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 "hpp/fcl/broadphase/broadphase_collision_manager.h" |
39 |
|
|
|
40 |
|
|
namespace hpp { |
41 |
|
|
namespace fcl { |
42 |
|
|
|
43 |
|
|
//============================================================================== |
44 |
|
469 |
BroadPhaseCollisionManager::BroadPhaseCollisionManager() |
45 |
|
469 |
: enable_tested_set_(false) { |
46 |
|
|
// Do nothing |
47 |
|
469 |
} |
48 |
|
|
|
49 |
|
|
//============================================================================== |
50 |
|
920 |
BroadPhaseCollisionManager::~BroadPhaseCollisionManager() { |
51 |
|
|
// Do nothing |
52 |
|
|
} |
53 |
|
|
|
54 |
|
|
//============================================================================== |
55 |
|
153 |
void BroadPhaseCollisionManager::registerObjects( |
56 |
|
|
const std::vector<CollisionObject*>& other_objs) { |
57 |
✓✓ |
38166 |
for (size_t i = 0; i < other_objs.size(); ++i) registerObject(other_objs[i]); |
58 |
|
153 |
} |
59 |
|
|
|
60 |
|
|
//============================================================================== |
61 |
|
|
void BroadPhaseCollisionManager::update(CollisionObject* updated_obj) { |
62 |
|
|
HPP_FCL_UNUSED_VARIABLE(updated_obj); |
63 |
|
|
|
64 |
|
|
update(); |
65 |
|
|
} |
66 |
|
|
|
67 |
|
|
//============================================================================== |
68 |
|
|
void BroadPhaseCollisionManager::update( |
69 |
|
|
const std::vector<CollisionObject*>& updated_objs) { |
70 |
|
|
HPP_FCL_UNUSED_VARIABLE(updated_objs); |
71 |
|
|
|
72 |
|
|
update(); |
73 |
|
|
} |
74 |
|
|
|
75 |
|
|
//============================================================================== |
76 |
|
69053 |
bool BroadPhaseCollisionManager::inTestedSet(CollisionObject* a, |
77 |
|
|
CollisionObject* b) const { |
78 |
✓✓ |
69053 |
if (a < b) |
79 |
✓✗✓✗
|
34945 |
return tested_set.find(std::make_pair(a, b)) != tested_set.end(); |
80 |
|
|
else |
81 |
✓✗✓✗
|
34108 |
return tested_set.find(std::make_pair(b, a)) != tested_set.end(); |
82 |
|
|
} |
83 |
|
|
|
84 |
|
|
//============================================================================== |
85 |
|
22928 |
void BroadPhaseCollisionManager::insertTestedSet(CollisionObject* a, |
86 |
|
|
CollisionObject* b) const { |
87 |
✓✓ |
22928 |
if (a < b) |
88 |
✓✗ |
11368 |
tested_set.insert(std::make_pair(a, b)); |
89 |
|
|
else |
90 |
✓✗ |
11560 |
tested_set.insert(std::make_pair(b, a)); |
91 |
|
22928 |
} |
92 |
|
|
|
93 |
|
|
} // namespace fcl |
94 |
|
|
} // namespace hpp |