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/* |
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* Software License Agreement (BSD License) |
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* |
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* Copyright (c) 2020, Toyota Research Institute |
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* All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* * Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* * Redistributions in binary form must reproduce the above |
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* copyright notice, this list of conditions and the following |
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* disclaimer in the documentation and/or other materials provided |
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* with the distribution. |
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* * Neither the name of the copyright holder nor the names of its |
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* contributors may be used to endorse or promote products derived |
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* from this software without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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*/ |
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/** @author Sean Curtis (sean@tri.global) */ |
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#include "hpp/fcl/broadphase/default_broadphase_callbacks.h" |
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#include <algorithm> |
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namespace hpp { |
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namespace fcl { |
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bool defaultCollisionFunction(CollisionObject* o1, CollisionObject* o2, |
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void* data) { |
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✗✓ |
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assert(data != nullptr); |
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auto* collision_data = static_cast<CollisionData*>(data); |
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const CollisionRequest& request = collision_data->request; |
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CollisionResult& result = collision_data->result; |
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✗✓ |
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if (collision_data->done) return true; |
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collide(o1, o2, request, result); |
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✓✗✓✗
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if (result.isCollision() && |
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✓✗ |
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result.numContacts() >= request.num_max_contacts) { |
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collision_data->done = true; |
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} |
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return collision_data->done; |
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} |
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1224141 |
bool CollisionCallBackDefault::collide(CollisionObject* o1, |
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CollisionObject* o2) { |
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return defaultCollisionFunction(o1, o2, &data); |
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} |
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bool defaultDistanceFunction(CollisionObject* o1, CollisionObject* o2, |
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void* data, FCL_REAL& dist) { |
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assert(data != nullptr); |
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auto* cdata = static_cast<DistanceData*>(data); |
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const DistanceRequest& request = cdata->request; |
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DistanceResult& result = cdata->result; |
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if (cdata->done) { |
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dist = result.min_distance; |
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return true; |
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} |
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distance(o1, o2, request, result); |
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dist = result.min_distance; |
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if (dist <= 0) return true; // in collision or in touch |
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return cdata->done; |
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} |
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bool DistanceCallBackDefault::distance(CollisionObject* o1, CollisionObject* o2, |
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FCL_REAL& dist) { |
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return defaultDistanceFunction(o1, o2, &data, dist); |
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} |
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CollisionCallBackCollect::CollisionCallBackCollect(const size_t max_size) |
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: max_size(max_size) { |
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collision_pairs.resize(max_size); |
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} |
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bool CollisionCallBackCollect::collide(CollisionObject* o1, |
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CollisionObject* o2) { |
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collision_pairs.push_back(std::make_pair(o1, o2)); |
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return false; |
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} |
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size_t CollisionCallBackCollect::numCollisionPairs() const { |
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return collision_pairs.size(); |
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} |
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const std::vector<CollisionCallBackCollect::CollisionPair>& |
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CollisionCallBackCollect::getCollisionPairs() const { |
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return collision_pairs; |
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} |
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void CollisionCallBackCollect::init() { collision_pairs.clear(); } |
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bool CollisionCallBackCollect::exist(const CollisionPair& pair) const { |
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return std::find(collision_pairs.begin(), collision_pairs.end(), pair) != |
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collision_pairs.end(); |
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} |
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} // namespace fcl |
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} // namespace hpp |