CustomCollisionFilter.hpp

class CustomCollisionFilter : public dart::collision::BodyNodeCollisionFilter
{
public:

  inline CustomCollisionFilter(const std::vector<std::pair<std::string, std::string>>& pairs)
  {
    for(const std::pair<std::string, std::string>& pair : pairs)
    {
      mPairs[pair.first] = pair.second;
      mPairs[pair.second] = pair.first;
    }
  }

  inline bool needCollision(const dart::collision::CollisionObject* object1,
                     const dart::collision::CollisionObject* object2) const override
  {
    const std::string& name1 = object1->getShapeFrame()->asShapeNode()->
        getBodyNodePtr()->getName();
  
    PairMap::const_iterator it = mPairs.find(name1);
    if(mPairs.end() != it)
    {
      const std::string& name2 = object2->getShapeFrame()->asShapeNode()->
          getBodyNodePtr()->getName();
  
      if(it->second == name2)
        return false;
    }
  
    return BodyNodeCollisionFilter::needCollision(object1, object2);
  }

  using PairMap = std::unordered_map<std::string, std::string>;
  PairMap mPairs;

};