body_operations.cpp

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#include <geometric_shapes/body_operations.h>

void bodies::maskPosesInsideBodyVectors(const std::vector<tf::Transform>& poses,
                                        const std::vector<bodies::BodyVector*>& bvs,
                                        std::vector<bool>& mask,
                                        bool use_padded) {
  mask.resize(poses.size(), false);
  for(unsigned int i = 0; i < poses.size(); i++) {
    bool inside = false;
    tf::Vector3 pt = poses[i].getOrigin();
    for(unsigned int j = 0; !inside && j < bvs.size(); j++) {
      for(unsigned int k = 0;!inside && k < bvs[j]->getSize(); k++) {
        if(!use_padded) {
          if(bvs[j]->getBoundingSphere(k).center.distance2(pt) < bvs[j]->getBoundingSphereRadiusSquared(k)) {
            if(bvs[j]->getBody(k)->containsPoint(pt)) {
              inside = true;
            }
          }
        } else {
          if(bvs[j]->getPaddedBoundingSphere(k).center.distance2(pt) < bvs[j]->getPaddedBoundingSphereRadiusSquared(k)) {
            if(bvs[j]->getPaddedBody(k)->containsPoint(pt)) {
              inside = true;
            }
          }
        }
      }
    }
    mask[i] = !inside;
  }
}