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// |
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// Copyright (c) 2022 INRIA |
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// |
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#ifndef __pinocchio_collision_tree_broadphase_manager_hxx__ |
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#define __pinocchio_collision_tree_broadphase_manager_hxx__ |
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namespace pinocchio |
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{ |
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template<typename Manager> |
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void TreeBroadPhaseManagerTpl<Manager>::update(bool compute_local_aabb) |
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{ |
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for (auto && manager : managers) |
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{ |
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manager.update(compute_local_aabb); |
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} |
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} |
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template<typename Manager> |
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void TreeBroadPhaseManagerTpl<Manager>::update(GeometryData * geom_data_ptr_new) |
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{ |
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for (auto && manager : managers) |
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{ |
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manager.update(geom_data_ptr_new); |
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} |
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} |
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template<typename Manager> |
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bool TreeBroadPhaseManagerTpl<Manager>::check() const |
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{ |
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for (auto && manager : managers) |
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{ |
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if (!manager.check()) |
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return false; |
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} |
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return true; |
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} |
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template<typename Manager> |
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bool TreeBroadPhaseManagerTpl<Manager>::check(CollisionCallBackBase * callback) const |
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{ |
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for (auto && manager : managers) |
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{ |
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if (!manager.check(callback)) |
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return false; |
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} |
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return true; |
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} |
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template<typename Manager> |
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void TreeBroadPhaseManagerTpl<Manager>::init(const size_t njoints) |
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{ |
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managers.reserve(njoints); |
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for (size_t joint_id = 0; joint_id < njoints; ++joint_id) |
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{ |
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GeometryObjectFilterSelectByJoint filter(joint_id); |
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managers.push_back( |
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BroadPhaseManager(&getModel(), &getGeometryModel(), &getGeometryData(), filter)); |
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} |
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} |
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template<typename Manager> |
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bool TreeBroadPhaseManagerTpl<Manager>::collide(CollisionCallBackBase * callback) const |
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{ |
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const size_t num_joints = managers.size(); |
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callback->init(); |
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const bool accumulate_save_value = callback->accumulate; |
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callback->accumulate = true; |
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for (size_t i = 0; i < num_joints; ++i) |
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{ |
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const BroadPhaseManager & manager_outer = managers[i]; |
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bool should_stop = false; |
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for (size_t j = i + 1; j < num_joints; ++j) |
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{ |
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BroadPhaseManager & manager_inner = const_cast<BroadPhaseManager &>(managers[j]); |
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manager_outer.collide(manager_inner, callback); |
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should_stop = callback->stop(); |
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if (should_stop) |
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break; |
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} |
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if (should_stop) |
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break; |
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} |
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callback->accumulate = accumulate_save_value; // restore initial value |
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callback->done(); |
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return callback->collision; |
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} |
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template<typename Manager> |
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bool TreeBroadPhaseManagerTpl<Manager>::collide( |
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CollisionObject & collision_object, CollisionCallBackBase * callback) const |
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{ |
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const size_t num_joints = managers.size(); |
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callback->init(); |
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const bool accumulate_save_value = callback->accumulate; |
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callback->accumulate = true; |
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for (size_t i = 0; i < num_joints; ++i) |
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{ |
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const BroadPhaseManager & manager = managers[i]; |
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manager.collide(collision_object, callback); |
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if (callback->stop()) |
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break; |
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} |
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callback->accumulate = accumulate_save_value; // restore initial value |
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callback->done(); |
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return callback->collision; |
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} |
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template<typename Manager> |
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bool TreeBroadPhaseManagerTpl<Manager>::collide( |
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TreeBroadPhaseManagerTpl & other_manager, CollisionCallBackBase * callback) const |
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{ |
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const size_t num_joints = managers.size(); |
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callback->init(); |
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const bool accumulate_save_value = callback->accumulate; |
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callback->accumulate = true; |
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for (size_t i = 0; i < num_joints; ++i) |
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{ |
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const BroadPhaseManager & manager_outer = managers[i]; |
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bool should_stop = false; |
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for (auto && manager_inner : other_manager.managers) |
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{ |
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manager_outer.collide(manager_inner, callback); |
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should_stop = callback->stop(); |
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if (should_stop) |
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break; |
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} |
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if (should_stop) |
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break; |
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} |
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callback->accumulate = accumulate_save_value; // restore initial value |
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callback->done(); |
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return callback->collision; |
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} |
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} // namespace pinocchio |
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#endif // ifndef __pinocchio_collision_tree_broadphase_manager_hxx__ |
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