text: /*
   * Copyright (c) 2011-2019, 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 "dart/collision/CollisionResult.hpp"
  
  #include "dart/collision/CollisionObject.hpp"
  #include "dart/dynamics/BodyNode.hpp"
  #include "dart/dynamics/ShapeFrame.hpp"
  #include "dart/dynamics/ShapeNode.hpp"
  
  namespace dart {
  namespace collision {
  
  //==============================================================================
  void CollisionResult::addContact(const Contact& contact)
  {
    mContacts.push_back(contact);
    addObject(contact.collisionObject1);
    addObject(contact.collisionObject2);
  }
  
  //==============================================================================
  std::size_t CollisionResult::getNumContacts() const
  {
    return mContacts.size();
  }
  
  //==============================================================================
  Contact& CollisionResult::getContact(std::size_t index)
  {
    assert(index < mContacts.size());
  
    return mContacts[index];
  }
  
  //==============================================================================
  const Contact& CollisionResult::getContact(std::size_t index) const
  {
    assert(index < mContacts.size());
  
    return mContacts[index];
  }
  
  //==============================================================================
  const std::vector<Contact>& CollisionResult::getContacts() const
  {
    return mContacts;
  }
  
  //==============================================================================
  const std::unordered_set<const dynamics::BodyNode*>&
  CollisionResult::getCollidingBodyNodes() const
  {
    return mCollidingBodyNodes;
  }
  
  //==============================================================================
  const std::unordered_set<const dynamics::ShapeFrame*>&
  CollisionResult::getCollidingShapeFrames() const
  {
    return mCollidingShapeFrames;
  }
  
  //==============================================================================
  bool CollisionResult::inCollision(const dynamics::BodyNode* bn) const
  {
    return (mCollidingBodyNodes.find(bn) != mCollidingBodyNodes.end());
  }
  
  //==============================================================================
  bool CollisionResult::inCollision(const dynamics::ShapeFrame* frame) const
  {
    return (mCollidingShapeFrames.find(frame) != mCollidingShapeFrames.end());
  }
  
  //==============================================================================
  bool CollisionResult::isCollision() const
  {
    return !mContacts.empty();
  }
  
  //==============================================================================
  CollisionResult::operator bool() const
  {
    return isCollision();
  }
  
  //==============================================================================
  void CollisionResult::clear()
  {
    mContacts.clear();
    mCollidingShapeFrames.clear();
    mCollidingBodyNodes.clear();
  }
  
  //==============================================================================
  void CollisionResult::addObject(CollisionObject* object)
  {
    if (!object)
    {
      dterr << "[CollisionResult::addObject] Attempting to add a collision with "
            << "a nullptr object to a CollisionResult instance. This is not "
            << "allowed. Please report this as a bug!\n";
      assert(false);
      return;
    }
  
    const dynamics::ShapeFrame* frame = object->getShapeFrame();
    mCollidingShapeFrames.insert(frame);
  
    if (frame->isShapeNode())
    {
      const dynamics::ShapeNode* node = frame->asShapeNode();
      mCollidingBodyNodes.insert(node->getBodyNodePtr());
    }
  }
  
  } // namespace collision
  } // namespace dart
  