| Directory: | ./ |
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| File: | src/broadphase/default_broadphase_callbacks.cpp |
| Date: | 2025-04-01 09:23:31 |
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| Lines: | 15 | 43 | 34.9% |
| Branches: | 5 | 24 | 20.8% |
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| 1 | /* | ||
| 2 | * Software License Agreement (BSD License) | ||
| 3 | * | ||
| 4 | * Copyright (c) 2020, Toyota Research Institute | ||
| 5 | * All rights reserved. | ||
| 6 | * | ||
| 7 | * Redistribution and use in source and binary forms, with or without | ||
| 8 | * modification, are permitted provided that the following conditions | ||
| 9 | * are met: | ||
| 10 | * | ||
| 11 | * * Redistributions of source code must retain the above copyright | ||
| 12 | * notice, this list of conditions and the following disclaimer. | ||
| 13 | * * Redistributions in binary form must reproduce the above | ||
| 14 | * copyright notice, this list of conditions and the following | ||
| 15 | * disclaimer in the documentation and/or other materials provided | ||
| 16 | * with the distribution. | ||
| 17 | * * Neither the name of the copyright holder nor the names of its | ||
| 18 | * contributors may be used to endorse or promote products derived | ||
| 19 | * from this software without specific prior written permission. | ||
| 20 | * | ||
| 21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| 24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| 25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| 26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| 27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| 29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| 30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| 31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| 32 | * POSSIBILITY OF SUCH DAMAGE. | ||
| 33 | */ | ||
| 34 | |||
| 35 | /** @author Sean Curtis (sean@tri.global) */ | ||
| 36 | |||
| 37 | #include "coal/broadphase/default_broadphase_callbacks.h" | ||
| 38 | #include <algorithm> | ||
| 39 | |||
| 40 | namespace coal { | ||
| 41 | |||
| 42 | 1 | bool defaultCollisionFunction(CollisionObject* o1, CollisionObject* o2, | |
| 43 | void* data) { | ||
| 44 |
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1 | assert(data != nullptr); |
| 45 | 1 | auto* collision_data = static_cast<CollisionData*>(data); | |
| 46 | 1 | const CollisionRequest& request = collision_data->request; | |
| 47 | 1 | CollisionResult& result = collision_data->result; | |
| 48 | |||
| 49 |
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1 | if (collision_data->done) return true; |
| 50 | |||
| 51 | 1 | collide(o1, o2, request, result); | |
| 52 | |||
| 53 |
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2 | if (result.isCollision() && |
| 54 |
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1 | result.numContacts() >= request.num_max_contacts) { |
| 55 | 1 | collision_data->done = true; | |
| 56 | } | ||
| 57 | |||
| 58 | 1 | return collision_data->done; | |
| 59 | } | ||
| 60 | |||
| 61 | 1222280 | bool CollisionCallBackDefault::collide(CollisionObject* o1, | |
| 62 | CollisionObject* o2) { | ||
| 63 | 1222280 | return defaultCollisionFunction(o1, o2, &data); | |
| 64 | } | ||
| 65 | |||
| 66 | ✗ | bool defaultDistanceFunction(CollisionObject* o1, CollisionObject* o2, | |
| 67 | void* data, Scalar& dist) { | ||
| 68 | ✗ | assert(data != nullptr); | |
| 69 | ✗ | auto* cdata = static_cast<DistanceData*>(data); | |
| 70 | ✗ | const DistanceRequest& request = cdata->request; | |
| 71 | ✗ | DistanceResult& result = cdata->result; | |
| 72 | |||
| 73 | ✗ | if (cdata->done) { | |
| 74 | ✗ | dist = result.min_distance; | |
| 75 | ✗ | return true; | |
| 76 | } | ||
| 77 | |||
| 78 | ✗ | distance(o1, o2, request, result); | |
| 79 | |||
| 80 | ✗ | dist = result.min_distance; | |
| 81 | |||
| 82 | ✗ | if (dist <= 0) return true; // in collision or in touch | |
| 83 | |||
| 84 | ✗ | return cdata->done; | |
| 85 | } | ||
| 86 | |||
| 87 | 33012 | bool DistanceCallBackDefault::distance(CollisionObject* o1, CollisionObject* o2, | |
| 88 | Scalar& dist) { | ||
| 89 | 33012 | return defaultDistanceFunction(o1, o2, &data, dist); | |
| 90 | } | ||
| 91 | |||
| 92 | ✗ | CollisionCallBackCollect::CollisionCallBackCollect(const size_t max_size) | |
| 93 | ✗ | : max_size(max_size) { | |
| 94 | ✗ | collision_pairs.resize(max_size); | |
| 95 | } | ||
| 96 | |||
| 97 | ✗ | bool CollisionCallBackCollect::collide(CollisionObject* o1, | |
| 98 | CollisionObject* o2) { | ||
| 99 | ✗ | collision_pairs.push_back(std::make_pair(o1, o2)); | |
| 100 | ✗ | return false; | |
| 101 | } | ||
| 102 | |||
| 103 | ✗ | size_t CollisionCallBackCollect::numCollisionPairs() const { | |
| 104 | ✗ | return collision_pairs.size(); | |
| 105 | } | ||
| 106 | |||
| 107 | const std::vector<CollisionCallBackCollect::CollisionPair>& | ||
| 108 | ✗ | CollisionCallBackCollect::getCollisionPairs() const { | |
| 109 | ✗ | return collision_pairs; | |
| 110 | } | ||
| 111 | |||
| 112 | ✗ | void CollisionCallBackCollect::init() { collision_pairs.clear(); } | |
| 113 | |||
| 114 | ✗ | bool CollisionCallBackCollect::exist(CollisionObject* o1, | |
| 115 | CollisionObject* o2) const { | ||
| 116 | ✗ | return exist(std::make_pair(o1, o2)); | |
| 117 | } | ||
| 118 | |||
| 119 | ✗ | bool CollisionCallBackCollect::exist(const CollisionPair& pair) const { | |
| 120 | ✗ | return std::find(collision_pairs.begin(), collision_pairs.end(), pair) != | |
| 121 | ✗ | collision_pairs.end(); | |
| 122 | } | ||
| 123 | |||
| 124 | } // namespace coal | ||
| 125 |