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Added get/setLCPSolver functions to ConstraintSolver #633

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merged 2 commits into from
Mar 21, 2016
Merged

Added get/setLCPSolver functions to ConstraintSolver #633

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363feed
Added get/setLCPSolver to ConstraintSolver.
Mar 17, 2016
cd667d6
Switch to taking unique_ptr by value.
Mar 17, 2016
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16 changes: 15 additions & 1 deletion dart/constraint/ConstraintSolver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -243,7 +243,7 @@ void ConstraintSolver::setCollisionDetector(

//==============================================================================
void ConstraintSolver::setCollisionDetector(
std::unique_ptr<collision::CollisionDetector>&& _collisionDetector)
std::unique_ptr<collision::CollisionDetector> _collisionDetector)
{
assert(_collisionDetector && "Invalid collision detector.");

Expand All @@ -261,6 +261,20 @@ collision::CollisionDetector* ConstraintSolver::getCollisionDetector() const
return mCollisionDetector.get();
}

//==============================================================================
void ConstraintSolver::setLCPSolver(std::unique_ptr<LCPSolver> _lcpSolver)
{
assert(_lcpSolver && "Invalid LCP solver.");

mLCPSolver = std::move(_lcpSolver);
}

//==============================================================================
LCPSolver* ConstraintSolver::getLCPSolver() const
{
return mLCPSolver.get();
}

//==============================================================================
void ConstraintSolver::solve()
{
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8 changes: 7 additions & 1 deletion dart/constraint/ConstraintSolver.h
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Expand Up @@ -110,11 +110,17 @@ class ConstraintSolver

/// Set collision detector
void setCollisionDetector(
std::unique_ptr<collision::CollisionDetector>&& _collisionDetector);
std::unique_ptr<collision::CollisionDetector> _collisionDetector);

/// Get collision detector
collision::CollisionDetector* getCollisionDetector() const;

/// Set LCP solver
void setLCPSolver(std::unique_ptr<LCPSolver> _lcpSolver);
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Passing const reference like std::shared_ptr<T> case?

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That shouldn't be done for unique_ptr because we want the ownership of the solver to be passed into the ConstraintSolver. Passing by reference wouldn't allow that.

unique_ptr is really weird when it comes to function arguments.

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I see, thanks for the clarification. Good to know!

Also, this pull request looks good to merge.


/// Get LCP solver
LCPSolver* getLCPSolver() const;

/// Solve constraint impulses and apply them to the skeletons
void solve();

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