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/*
* Copyright (c) 2011-2021, The DART development contributors
* All rights reserved.
*
* The list of contributors can be found at:
* https://github.com/dartsim/dart/blob/master/LICENSE
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#include "TerminalCondition.hpp"
#include "State.hpp"
// Macro for functions not implemented yet
#define NOT_YET(FUNCTION) \
std::cout << #FUNCTION << "Not implemented yet." << std::endl;
using namespace std;
using namespace dart::dynamics;
using namespace dart::constraint;
//==============================================================================
TerminalCondition::TerminalCondition(State* _state) : mState(_state)
{
assert(_state != nullptr);
}
//==============================================================================
TerminalCondition::~TerminalCondition() {}
//==============================================================================
TimerCondition::TimerCondition(State* _state, double _duration)
: TerminalCondition(_state), mDuration(_duration)
{
}
//==============================================================================
TimerCondition::~TimerCondition() {}
//==============================================================================
bool TimerCondition::isSatisfied()
{
if (mState->getElapsedTime() > mDuration)
return true;
else
return false;
}
//==============================================================================
BodyContactCondition::BodyContactCondition(State* _state, BodyNode* _body)
: TerminalCondition(_state), mBodyNode(_body)
{
assert(_state != nullptr);
assert(_body != nullptr);
}
//==============================================================================
BodyContactCondition::~BodyContactCondition() {}
//==============================================================================
bool BodyContactCondition::isSatisfied()
{
SoftBodyNode* soft = dynamic_cast<SoftBodyNode*>(mBodyNode);
if (soft)
{
for (std::size_t i = 0; i < soft->getNumPointMasses(); ++i)
{
PointMass* pm = soft->getPointMass(i);
if (pm->isColliding() > 0)
return true;
}
}
// TODO(JS): Need more elegant condition check method
DART_SUPPRESS_DEPRECATED_BEGIN
if (mBodyNode->isColliding() > 0)
DART_SUPPRESS_DEPRECATED_END
{
// dtmsg << "BodyNode [" << mBodyNode->getName() << "] is in contact."
// << std::endl;
return true;
}
else
{
// dtmsg << "Waiting for BodyNode [" << mBodyNode->getName()
// << "] is in contact."
// << std::endl;
return false;
}
}
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