake_py_binary(
    name = "meshcat_websocket_client",
    testonly = True,
    srcs = ["test/meshcat_websocket_client.py"],
    visibility = ["//visibility:private"],
)

drake_cc_googletest(
    name = "meshcat_test",
    data = [
        ":meshcat_websocket_client",
        "//systems/sensors:test_models",
    ],
    # Disable valgrind because it currently fails on the system call to python.
    # TODO(russt): Make it possible to pass --trace-children=no to valgrind.sh.
    tags = ["no_memcheck"],
    deps = [
        ":meshcat",
        "//common/test_utilities:eigen_matrix_compare",
    ],
)

# -----------------------------------------------------

filegroup(
    name = "test_obj_files",
    testonly = 1,
    srcs = [
        "test/extruded_u.obj",
        "test/forbidden_two_cubes.obj",
        "test/non_convex_mesh.obj",
        "test/quad_cube.mtl",
        "test/quad_cube.obj",
    ],
)

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:expect_throws_message",
        "//lcm:mock",
        "//systems/analysis:simulator",
    ],
)

drake_cc_googletest(
    name = "proximity_engine_test",
    data = [":test_obj_files"],
    deps = [
        ":proximity_engine",
        ":shape_specification",
        "//common/test_utilities:eigen_matrix_compare",
        "//common/test_utilities:expect_no_throw",
        "//common/test_utilities:expect_throws_message",
        "//math",
    ],
)

drake_cc_googletest(
    name = "frame_kinematics_vector_test",
    deps = [
        ":frame_kinematics",
        "//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",
    ],
)

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/test_utilities:dummy_render_engine",
    ],
)

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:expect_no_throw",
        "//common/test_utilities:expect_throws_message",
    ],
)

drake_cc_googletest(
    name = "scene_graph_test",
    deps = [
        ":scene_graph",
        "//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",
    deps = [
        ":shape_specification",
        "//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",
    ],
)

add_lint_tests()