broadphase_collision_manager.cpp

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#include "hpp/fcl/broadphase/broadphase_collision_manager.h"

namespace hpp {
namespace fcl {

//==============================================================================
BroadPhaseCollisionManager::BroadPhaseCollisionManager()
    : enable_tested_set_(false) {
  // Do nothing
}

//==============================================================================
BroadPhaseCollisionManager::~BroadPhaseCollisionManager() {
  // Do nothing
}

//==============================================================================
void BroadPhaseCollisionManager::registerObjects(
    const std::vector<CollisionObject*>& other_objs) {
  for (size_t i = 0; i < other_objs.size(); ++i) registerObject(other_objs[i]);
}

//==============================================================================
void BroadPhaseCollisionManager::update(CollisionObject* updated_obj) {
  HPP_FCL_UNUSED_VARIABLE(updated_obj);

  update();
}

//==============================================================================
void BroadPhaseCollisionManager::update(
    const std::vector<CollisionObject*>& updated_objs) {
  HPP_FCL_UNUSED_VARIABLE(updated_objs);

  update();
}

//==============================================================================
bool BroadPhaseCollisionManager::inTestedSet(CollisionObject* a,
                                             CollisionObject* b) const {
  if (a < b)
    return tested_set.find(std::make_pair(a, b)) != tested_set.end();
  else
    return tested_set.find(std::make_pair(b, a)) != tested_set.end();
}

//==============================================================================
void BroadPhaseCollisionManager::insertTestedSet(CollisionObject* a,
                                                 CollisionObject* b) const {
  if (a < b)
    tested_set.insert(std::make_pair(a, b));
  else
    tested_set.insert(std::make_pair(b, a));
}

}  // namespace fcl
}  // namespace hpp