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#include "CallbackFunctor.hpp" |
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#include "ConstraintPair.hpp" |
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#include "SimInfo.hpp" |
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#include "ConstraintPair.hpp" |
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|
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CallbackFunctor:: CallbackFunctor(SimInfo* rhs) : info(rhs), consTolerance(1.0e-6){ |
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registerFunction(KeyType(typeid(ConstraintAtom), typeid(ConstraintAtom)), &CallbackFunctor::constrainAtomAtom); |
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registerFunction(KeyType(typeid(ConstraintAtom), typeid(ConstraintRigidBody)), &CallbackFunctor::constrainAtomRigidBody); |
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registerFunction(KeyType(typeid(ConstraintRigidBody), typeid(ConstraintAtom)), &CallbackFunctor::constrainRigidBodyAtom); |
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registerFunction(KeyType(typeid(ConstraintRigidBody), typeid(ConstraintRigidBody)), &CallbackFunctor::constrainRigidBodyRigidBody); |
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} |
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void CallbackFunctor::registerFunction(const KeyType& key, MappedType f){ |
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ddMap[key] = f; |
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} |
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|
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int CallbackFunctor::operator()(ConstraintPair* consPair){ |
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DoubleDispatchMap::iterator foundResult; |
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curPair = consPair; |
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|
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//typeid must operate on reference, otherwise it return the type_info of base class |
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foundResult = ddMap.find(KeyType(typeid(*(consPair->firstElem)), typeid(*(consPair->secondElem)))); |
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|
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if(foundResult != ddMap.end()){ |
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return (this->*(foundResult->second))(consPair->firstElem, consPair->secondElem); |
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} |
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else |
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//can not found appropriate function to handle (ce1, ce2) |
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return -1; |
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|
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} |
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|
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int CallbackFunctor::constrainAtomAtom(ConstraintElement* ce1, ConstraintElement* ce2){ |
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return (*this)((ConstraintAtom*)ce1, (ConstraintAtom*)ce2); |
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} |
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|
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int CallbackFunctor::constrainAtomRigidBody(ConstraintElement* ce1, ConstraintElement* ce2){ |
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return (*this)((ConstraintAtom*)ce1, (ConstraintRigidBody*)ce2); |
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|
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} |
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|
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int CallbackFunctor::constrainRigidBodyAtom(ConstraintElement* ce1, ConstraintElement* ce2){ |
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return constrainAtomRigidBody(ce2, ce1); |
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} |
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|
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int CallbackFunctor::constrainRigidBodyRigidBody(ConstraintElement* ce1, ConstraintElement* ce2){ |
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return (*this)((ConstraintRigidBody*)ce1, (ConstraintRigidBody*)ce2); |
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} |
