Directory: | ./ |
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File: | src/broadphase/broadphase_collision_manager.cpp |
Date: | 2025-04-01 09:23:31 |
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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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34525 | return tested_set.find(std::make_pair(a, b)) != tested_set.end(); |
79 | else | ||
80 |
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34528 | 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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11307 | tested_set.insert(std::make_pair(a, b)); |
88 | else | ||
89 |
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11621 | tested_set.insert(std::make_pair(b, a)); |
90 | 22928 | } | |
91 | |||
92 | } // namespace coal | ||
93 |