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Removed GetCollision API it's redundant #444

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Oct 27, 2022
Merged

Removed GetCollision API it's redundant #444

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12 changes: 0 additions & 12 deletions bullet-featherstone/src/SDFFeatures.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -945,18 +945,6 @@ bool SDFFeatures::AddSdfCollision(
return true;
}

Identity SDFFeatures::GetCollision(
const Identity &_linkID,
const std::string &_collisionName)
{
const auto *link = this->ReferenceInterface<LinkInfo>(_linkID);
const auto it = link->collisionNameToEntityId.find(_collisionName);
if (it == link->collisionNameToEntityId.end())
return this->GenerateInvalidId();

return this->GenerateIdentity(it->second, this->collisions.at(it->second));
}

Identity SDFFeatures::ConstructSdfCollision(
const Identity &_linkID,
const ::sdf::Collision &_collision)
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4 changes: 0 additions & 4 deletions bullet-featherstone/src/SDFFeatures.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -59,10 +59,6 @@ class SDFFeatures :
private: Identity ConstructSdfCollision(
const Identity &_linkID,
const ::sdf::Collision &_collision) override;

private: Identity GetCollision(
const Identity &_linkID,
const std::string &_collisionName) override;
};

} // namespace bullet_featherstone
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19 changes: 0 additions & 19 deletions bullet/src/SDFFeatures.cc
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Expand Up @@ -202,25 +202,6 @@ Identity SDFFeatures::ConstructSdfLink(
return linkIdentity;
}

Identity SDFFeatures::GetCollision(
const Identity &_linkID,
const std::string &_collisionName)
{
const auto link = this->ReferenceInterface<LinkInfo>(_linkID);
const auto it = std::find_if(
link->shapes.begin(),
link->shapes.end(),
[this, &_collisionName](const auto& shapeID)
{
return _collisionName == this->collisions.at(shapeID)->name;
});

if (it == link->shapes.end())
return this->GenerateInvalidId();

return this->GenerateIdentity(*it, this->collisions.at(*it));
}

Identity SDFFeatures::ConstructSdfCollision(
const Identity &_linkID,
const ::sdf::Collision &_collision)
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4 changes: 0 additions & 4 deletions bullet/src/SDFFeatures.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -62,10 +62,6 @@ class SDFFeatures :
const Identity &_linkID,
const ::sdf::Collision &_collision) override;

private: Identity GetCollision(
const Identity &_linkID,
const std::string &_collisionName) override;

private: Identity ConstructSdfJoint(
const Identity &_modelID,
const ::sdf::Joint &_sdfJoint) override;
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26 changes: 0 additions & 26 deletions dartsim/src/SDFFeatures.cc
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Expand Up @@ -669,32 +669,6 @@ Identity SDFFeatures::ConstructSdfLink(
return linkIdentity;
}

Identity SDFFeatures::GetCollision(
const Identity &_linkID,
const std::string &_collisionName)
{
auto bn = this->ReferenceInterface<LinkInfo>(_linkID)->link;

DartShapeNode *const sn = bn->getSkeleton()->getShapeNode(
bn->getName() + ":" + _collisionName);

// If the shape doesn't exist in "shapes", it means the containing entity has
// been removed.
if (this->shapes.HasEntity(sn))
{
const std::size_t shapeID = this->shapes.IdentityOf(sn);
return this->GenerateIdentity(shapeID, this->shapes.at(shapeID));
}
else
{
// TODO(addisu) It's not clear what to do when `GetShape` is called on a
// link that has been removed. Right now we are returning an invalid
// identity, but that could cause a segfault if the use doesn't check if
// returned value before using it.
return this->GenerateInvalidId();
}
}

/////////////////////////////////////////////////
Identity SDFFeatures::ConstructSdfJoint(
const Identity &_modelID,
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4 changes: 0 additions & 4 deletions dartsim/src/SDFFeatures.hh
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Expand Up @@ -75,10 +75,6 @@ class SDFFeatures :
const Identity &_linkID,
const ::sdf::Collision &_collision) override;

public: Identity GetCollision(
const Identity &_linkID,
const std::string &_collisionName) override;

public: Identity ConstructSdfVisual(
const Identity &_linkID,
const ::sdf::Visual &_visual) override;
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14 changes: 0 additions & 14 deletions sdf/include/gz/physics/sdf/ConstructCollision.hh
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Expand Up @@ -36,18 +36,13 @@ class ConstructSdfCollision : public virtual Feature
public: using ShapePtrType = ShapePtr<PolicyT, FeaturesT>;

public: ShapePtrType ConstructCollision(const ::sdf::Collision &_collision);

public: ShapePtrType GetCollision(const std::string &_collisionName);
};

public: template <typename PolicyT>
class Implementation : public virtual Feature::Implementation<PolicyT>
{
public: virtual Identity ConstructSdfCollision(
const Identity &_linkID, const ::sdf::Collision &_collision) = 0;

public: virtual Identity GetCollision(
const Identity &_linkID, const std::string &_collisionName) = 0;
};
};

Expand All @@ -60,15 +55,6 @@ auto ConstructSdfCollision::Link<PolicyT, FeaturesT>::ConstructCollision(
this->template Interface<ConstructSdfCollision>()
->ConstructSdfCollision(this->identity, _collision));
}
/////////////////////////////////////////////////
template <typename PolicyT, typename FeaturesT>
auto ConstructSdfCollision::Link<PolicyT, FeaturesT>::GetCollision(
const std::string &_collisionName) -> ShapePtrType
{
return ShapePtrType(this->pimpl,
this->template Interface<ConstructSdfCollision>()
->GetCollision(this->identity, _collisionName));
}
}
}
}
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26 changes: 0 additions & 26 deletions tpe/plugin/src/SDFFeatures.cc
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Expand Up @@ -250,32 +250,6 @@ Identity SDFFeatures::ConstructSdfLink(
return linkIdentity;
}

/////////////////////////////////////////////////
Identity SDFFeatures::GetCollision(
const Identity &_linkID,
const std::string &_collisionName)
{
auto linkInfo = this->ReferenceInterface<LinkInfo>(_linkID);
if (linkInfo != nullptr)
{
tpelib::Entity &shapeEnt = linkInfo->link->GetChildByName(_collisionName);
for (auto it = this->collisions.begin();
it != this->collisions.end();
++it)
{
if (it->second != nullptr)
{
std::string name = it->second->collision->GetName();
if (it->first == shapeEnt.GetId() && name == shapeEnt.GetName())
{
return this->GenerateIdentity(it->first, it->second);
}
}
}
}
return this->GenerateInvalidId();
}

/////////////////////////////////////////////////
Identity SDFFeatures::ConstructSdfCollision(
const Identity &_linkID,
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4 changes: 0 additions & 4 deletions tpe/plugin/src/SDFFeatures.hh
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Expand Up @@ -63,10 +63,6 @@ class SDFFeatures :
private: Identity ConstructSdfCollision(
const Identity &_linkID,
const ::sdf::Collision &_collision) override;

private: Identity GetCollision(
const Identity &_linkID,
const std::string &_collisionName) override;
};

}
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