//==============================================================================
bool DARTCollisionDetector::collide(
CollisionGroup* group,
const CollisionOption& option, CollisionResult& result)
{
result.clear();
if (this != group->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 casted = static_cast<DARTCollisionGroup*>(group);
const auto& objects = casted->mCollisionObjects;
if (objects.empty())
return false;
auto done = false;
const auto& filter = option.collisionFilter;
for (auto i = 0u; i < objects.size() - 1; ++i)
{
auto collObj1 = objects[i];
for (auto j = i + 1u; j < objects.size(); ++j)
{
auto collObj2 = objects[j];
if (filter && !filter->needCollision(collObj1, collObj2))
continue;
checkPair(collObj1, collObj2, option, result);
if ((option.binaryCheck && result.isCollision())
|| (result.getNumContacts() >= option.maxNumContacts))
{
done = true;
break;
}
}
if (done)
break;
}
return result.isCollision();
}
bool CollisionRequest::isSatisfied(const CollisionResult& result) const
{
return (!enable_cost) && result.isCollision() && (num_max_contacts <= result.numContacts());
}
