RobotLocomotion · sammy-tri · Feb 6, 2023 · Feb 1, 2023
diff --git a/geometry/proximity/BUILD.bazel b/geometry/proximity/BUILD.bazel
@@ -145,6 +145,7 @@ drake_cc_library(
     deps = [
         ":collision_filter",
         ":proximity_utilities",
+        "//common:drake_export",
         "//geometry:geometry_ids",
         "@fcl_internal//:fcl",
     ],
@@ -230,6 +231,7 @@ drake_cc_library(
     deps = [
         ":proximity_utilities",
         "//common:default_scalars",
+        "//common:drake_export",
         "//common:essential",
         "//geometry:geometry_ids",
         "//geometry/query_results:signed_distance_to_point",
@@ -251,6 +253,7 @@ drake_cc_library(
         ":distance_to_point_callback",
         ":proximity_utilities",
         "//common:default_scalars",
+        "//common:drake_export",
         "//common:nice_type_name",
         "//geometry/query_results:signed_distance_pair",
     ],
@@ -284,6 +287,7 @@ drake_cc_library(
     deps = [
         ":collision_filter",
         ":proximity_utilities",
+        "//common:drake_export",
         "//common:sorted_pair",
         "@fcl_internal//:fcl",
         "@fmt",
@@ -308,6 +312,7 @@ drake_cc_library(
         ":proximity_utilities",
         ":triangle_surface_mesh",
         ":volume_mesh",
+        "//common:drake_export",
         "//common:hash",
         "//geometry:proximity_properties",
         "//geometry/query_results:contact_surface",
@@ -680,6 +685,7 @@ drake_cc_library(
         ":collision_filter",
         ":distance_to_point_callback",
         "//common:default_scalars",
+        "//common:drake_export",
         "//common:nice_type_name",
         "//geometry/query_results:penetration_as_point_pair",
         "//geometry/query_results:signed_distance_to_point",
@@ -731,6 +737,7 @@ drake_cc_library(
     deps = [
         ":sorted_triplet",
         ":volume_mesh",
+        "//common:drake_export",
         "//common:sorted_pair",
         "//geometry:geometry_ids",
         "//geometry:shape_specification",
@@ -863,6 +870,7 @@ drake_cc_library(
     visibility = ["//visibility:private"],
     deps = [
         ":collision_filter",
+        "//common:drake_export",
         "//common:temp_directory",
         "//common/test_utilities:eigen_matrix_compare",
         "//common/test_utilities:expect_throws_message",

diff --git a/geometry/proximity/collisions_exist_callback.h b/geometry/proximity/collisions_exist_callback.h
@@ -1,15 +1,16 @@
 #pragma once
 
-#include <fcl/fcl.h>
+#include <drake_vendor/fcl/fcl.h>
 
 #include "drake/common/drake_assert.h"
+#include "drake/common/drake_export.h"
 #include "drake/geometry/geometry_ids.h"
 #include "drake/geometry/proximity/collision_filter.h"
 
 namespace drake {
 namespace geometry {
 namespace internal {
-namespace has_collisions {
+namespace has_collisions DRAKE_NO_EXPORT {
 
 /* Supporting data for the collisions exist callback (see Callback below).
    It includes:

diff --git a/geometry/proximity/distance_to_point_callback.h b/geometry/proximity/distance_to_point_callback.h
@@ -6,9 +6,10 @@
 #include <unordered_map>
 #include <vector>
 
-#include <fcl/fcl.h>
+#include <drake_vendor/fcl/fcl.h>
 
 #include "drake/common/drake_assert.h"
+#include "drake/common/drake_export.h"
 #include "drake/common/eigen_types.h"
 #include "drake/geometry/geometry_ids.h"
 #include "drake/geometry/proximity/proximity_utilities.h"
@@ -18,7 +19,7 @@
 namespace drake {
 namespace geometry {
 namespace internal {
-namespace point_distance {
+namespace point_distance DRAKE_NO_EXPORT {
 
 /* Supporting data for the distance-to-point callback (see Callback below).
  It includes:

diff --git a/geometry/proximity/distance_to_shape_callback.h b/geometry/proximity/distance_to_shape_callback.h
@@ -3,8 +3,9 @@
 #include <unordered_map>
 #include <vector>
 
-#include <fcl/fcl.h>
+#include <drake_vendor/fcl/fcl.h>
 
+#include "drake/common/drake_export.h"
 #include "drake/common/eigen_types.h"
 #include "drake/common/nice_type_name.h"
 #include "drake/geometry/geometry_ids.h"
@@ -19,7 +20,7 @@
 namespace drake {
 namespace geometry {
 namespace internal {
-namespace shape_distance {
+namespace shape_distance DRAKE_NO_EXPORT {
 
 /* Supporting data for the shape-to-shape signed distance callback (see
  Callback below). It includes:

diff --git a/geometry/proximity/find_collision_candidates_callback.h b/geometry/proximity/find_collision_candidates_callback.h
@@ -4,17 +4,18 @@
 #include <utility>
 #include <vector>
 
-#include <fcl/fcl.h>
+#include <drake_vendor/fcl/fcl.h>
 #include <fmt/format.h>
 
+#include "drake/common/drake_export.h"
 #include "drake/common/sorted_pair.h"
 #include "drake/geometry/geometry_ids.h"
 #include "drake/geometry/proximity/collision_filter.h"
 
 namespace drake {
 namespace geometry {
 namespace internal {
-namespace find_collision_candidates {
+namespace find_collision_candidates DRAKE_NO_EXPORT {
 
 /* Supporting data for the collision candidates callback (see Callback below).
    It includes:

diff --git a/geometry/proximity/hydroelastic_callback.h b/geometry/proximity/hydroelastic_callback.h
@@ -5,9 +5,10 @@
 #include <utility>
 #include <vector>
 
-#include <fcl/fcl.h>
+#include <drake_vendor/fcl/fcl.h>
 #include <fmt/format.h>
 
+#include "drake/common/drake_export.h"
 #include "drake/common/eigen_types.h"
 #include "drake/geometry/geometry_ids.h"
 #include "drake/geometry/proximity/collision_filter.h"
@@ -26,7 +27,7 @@
 namespace drake {
 namespace geometry {
 namespace internal {
-namespace hydroelastic {
+namespace hydroelastic DRAKE_NO_EXPORT {
 
 /* Supporting data for the shape-to-shape hydroelastic contact callback (see
  Callback below). It includes:

diff --git a/geometry/proximity/penetration_as_point_pair_callback.h b/geometry/proximity/penetration_as_point_pair_callback.h
@@ -3,16 +3,17 @@
 #include <unordered_map>
 #include <vector>
 
-#include <fcl/fcl.h>
+#include <drake_vendor/fcl/fcl.h>
 
+#include "drake/common/drake_export.h"
 #include "drake/geometry/proximity/collision_filter.h"
 #include "drake/geometry/query_results/penetration_as_point_pair.h"
 #include "drake/math/rigid_transform.h"
 
 namespace drake {
 namespace geometry {
 namespace internal {
-namespace penetration_as_point_pair {
+namespace penetration_as_point_pair DRAKE_NO_EXPORT {
 
 /* Supporting data for the detecting collision between geometries and reporting
  them as a pair of points (see PenetrationAsPointPair). It includes:

diff --git a/geometry/proximity/proximity_utilities.h b/geometry/proximity/proximity_utilities.h
@@ -5,16 +5,17 @@
 #include <string>
 #include <vector>
 
-#include <fcl/fcl.h>
+#include <drake_vendor/fcl/fcl.h>
 #include <fmt/format.h>
 
+#include "drake/common/drake_export.h"
 #include "drake/geometry/geometry_ids.h"
 #include "drake/geometry/proximity/volume_mesh.h"
 #include "drake/geometry/shape_specification.h"
 
 namespace drake {
 namespace geometry {
-namespace internal {
+namespace internal DRAKE_NO_EXPORT {
 
 // TODO(SeanCurtis-TRI): Given the dependencies on fcl for this file, the name
 //  should reflect it so that it doesn't get included in files that will

diff --git a/geometry/proximity/test/characterization_utilities.h b/geometry/proximity/test/characterization_utilities.h
@@ -15,10 +15,11 @@
 #include <utility>
 #include <vector>
 
-#include <fcl/fcl.h>
+#include <drake_vendor/fcl/fcl.h>
 #include <gtest/gtest.h>
 
 #include "drake/common/default_scalars.h"
+#include "drake/common/drake_export.h"
 #include "drake/common/unused.h"
 #include "drake/geometry/proximity/collision_filter.h"
 #include "drake/geometry/shape_specification.h"
@@ -217,7 +218,7 @@ class ShapeConfigurations : public ShapeReifier {
 };
 
 /* @name Fcl geometry from drake shape specifications. */
-class MakeFclShape : public ShapeReifier {
+class DRAKE_NO_EXPORT MakeFclShape : public ShapeReifier {
  public:
   explicit MakeFclShape(const Shape& shape);
 

diff --git a/geometry/proximity/test/collisions_exist_callback_test.cc b/geometry/proximity/test/collisions_exist_callback_test.cc
@@ -2,7 +2,7 @@
 
 #include <utility>
 
-#include <fcl/fcl.h>
+#include <drake_vendor/fcl/fcl.h>
 #include <gtest/gtest.h>
 
 #include "drake/geometry/proximity/proximity_utilities.h"

diff --git a/geometry/proximity/test/distance_sphere_to_shape_test.cc b/geometry/proximity/test/distance_sphere_to_shape_test.cc
@@ -4,7 +4,7 @@
 #include <utility>
 #include <vector>
 
-#include <fcl/fcl.h>
+#include <drake_vendor/fcl/fcl.h>
 #include <fmt/format.h>
 #include <gtest/gtest.h>
 

diff --git a/geometry/proximity/test/distance_to_point_callback_test.cc b/geometry/proximity/test/distance_to_point_callback_test.cc
@@ -1,6 +1,6 @@
 #include "drake/geometry/proximity/distance_to_point_callback.h"
 
-#include <fcl/fcl.h>
+#include <drake_vendor/fcl/fcl.h>
 #include <gtest/gtest.h>
 
 #include "drake/common/test_utilities/eigen_matrix_compare.h"

diff --git a/geometry/proximity/test/find_collision_candidates_callback_test.cc b/geometry/proximity/test/find_collision_candidates_callback_test.cc
@@ -3,7 +3,7 @@
 #include <utility>
 #include <vector>
 
-#include <fcl/fcl.h>
+#include <drake_vendor/fcl/fcl.h>
 #include <gtest/gtest.h>
 
 #include "drake/geometry/proximity/proximity_utilities.h"

diff --git a/geometry/proximity/test/hydroelastic_callback_test.cc b/geometry/proximity/test/hydroelastic_callback_test.cc
@@ -5,7 +5,7 @@
 #include <utility>
 #include <vector>
 
-#include <fcl/fcl.h>
+#include <drake_vendor/fcl/fcl.h>
 #include <gtest/gtest.h>
 
 #include "drake/common/test_utilities/expect_no_throw.h"

diff --git a/geometry/proximity/test/proximity_utilities_test.cc b/geometry/proximity/test/proximity_utilities_test.cc
@@ -3,7 +3,7 @@
 #include <memory>
 #include <sstream>
 
-#include <fcl/fcl.h>
+#include <drake_vendor/fcl/fcl.h>
 #include <gtest/gtest.h>
 
 namespace drake {

diff --git a/geometry/proximity_engine.cc b/geometry/proximity_engine.cc
@@ -10,7 +10,7 @@
 #include <utility>
 #include <vector>
 
-#include <fcl/fcl.h>
+#include <drake_vendor/fcl/fcl.h>
 #include <fmt/format.h>
 
 #include "drake/common/default_scalars.h"
@@ -52,6 +52,16 @@ using symbolic::Expression;
 
 namespace {
 
+// Drake compiles FCL using hidden symbol visibility. To avoid visibility
+// complaints from the compiler, we need to use hidden subclasses for any
+// FCL data types used as member fields of ProximityEngine::Impl. Note
+// that FCL Objects on the stack are fine without worrying about hidden;
+// it's only Impl member fields that cause trouble.
+class FclDynamicAABBTreeCollisionManager
+    : public fcl::DynamicAABBTreeCollisionManager<double> {};
+class MapGeometryIdToFclCollisionObject
+    : public unordered_map<GeometryId, unique_ptr<CollisionObjectd>> {};
+
 // Returns a copy of the given fcl collision geometry; throws an exception for
 // unsupported collision geometry types. This supplements the *missing* cloning
 // functionality in FCL. Issue has been submitted to FCL:
@@ -907,16 +917,16 @@ class ProximityEngine<T>::Impl : public ShapeReifier {
 
   // The BVH of all dynamic geometries; this depends on *all* inputs.
   // TODO(SeanCurtis-TRI): Ultimately, this should probably be a cache entry.
-  fcl::DynamicAABBTreeCollisionManager<double> dynamic_tree_;
+  FclDynamicAABBTreeCollisionManager dynamic_tree_;
 
   // All of the *dynamic* collision elements (spanning all sources).
-  unordered_map<GeometryId, unique_ptr<CollisionObjectd>> dynamic_objects_;
+  MapGeometryIdToFclCollisionObject dynamic_objects_;
 
   // The tree containing all of the anchored geometry.
-  fcl::DynamicAABBTreeCollisionManager<double> anchored_tree_;
+  FclDynamicAABBTreeCollisionManager anchored_tree_;
 
   // All of the *anchored* collision elements (spanning *all* sources).
-  unordered_map<GeometryId, unique_ptr<CollisionObjectd>> anchored_objects_;
+  MapGeometryIdToFclCollisionObject anchored_objects_;
 
   // The mechanism for dictating collision filtering.
   CollisionFilter collision_filter_;

diff --git a/geometry/test/proximity_engine_test.cc b/geometry/test/proximity_engine_test.cc
@@ -7,7 +7,7 @@
 #include <utility>
 #include <vector>
 
-#include <fcl/fcl.h>
+#include <drake_vendor/fcl/fcl.h>
 #include <gtest/gtest.h>
 
 #include "drake/common/find_resource.h"

diff --git a/tools/workspace/BUILD.bazel b/tools/workspace/BUILD.bazel
@@ -49,6 +49,7 @@ drake_py_binary(
     srcs = ["vendor_cxx.py"],
     visibility = [
         # These should all be of the form "@foo_internal//:__pkg__".
+        "@fcl_internal//:__pkg__",
         "@gz_math_internal//:__pkg__",
         "@gz_utils_internal//:__pkg__",
         "@msgpack_internal//:__pkg__",

diff --git a/tools/workspace/ccd/package.BUILD.bazel b/tools/workspace/ccd/package.BUILD.bazel
@@ -37,6 +37,8 @@ CCD_PUBLIC_HEADERS = [
 # Options used when building the ccd code. Handled by cmake in upstream code
 CCD_COPTS = [
     "-Wno-all",
+    # N.B. Because ccd is C code (not C++ code), we can set hidden visibility
+    # globally, rather than laundering it though our vendor_cxx tool.
     "-fvisibility=hidden",
 ]