CollisionGroup.hpp

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#ifndef DART_COLLISION_DETAIL_COLLISIONGROUP_HPP_
#define DART_COLLISION_DETAIL_COLLISIONGROUP_HPP_
 
#include "dart/collision/CollisionGroup.hpp"
 
#include "dart/dynamics/BodyNode.hpp"
#include "dart/dynamics/Skeleton.hpp"
 
namespace dart {
namespace collision {
 
//==============================================================================
template <typename... Others>
void CollisionGroup::addShapeFramesOf(
    const dynamics::ShapeFrame* shapeFrame, const Others*... others)
{
  addShapeFrame(shapeFrame);
 
  addShapeFramesOf(others...);
}
 
//==============================================================================
template <typename... Others>
void CollisionGroup::addShapeFramesOf(
    const std::vector<const dynamics::ShapeFrame*>& shapeFrames,
    const Others*... others)
{
  addShapeFrames(shapeFrames);
 
  addShapeFramesOf(others...);
}
 
//==============================================================================
template <typename... Others>
void CollisionGroup::addShapeFramesOf(
    const CollisionGroup* otherGroup, const Others*... others)
{
  assert(otherGroup);
 
  if (otherGroup && this != otherGroup)
  {
    for (const auto& pair : otherGroup->mShapeFrameMap)
      addShapeFrame(pair.first);
  }
 
  addShapeFramesOf(others...);
}
 
//==============================================================================
template <typename... Others>
void CollisionGroup::addShapeFramesOf(
    const dynamics::BodyNode* bodyNode, const Others*... others)
{
  assert(bodyNode);
 
  auto collisionShapeNodes
      = bodyNode->getShapeNodesWith<dynamics::CollisionAspect>();
 
  for (auto& shapeNode : collisionShapeNodes)
    addShapeFrame(shapeNode);
 
  addShapeFramesOf(others...);
}
 
//==============================================================================
template <typename... Others>
void CollisionGroup::addShapeFramesOf(
    const dynamics::MetaSkeleton* skel, const Others*... others)
{
  assert(skel);
 
  auto numBodyNodes = skel->getNumBodyNodes();
  for (auto i = 0u; i < numBodyNodes; ++i)
    addShapeFramesOf(skel->getBodyNode(i));
 
  addShapeFramesOf(others...);
}
 
//==============================================================================
template <typename... Others>
void CollisionGroup::removeShapeFramesOf(
    const dynamics::ShapeFrame* shapeFrame, const Others*... others)
{
  removeShapeFrame(shapeFrame);
 
  removeShapeFramesOf(others...);
}
 
//==============================================================================
template <typename... Others>
void CollisionGroup::removeShapeFramesOf(
    const std::vector<const dynamics::ShapeFrame*>& shapeFrames,
    const Others*... others)
{
  removeShapeFrames(shapeFrames);
 
  removeShapeFramesOf(others...);
}
 
//==============================================================================
template <typename... Others>
void CollisionGroup::removeShapeFramesOf(
    const CollisionGroup* otherGroup, const Others*... others)
{
  assert(otherGroup);
 
  if (otherGroup)
  {
    if (this == otherGroup)
    {
      removeAllShapeFrames();
      return;
    }
 
    for (const auto& pair : otherGroup->mShapeFrameMap)
      removeShapeFrame(pair.first);
  }
 
  removeShapeFramesOf(others...);
}
 
//==============================================================================
template <typename... Others>
void CollisionGroup::removeShapeFramesOf(
    const dynamics::BodyNode* bodyNode, const Others*... others)
{
  assert(bodyNode);
 
  auto collisionShapeNodes
      = bodyNode->getShapeNodesWith<dynamics::CollisionAspect>();
 
  for (auto& shapeNode : collisionShapeNodes)
    removeShapeFrame(shapeNode);
 
  removeShapeFramesOf(others...);
}
 
//==============================================================================
template <typename... Others>
void CollisionGroup::removeShapeFramesOf(
    const dynamics::MetaSkeleton* skel, const Others*... others)
{
  assert(skel);
 
  auto numBodyNodes = skel->getNumBodyNodes();
  for (auto i = 0u; i < numBodyNodes; ++i)
    removeShapeFramesOf(skel->getBodyNode(i));
 
  removeShapeFramesOf(others...);
}
 
}  // namespace collision
}  // namespace dart
 
#endif  // DART_COLLISION_DETAIL_COLLISIONGROUP_HPP_