collision_detection::CollisionResult
CollisionCheckMoveIt::getPathCollisionResult(const std::vector<sensor_msgs::JointState>& targetJointsStateVector, bool contacts)
{
collision_detection::CollisionResult collision_result;
for (std::vector<sensor_msgs::JointState>::const_iterator it = targetJointsStateVector.begin(); it != targetJointsStateVector.end(); ++it) {
collision_result = getCollisionResult(*it, contacts);
if (collision_result.collision) {
#ifdef DEBUG_COLLISIONS
ROS_INFO("Collision at %ld of %zd in path.", it - targetJointsStateVector.begin(), targetJointsStateVector.size());
#endif
return collision_result;
}
}
return collision_result;
}
void Projectile::update(uint32_t time_ms, const TileMap& map)
{
float delta = m_velocity * time_ms;
auto rect = getDamageRectangle(delta);
auto result = map.getCollisionTilesTest(rect);
auto collisionResult = getCollisionResult(result, rect);
test = BoundingBox{ rect };
if (collisionResult.collided) {
m_collided = true;
m_x = collisionResult.x - getDamageRectangle(delta).width();
}
else {
m_x += delta;
}
}
bool
CollisionCheckMoveIt::hasCollision(const sensor_msgs::JointState& targetJointsState) {
collision_detection::CollisionResult collision_result = getCollisionResult(targetJointsState);
return collision_result.collision;
}