From 4f4d1810eb58a9549890e2015e6122980d61f970 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Tue, 30 Aug 2016 20:30:52 +0200
Subject: [PATCH] [C++] GeometryData::computeCollision takes an index as
argument
---
src/algorithm/geometry.hxx | 2 +-
src/multibody/geometry.hpp | 6 +++---
src/multibody/geometry.hxx | 10 ++++++----
3 files changed, 10 insertions(+), 8 deletions(-)
diff --git a/src/algorithm/geometry.hxx b/src/algorithm/geometry.hxx
index b5f0ae688..0edbadbc0 100644
--- a/src/algorithm/geometry.hxx
+++ b/src/algorithm/geometry.hxx
@@ -62,7 +62,7 @@ namespace se3
{
if(data_geom.activeCollisionPairs[cpt])
{
- data_geom.computeCollision(geomModel.collisionPairs[cpt],data_geom.collision_results[cpt]);
+ data_geom.computeCollision(cpt);
isColliding |= data_geom.collision_results[cpt].isCollision();
if(isColliding && stopAtFirstCollision)
return true;
diff --git a/src/multibody/geometry.hpp b/src/multibody/geometry.hpp
index ee4b52d6a..446c5cb77 100644
--- a/src/multibody/geometry.hpp
+++ b/src/multibody/geometry.hpp
@@ -270,13 +270,13 @@ namespace se3
///
/// \brief Compute the collision status between two collision objects of a given collision pair.
+ /// The result is store in the collision_results vector.
///
- /// \param[in] pair The collsion pair.
- /// \param[out] result where the collision result is stored.
+ /// \param[in] pairId The collsion pair index in the GeometryModel.
///
/// \return Return true is the collision objects are colliding.
///
- bool computeCollision(const CollisionPair & pair, fcl::CollisionResult& result) const;
+ bool computeCollision(const Index & pairId);
///
/// \brief Compute the collision result of all the collision pairs according to
diff --git a/src/multibody/geometry.hxx b/src/multibody/geometry.hxx
index 60cdd0a50..7db7e9455 100644
--- a/src/multibody/geometry.hxx
+++ b/src/multibody/geometry.hxx
@@ -205,8 +205,11 @@ namespace se3
activeCollisionPairs[pairId] = false;
}
- inline bool GeometryData::computeCollision(const CollisionPair & pair, fcl::CollisionResult& collisionResult) const
+ inline bool GeometryData::computeCollision(const Index& pairId)
{
+ const CollisionPair & pair = model_geom.collisionPairs[pairId];
+ fcl::CollisionResult& collisionResult = collision_results[pairId];
+
const Index & co1 = pair.first; assert(co1<collisionObjects.size());
const Index & co2 = pair.second; assert(co2<collisionObjects.size());
@@ -225,7 +228,7 @@ namespace se3
for(size_t i = 0; i<model_geom.collisionPairs.size(); ++i)
{
if(activeCollisionPairs[i])
- computeCollision(model_geom.collisionPairs[i], collision_results[i]);
+ computeCollision(i);
}
}
@@ -233,8 +236,7 @@ namespace se3
{
for(i = 0; i<model_geom.collisionPairs.size(); ++i)
{
- if (activeCollisionPairs[i]
- && computeCollision(model_geom.collisionPairs[i], collision_results[i]))
+ if (activeCollisionPairs[i] && computeCollision(i))
return true;
}
return false;
--
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