//==============================================================================
bool DARTCollisionDetector::collide(
CollisionGroup* group1,
CollisionGroup* group2,
const CollisionOption& option, CollisionResult& result)
{
result.clear();
if ((this != group1->getCollisionDetector().get())
|| (this != group2->getCollisionDetector().get()))
{
dterr << "[DARTCollisionDetector::detect] Attempting to check collision "
<< "for a collision group that is created from a different collision "
<< "detector instance.\n";
return false;
}
auto casted1 = static_cast<DARTCollisionGroup*>(group1);
auto casted2 = static_cast<DARTCollisionGroup*>(group2);
const auto& objects1 = casted1->mCollisionObjects;
const auto& objects2 = casted2->mCollisionObjects;
if (objects1.empty() || objects2.empty())
return false;
auto done = false;
const auto& filter = option.collisionFilter;
for (auto i = 0u; i < objects1.size(); ++i)
{
auto collObj1 = objects1[i];
for (auto j = 0u; j < objects2.size(); ++j)
{
auto collObj2 = objects2[j];
if (filter && !filter->needCollision(collObj1, collObj2))
continue;
checkPair(collObj1, collObj2, option, result);
if (result.getNumContacts() >= option.maxNumContacts)
{
done = true;
break;
}
}
if (done)
break;
}
return result.isCollision();
}
