// We are going to check for collisions from a coarse resolution to a finer grain resolution
private bool CollisionCheck(FootstepPlanningState state)
{
bool isColliding = true;
// For every domain we have, we are going to make a collision check, from the coarser to the finer
int d = 0;
int numberOfDomains = planning.GetNumberOfDomains();
while (isColliding && d < numberOfDomains)
{
isColliding = planning.CheckDomainStateCollisions(d, state);
d++;
}
// if collisions are not found in some of the checks we return false
if (!isColliding)
{
return(false);
}
if (meshCollisions)
{
// if collisions are found for all our previous checks
// We are going a make a final check at the coarser possible resolution
// using the whole mesh
return(MeshCollisionCheck());
}
else
{
return(true);
}
}
