geometric_shapes: geometric_shapes: body_operations.cpp Source File

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00034 
00037 #include <geometric_shapes/body_operations.h>
00038 
00039 void bodies::maskPosesInsideBodyVectors(const std::vector<btTransform>& poses,
00040                                         const std::vector<bodies::BodyVector*>& bvs,
00041                                         std::vector<bool>& mask,
00042                                         bool use_padded) {
00043   mask.resize(poses.size(), false);
00044   for(unsigned int i = 0; i < poses.size(); i++) {
00045     bool inside = false;
00046     btVector3 pt = poses[i].getOrigin();
00047     for(unsigned int j = 0; !inside && j < bvs.size(); j++) {
00048       for(unsigned int k = 0;!inside && k < bvs[j]->getSize(); k++) {
00049         if(!use_padded) {
00050           if(bvs[j]->getBoundingSphere(k).center.distance2(pt) < bvs[j]->getBoundingSphereRadiusSquared(k)) {
00051             if(bvs[j]->getBody(k)->containsPoint(pt)) {
00052               inside = true;
00053             }
00054           }
00055         } else {
00056           if(bvs[j]->getPaddedBoundingSphere(k).center.distance2(pt) < bvs[j]->getPaddedBoundingSphereRadiusSquared(k)) {
00057             if(bvs[j]->getPaddedBody(k)->containsPoint(pt)) {
00058               inside = true;
00059             }
00060           }
00061         }
00062       }
00063     }
00064     mask[i] = !inside;
00065   }
00066 }