| Directory: | ./ |
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| File: | src/broadphase/broadphase_collision_manager.cpp |
| Date: | 2025-04-13 14:25:19 |
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| Lines: | 16 | 20 | 80.0% |
| Branches: | 12 | 18 | 66.7% |
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| 1 | /* | ||
| 2 | * Software License Agreement (BSD License) | ||
| 3 | * | ||
| 4 | * Copyright (c) 2011-2014, Willow Garage, Inc. | ||
| 5 | * Copyright (c) 2014-2016, Open Source Robotics Foundation | ||
| 6 | * All rights reserved. | ||
| 7 | * | ||
| 8 | * Redistribution and use in source and binary forms, with or without | ||
| 9 | * modification, are permitted provided that the following conditions | ||
| 10 | * are met: | ||
| 11 | * | ||
| 12 | * * Redistributions of source code must retain the above copyright | ||
| 13 | * notice, this list of conditions and the following disclaimer. | ||
| 14 | * * Redistributions in binary form must reproduce the above | ||
| 15 | * copyright notice, this list of conditions and the following | ||
| 16 | * disclaimer in the documentation and/or other materials provided | ||
| 17 | * with the distribution. | ||
| 18 | * * Neither the name of Open Source Robotics Foundation nor the names of its | ||
| 19 | * contributors may be used to endorse or promote products derived | ||
| 20 | * from this software without specific prior written permission. | ||
| 21 | * | ||
| 22 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 23 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 24 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| 25 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| 26 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| 27 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| 28 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 29 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| 30 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| 31 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| 32 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| 33 | * POSSIBILITY OF SUCH DAMAGE. | ||
| 34 | */ | ||
| 35 | |||
| 36 | /** @author Jia Pan */ | ||
| 37 | |||
| 38 | #include "coal/broadphase/broadphase_collision_manager.h" | ||
| 39 | |||
| 40 | namespace coal { | ||
| 41 | |||
| 42 | //============================================================================== | ||
| 43 | 469 | BroadPhaseCollisionManager::BroadPhaseCollisionManager() | |
| 44 | 469 | : enable_tested_set_(false) { | |
| 45 | // Do nothing | ||
| 46 | 469 | } | |
| 47 | |||
| 48 | //============================================================================== | ||
| 49 | 920 | BroadPhaseCollisionManager::~BroadPhaseCollisionManager() { | |
| 50 | // Do nothing | ||
| 51 | } | ||
| 52 | |||
| 53 | //============================================================================== | ||
| 54 | 153 | void BroadPhaseCollisionManager::registerObjects( | |
| 55 | const std::vector<CollisionObject*>& other_objs) { | ||
| 56 |
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38166 | for (size_t i = 0; i < other_objs.size(); ++i) registerObject(other_objs[i]); |
| 57 | 153 | } | |
| 58 | |||
| 59 | //============================================================================== | ||
| 60 | ✗ | void BroadPhaseCollisionManager::update(CollisionObject* updated_obj) { | |
| 61 | COAL_UNUSED_VARIABLE(updated_obj); | ||
| 62 | |||
| 63 | ✗ | update(); | |
| 64 | } | ||
| 65 | |||
| 66 | //============================================================================== | ||
| 67 | ✗ | void BroadPhaseCollisionManager::update( | |
| 68 | const std::vector<CollisionObject*>& updated_objs) { | ||
| 69 | COAL_UNUSED_VARIABLE(updated_objs); | ||
| 70 | |||
| 71 | ✗ | update(); | |
| 72 | } | ||
| 73 | |||
| 74 | //============================================================================== | ||
| 75 | 69053 | bool BroadPhaseCollisionManager::inTestedSet(CollisionObject* a, | |
| 76 | CollisionObject* b) const { | ||
| 77 |
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69053 | if (a < b) |
| 78 |
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35038 | return tested_set.find(std::make_pair(a, b)) != tested_set.end(); |
| 79 | else | ||
| 80 |
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34015 | return tested_set.find(std::make_pair(b, a)) != tested_set.end(); |
| 81 | } | ||
| 82 | |||
| 83 | //============================================================================== | ||
| 84 | 22928 | void BroadPhaseCollisionManager::insertTestedSet(CollisionObject* a, | |
| 85 | CollisionObject* b) const { | ||
| 86 |
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22928 | if (a < b) |
| 87 |
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11465 | tested_set.insert(std::make_pair(a, b)); |
| 88 | else | ||
| 89 |
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11463 | tested_set.insert(std::make_pair(b, a)); |
| 90 | 22928 | } | |
| 91 | |||
| 92 | } // namespace coal | ||
| 93 |