collisionperceptor.cpp

rcssserver3d Robocup 3D比赛官方指定平台

/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-

   this file is part of rcssserver3D
   Fri May 9 2003
   Copyright (C) 2002,2003 Koblenz University
   Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
   $Id: collisionperceptor.cpp,v 1.4 2004/04/05 14:51:36 rollmark Exp $

   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; version 2 of the License.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software
   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/

#include "collisionperceptor.h"

using namespace boost;
using namespace oxygen;

bool
CollisionPerceptor::Percept(shared_ptr<PredicateList> predList)
{
    if (mCollidees.empty())
    {
        return false;
    }

    Predicate& predicate = predList->AddPredicate();
    predicate.name = "collision";
    predicate.parameter.Clear();

     for (
          TLeafList::const_iterator i = GetCollidees().begin();
          i != GetCollidees().end();
          ++i
          )
       {
         predicate.parameter.AddValue(*i);
       }

    return true;
}

void
CollisionPerceptor::PrePhysicsUpdateInternal(float /*deltaTime*/)
{
  mCollidees.clear();
}

void
CollisionPerceptor::AddCollidee(boost::shared_ptr<Node> collidee)
{
  if (collidee.get() == 0)
    {
      return;
    }

  mCollidees.push_back(collidee);
}