Separate enableSelfCollision into two concrete functions: `setSelfC…

…ollisionCheck`, `setAdjacentBodyCheck`

dart/dynamics/Skeleton.cpp

@@ -557,11 +557,8 @@ void Skeleton::setAspectProperties(const AspectProperties& properties)
   setMobile(properties.mIsMobile);
   setGravity(properties.mGravity);
   setTimeStep(properties.mTimeStep);
-
-  if(properties.mEnabledSelfCollisionCheck)
-    enableSelfCollision(properties.mEnabledAdjacentBodyCheck);
-  else
-    disableSelfCollision();
+  setSelfCollisionCheck(properties.mEnabledSelfCollisionCheck);
+  setAdjacentBodyCheck(properties.mEnabledAdjacentBodyCheck);
 }
 
 //==============================================================================
@@ -636,10 +633,10 @@ void Skeleton::addEntryToSoftBodyNodeNameMgr(SoftBodyNode* _newNode)
 }
 
 //==============================================================================
-void Skeleton::enableSelfCollision(bool _enableAdjacentBodyCheck)
+void Skeleton::enableSelfCollision(bool enableAdjacentBodyCheck)
 {
   mAspectProperties.mEnabledSelfCollisionCheck = true;
-  mAspectProperties.mEnabledAdjacentBodyCheck = _enableAdjacentBodyCheck;
+  mAspectProperties.mEnabledAdjacentBodyCheck = enableAdjacentBodyCheck;
 }
 
 //==============================================================================
@@ -650,17 +647,65 @@ void Skeleton::disableSelfCollision()
 }
 
 //==============================================================================
-bool Skeleton::isEnabledSelfCollisionCheck() const
+void Skeleton::setSelfCollisionCheck(bool enable)
+{
+  mAspectProperties.mEnabledSelfCollisionCheck = enable;
+}
+
+//==============================================================================
+bool Skeleton::getSelfCollisionCheck() const
 {
   return mAspectProperties.mEnabledSelfCollisionCheck;
 }
 
 //==============================================================================
-bool Skeleton::isEnabledAdjacentBodyCheck() const
+void Skeleton::enableSelfCollisionCheck()
+{
+  setSelfCollisionCheck(true);
+}
+
+//==============================================================================
+void Skeleton::disableSelfCollisionCheck()
+{
+  setSelfCollisionCheck(false);
+}
+
+//==============================================================================
+bool Skeleton::isEnabledSelfCollisionCheck() const
+{
+  return getSelfCollisionCheck();
+}
+
+//==============================================================================
+void Skeleton::setAdjacentBodyCheck(bool enable)
+{
+  mAspectProperties.mEnabledAdjacentBodyCheck = enable;
+}
+
+//==============================================================================
+bool Skeleton::getAdjacentBodyCheck() const
 {
   return mAspectProperties.mEnabledAdjacentBodyCheck;
 }
 
+//==============================================================================
+void Skeleton::enableAdjacentBodyCheck()
+{
+  setAdjacentBodyCheck(true);
+}
+
+//==============================================================================
+void Skeleton::disableAdjacentBodyCheck()
+{
+  setAdjacentBodyCheck(false);
+}
+
+//==============================================================================
+bool Skeleton::isEnabledAdjacentBodyCheck() const
+{
+  return getAdjacentBodyCheck();
+}
+
 //==============================================================================
 void Skeleton::setMobile(bool _isMobile)
 {

dart/dynamics/Skeleton.hpp

@@ -226,17 +226,45 @@ class Skeleton :
   /// Get name.
   const std::string& getName() const override;
 
-  /// Enable self collision check
-  void enableSelfCollision(bool _enableAdjacentBodyCheck = false);
+  /// Deprecated. Please use enableSelfCollision() instead.
+  DEPRECATED(6.0)
+  void enableSelfCollision(bool enableAdjacentBodyCheck = false);
 
-  /// Disable self collision check
+  /// Deprecated. Please use disableSelfCollisionCheck() instead.
+  DEPRECATED(6.0)
   void disableSelfCollision();
 
-  /// Return true if self collision check is enabled
+  /// Set whether to check self-collision.
+  void setSelfCollisionCheck(bool enable);
+
+  /// Return whether self-collision check is enabled.
+  bool getSelfCollisionCheck() const;
+
+  /// Enable self-collision check.
+  void enableSelfCollisionCheck();
+
+  /// Disable self-collision check.
+  void disableSelfCollisionCheck();
+
+  /// Return true if self-collision check is enabled
   bool isEnabledSelfCollisionCheck() const;
 
-  /// Return true if self collision check is enabled including adjacent
-  /// bodies
+  /// Set whether to check adjacent bodies. This option is effective only when
+  /// the self-collision check is enabled.
+  void setAdjacentBodyCheck(bool enable);
+
+  /// Return whether adjacent body check is enabled.
+  bool getAdjacentBodyCheck() const;
+
+  /// Enable collision check for adjacent bodies. This option is effective only
+  /// when the self-collision check is enabled.
+  void enableAdjacentBodyCheck();
+
+  /// Disable collision check for adjacent bodies. This option is effective only
+  /// when the self-collision check is enabled.
+  void disableAdjacentBodyCheck();
+
+  /// Return true if self-collision check is enabled including adjacent bodies.
   bool isEnabledAdjacentBodyCheck() const;
 
   /// Set whether this skeleton will be updated by forward dynamics.

tutorials/tutorialBiped-Finished.cpp

@@ -311,7 +311,8 @@ SkeletonPtr loadBiped()
     biped->getJoint(i)->setPositionLimitEnforced(true);
 
   // Enable self collision check but ignore adjacent bodies
-  biped->enableSelfCollision();
+  biped->enableSelfCollisionCheck();
+  biped->disableAdjacentBodyCheck();
 
   return biped;
 }

unittests/TestHelpers.hpp

@@ -262,7 +262,7 @@ SkeletonPtr createNLinkRobot(int _n, Vector3d dim, TypeOfDOF type,
   assert(_n > 0);
 
   SkeletonPtr robot = Skeleton::create();
-  robot->disableSelfCollision();
+  robot->disableSelfCollisionCheck();
 
   // Create the first link, the joint with the ground and its shape
   BodyNode::Properties node(BodyNode::AspectProperties("link1"));
@@ -329,7 +329,7 @@ SkeletonPtr createNLinkPendulum(size_t numBodyNodes,
   assert(numBodyNodes > 0);
 
   SkeletonPtr robot = Skeleton::create();
-  robot->disableSelfCollision();
+  robot->disableSelfCollisionCheck();
 
   // Create the first link, the joint with the ground and its shape
   BodyNode::Properties node(BodyNode::AspectProperties("link1"));

unittests/testJoints.cpp

@@ -516,7 +516,7 @@ void testJointCoulombFrictionForce(double _timeStep)
 
   dynamics::SkeletonPtr pendulum = myWorld->getSkeleton("double_pendulum");
   EXPECT_TRUE(pendulum != nullptr);
-  pendulum->disableSelfCollision();
+  pendulum->disableSelfCollisionCheck();
 
   dynamics::Joint* joint0 = pendulum->getJoint("joint0");
   dynamics::Joint* joint1 = pendulum->getJoint("joint1");
@@ -635,7 +635,7 @@ SkeletonPtr createPendulum(Joint::ActuatorType actType)
   SkeletonPtr pendulum = createNLinkPendulum(1, dim, DOF_ROLL, offset);
   EXPECT_NE(pendulum, nullptr);
 
-  pendulum->disableSelfCollision();
+  pendulum->disableSelfCollisionCheck();
 
   for (std::size_t i = 0; i < pendulum->getNumBodyNodes(); ++i)
   {
@@ -829,7 +829,7 @@ TEST_F(JOINTS, JOINT_COULOMB_FRICTION_AND_POSITION_LIMIT)
 
   dynamics::SkeletonPtr pendulum = myWorld->getSkeleton("double_pendulum");
   EXPECT_TRUE(pendulum != nullptr);
-  pendulum->disableSelfCollision();
+  pendulum->disableSelfCollisionCheck();
 
   dynamics::Joint* joint0 = pendulum->getJoint("joint0");
   dynamics::Joint* joint1 = pendulum->getJoint("joint1");