World-impl.hpp

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/*
 * Copyright (c) 2011-2017, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
 *   https://github.com/dartsim/dart/blob/master/LICENSE
 *
 * This file is provided under the following "BSD-style" License:
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * This code incorporates portions of Open Dynamics Engine
 *     (Copyright (c) 2001-2004, Russell L. Smith. All rights
 *     reserved.) and portions of FCL (Copyright (c) 2011, Willow
 *     Garage, Inc. All rights reserved.), which were released under
 *     the same BSD license as below
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 */
 
#ifndef DART_SIMULATION_DETAIL_WORLD_IMPL_HPP_
#define DART_SIMULATION_DETAIL_WORLD_IMPL_HPP_
 
#include "dart/simulation/World.hpp"
 
namespace dart {
namespace simulation {
 
//==============================================================================
template <typename... Args>
WorldPtr World::create(Args&&... args)
{
  return std::make_shared<World>(std::forward<Args>(args)...);
}
 
//==============================================================================
template <typename Func>
void World::eachSkeleton(Func func) const
{
  if constexpr (std::is_same_v<
                    std::invoke_result_t<Func, const dynamics::Skeleton*>,
                    bool>)
  {
    for (auto skel : mSkeletons)
    {
      if (!func(skel.get()))
        return;
    }
  }
  else
  {
    for (auto skel : mSkeletons)
    {
      func(skel.get());
    }
  }
}
 
//==============================================================================
template <typename Func>
void World::eachSkeleton(Func func)
{
  if constexpr (std::is_same_v<
                    std::invoke_result_t<Func, dynamics::Skeleton*>,
                    bool>)
  {
    for (auto skel : mSkeletons)
    {
      if (!func(skel.get()))
        return;
    }
  }
  else
  {
    for (auto skel : mSkeletons)
    {
      func(skel.get());
    }
  }
}
 
//==============================================================================
template <typename Func>
void World::eachSimpleFrame(Func func) const
{
  if constexpr (std::is_same_v<
                    std::invoke_result_t<Func, const dynamics::SimpleFrame*>,
                    bool>)
  {
    for (auto simpleFrame : mSimpleFrames)
    {
      if (!func(simpleFrame.get()))
        return;
    }
  }
  else
  {
    for (auto simpleFrame : mSimpleFrames)
    {
      func(simpleFrame.get());
    }
  }
}
 
//==============================================================================
template <typename Func>
void World::eachSimpleFrame(Func func)
{
  if constexpr (std::is_same_v<
                    std::invoke_result_t<Func, dynamics::SimpleFrame*>,
                    bool>)
  {
    for (auto simpleFrame : mSimpleFrames)
    {
      if (!func(simpleFrame.get()))
        return;
    }
  }
  else
  {
    for (auto simpleFrame : mSimpleFrames)
    {
      func(simpleFrame.get());
    }
  }
}
 
} // namespace simulation
} // namespace dart
 
#endif // DART_SIMULATION_DETAIL_WORLD_IMPL_HPP_