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& info : otherGroup->mObjectInfoList)
      addShapeFrame(info->mFrame);
  }
 
  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::subscribeTo(
    const dynamics::ConstBodyNodePtr& bodyNode,
    const Others&... others)
{
  const auto inserted = mBodyNodeSources.insert(
        BodyNodeSources::value_type(
          bodyNode.get(),
          BodyNodeSource(bodyNode.get(), bodyNode->getVersion()))
        );
 
  if(inserted.second)
  {
    const BodyNodeSources::iterator& entry = inserted.first;
 
    const auto collisionShapeNodes =
        bodyNode->getShapeNodesWith<dynamics::CollisionAspect>();
 
    for (const auto& shapeNode : collisionShapeNodes)
    {
      entry->second.mObjects.insert(
        {shapeNode, addShapeFrameImpl(shapeNode, bodyNode.get())});
    }
  }
 
  subscribeTo(others...);
}
 
//==============================================================================
template <typename... Others>
void CollisionGroup::subscribeTo(
    const dynamics::ConstSkeletonPtr& skeleton,
    const Others&... others)
{
  const auto inserted = mSkeletonSources.insert(
      SkeletonSources::value_type(
        skeleton.get(),
        SkeletonSource(skeleton, skeleton->getVersion()))
      );
 
  if(inserted.second)
  {
    SkeletonSource& entry = inserted.first->second;
 
    const std::size_t numBodies = skeleton->getNumBodyNodes();
    for (std::size_t i = 0u ; i < numBodies; ++i)
    {
      const dynamics::BodyNode* bn = skeleton->getBodyNode(i);
 
      const auto& collisionShapeNodes =
          bn->getShapeNodesWith<dynamics::CollisionAspect>();
 
      auto& childInfo = entry.mChildren.insert(
            std::make_pair(bn, SkeletonSource::ChildInfo(bn->getVersion())))
          .first->second;
 
      for (const auto& shapeNode : collisionShapeNodes)
      {
        entry.mObjects.insert(
            {shapeNode, addShapeFrameImpl(shapeNode, skeleton.get())});
        childInfo.mFrames.insert(shapeNode);
      }
    }
  }
 
  subscribeTo(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& info : otherGroup->mObjectInfoList)
      removeShapeFrame(info->mFrame);
  }
 
  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...);
}
 
//==============================================================================
template <typename... Others>
void CollisionGroup::unsubscribeFrom(
    const dynamics::BodyNode* bodyNode,
    const Others*... others)
{
  auto it = mBodyNodeSources.find(bodyNode);
  if(it != mBodyNodeSources.end())
  {
    for(const auto& entry : it->second.mObjects)
      removeShapeFrameInternal(entry.first, bodyNode);
 
    mBodyNodeSources.erase(it);
  }
 
  unsubscribeFrom(others...);
}
 
//==============================================================================
template <typename... Others>
void CollisionGroup::unsubscribeFrom(
    const dynamics::Skeleton* skeleton,
    const Others*... others)
{
  auto it = mSkeletonSources.find(skeleton);
  if(it != mSkeletonSources.end())
  {
    for(const auto& entry : it->second.mObjects)
    {
      removeShapeFrameInternal(
            entry.first, static_cast<const dynamics::MetaSkeleton*>(skeleton));
    }
 
    mSkeletonSources.erase(it);
  }
 
  unsubscribeFrom(others...);
}
 
}  // namespace collision
}  // namespace dart
 
#endif  // DART_COLLISION_DETAIL_COLLISIONGROUP_HPP_