default_broadphase_callbacks.cpp

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#include "hpp/fcl/broadphase/default_broadphase_callbacks.h"
#include <algorithm>

namespace hpp {
namespace fcl {

bool defaultCollisionFunction(CollisionObject* o1, CollisionObject* o2,
                              void* data) {
  assert(data != nullptr);
  auto* collision_data = static_cast<CollisionData*>(data);
  const CollisionRequest& request = collision_data->request;
  CollisionResult& result = collision_data->result;

  if (collision_data->done) return true;

  collide(o1, o2, request, result);

  if (result.isCollision() &&
      result.numContacts() >= request.num_max_contacts) {
    collision_data->done = true;
  }

  return collision_data->done;
}

bool CollisionCallBackDefault::collide(CollisionObject* o1,
                                       CollisionObject* o2) {
  return defaultCollisionFunction(o1, o2, &data);
}

bool defaultDistanceFunction(CollisionObject* o1, CollisionObject* o2,
                             void* data, FCL_REAL& dist) {
  assert(data != nullptr);
  auto* cdata = static_cast<DistanceData*>(data);
  const DistanceRequest& request = cdata->request;
  DistanceResult& result = cdata->result;

  if (cdata->done) {
    dist = result.min_distance;
    return true;
  }

  distance(o1, o2, request, result);

  dist = result.min_distance;

  if (dist <= 0) return true;  // in collision or in touch

  return cdata->done;
}

bool DistanceCallBackDefault::distance(CollisionObject* o1, CollisionObject* o2,
                                       FCL_REAL& dist) {
  return defaultDistanceFunction(o1, o2, &data, dist);
}

CollisionCallBackCollect::CollisionCallBackCollect(const size_t max_size)
    : max_size(max_size) {
  collision_pairs.resize(max_size);
}

bool CollisionCallBackCollect::collide(CollisionObject* o1,
                                       CollisionObject* o2) {
  collision_pairs.push_back(std::make_pair(o1, o2));
  return false;
}

size_t CollisionCallBackCollect::numCollisionPairs() const {
  return collision_pairs.size();
}

const std::vector<CollisionCallBackCollect::CollisionPair>&
CollisionCallBackCollect::getCollisionPairs() const {
  return collision_pairs;
}

void CollisionCallBackCollect::init() { collision_pairs.clear(); }

bool CollisionCallBackCollect::exist(const CollisionPair& pair) const {
  return std::find(collision_pairs.begin(), collision_pairs.end(), pair) !=
         collision_pairs.end();
}

}  // namespace fcl
}  // namespace hpp