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/* Author: Ioan Sucan */

#include "ompl/extensions/opende/OpenDEEnvironment.h"
#include <boost/lexical_cast.hpp>

unsigned int ompl::control::OpenDEEnvironment::getMaxContacts(dGeomID /*geom1*/, dGeomID /*geom2*/) const
{
    return maxContacts_;
}

bool ompl::control::OpenDEEnvironment::isValidCollision(dGeomID /*geom1*/, dGeomID /*geom2*/, const dContact& /*contact*/) const
{
    return false;
}

void ompl::control::OpenDEEnvironment::setupContact(dGeomID /*geom1*/, dGeomID /*geom2*/, dContact &contact) const
{
    contact.surface.mode = dContactBounce | dContactSoftCFM;
    contact.surface.mu = 0.1;
    contact.surface.mu2 = 0;
    contact.surface.bounce = 0.01;
    contact.surface.bounce_vel = 0.001;
    contact.surface.soft_cfm = 0.01;
}

std::string ompl::control::OpenDEEnvironment::getGeomName(dGeomID geom) const
{
    std::map<dGeomID, std::string>::const_iterator it = geomNames_.find(geom);
    if (it == geomNames_.end())
        return boost::lexical_cast<std::string>(reinterpret_cast<unsigned long>(geom));
    else
        return it->second;
}

void ompl::control::OpenDEEnvironment::setGeomName(dGeomID geom, const std::string &name)
{
    geomNames_[geom] = name;
}
