[Broadphase] add clear method to collision data

lmontaut · Jan 4, 2024 · 7be1fa1 · 7be1fa1
1 parent c2c84e3
commit 7be1fa1
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Showing 2 changed files with 16 additions and 2 deletions.
diff --git a/include/hpp/fcl/broadphase/default_broadphase_callbacks.h b/include/hpp/fcl/broadphase/default_broadphase_callbacks.h
@@ -64,6 +64,12 @@ struct CollisionData {
 
   /// @brief Whether the collision iteration can stop
   bool done;
+
+  /// @brief Clears the CollisionData
+  void clear() {
+    result.clear();
+    done = false;
+  }
 };
 
 /// @brief Distance data stores the distance request and the result given by
@@ -79,6 +85,12 @@ struct DistanceData {
 
   /// @brief Whether the distance iteration can stop
   bool done;
+
+  /// @brief Clears the DistanceData
+  void clear() {
+    result.clear();
+    done = false;
+  }
 };
 
 /// @brief Provides a simple callback for the collision query in the

diff --git a/python/broadphase/broadphase.cc b/python/broadphase/broadphase.cc
@@ -100,13 +100,15 @@ void exposeBroadPhase() {
       .def(dv::init<CollisionData>())
       .DEF_RW_CLASS_ATTRIB(CollisionData, request)
       .DEF_RW_CLASS_ATTRIB(CollisionData, result)
-      .DEF_RW_CLASS_ATTRIB(CollisionData, done);
+      .DEF_RW_CLASS_ATTRIB(CollisionData, done)
+      .DEF_CLASS_FUNC(CollisionData, clear);
 
   bp::class_<DistanceData>("DistanceData", bp::no_init)
       .def(dv::init<DistanceData>())
       .DEF_RW_CLASS_ATTRIB(DistanceData, request)
       .DEF_RW_CLASS_ATTRIB(DistanceData, result)
-      .DEF_RW_CLASS_ATTRIB(DistanceData, done);
+      .DEF_RW_CLASS_ATTRIB(DistanceData, done)
+      .DEF_CLASS_FUNC(DistanceData, clear);
 
   BroadPhaseCollisionManagerWrapper::expose();